数字孪生：修改输送机入库时到位信号为到位，出库时为空闲

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

@@ -10,11 +10,14 @@ import lombok.NoArgsConstructor;
 public class ReceiveJob {
     private String taskNo;
     private String cargoSpaceId;
+    private String targetCargoSpaceId;
     private String exitId;
     private String trayCode;
     private String entranceId;
     private String inOrOut;
     private String jobId;
     private String roadwayId;
+    private String classId;
+    private Long priority;
 
 }

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

@@ -121,6 +121,10 @@ public interface IApiService
      */
     public AjaxResult createInMydoJob(Map<String, Object> param);
 
+    public AjaxResult sendCargoSpace(Map<String, Object> param);
+
+
+
     public AjaxResult selectMydoJobByNoTrayCode(Map<String, Object> param);
 
     AjaxResult receiveOutMydoJob(ReceiveJob receiveOutJob);

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

@@ -347,12 +347,27 @@ public class ApiServiceImpl implements IApiService {
     }
 
 
+    @Override
+    public AjaxResult sendCargoSpace(Map<String, Object> param) {
+        // 访问请求路径，生成入库作业 ，如果生成返回信息
+        RequestLog requestLog = requestLogService.getRequestLog(SEND_CARGOSPACE, "请求分配货位", JSONUtil.toJsonStr(param));
+        if ("1".equals(requestLog.getIsSuccessful())) {
+            InterfaceReceive bean = JSONUtil.toBean(requestLog.getResponseBody(), InterfaceReceive.class);
+            return AjaxResult.success(bean.getData());
+        } else {
+            return AjaxResult.error();
+        }
+    }
+
+
+
     @Override
     public AjaxResult receiveOutMydoJob(ReceiveJob receiveOutJob) {
         MydoJob mydoJob = new MydoJob();
         mydoJob.setJobId(receiveOutJob.getJobId());
         mydoJob.setTaskNo(receiveOutJob.getTaskNo());
         mydoJob.setCargoSpaceId(receiveOutJob.getCargoSpaceId());
+        mydoJob.setTargetCargoSpaceId(receiveOutJob.getTargetCargoSpaceId());
         mydoJob.setExitId(receiveOutJob.getExitId());
         mydoJob.setInOrOut(receiveOutJob.getInOrOut());
         mydoJob.setStatus("1");
@@ -360,6 +375,8 @@ public class ApiServiceImpl implements IApiService {
         mydoJob.setRoadwayId(receiveOutJob.getRoadwayId());
         mydoJob.setCreateTime(DateUtils.getNowDate());
         mydoJob.setExecutionPhase("0");
+        mydoJob.setTheFloor(receiveOutJob.getClassId());
+        mydoJob.setPriority(receiveOutJob.getPriority());
         int i = mydoJobService.insertMydoJob(mydoJob);
         if (i > 0) {
             return AjaxResult.success();

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

@@ -1,7 +1,9 @@
 package com.ruoyi.bas.srgvmap.mapper;
 
+import java.util.ArrayList;
 import java.util.List;
 import com.ruoyi.bas.srgvmap.domain.WcsSrgvMap;
+import org.apache.ibatis.annotations.Param;
 
 /**
  * 小车点位地图表Mapper接口
@@ -62,4 +64,8 @@ public interface WcsSrgvMapMapper
      * @return 结果
      */
     public int deleteWcsSrgvMapByGuids(String[] guids);
+
+    List<WcsSrgvMap> selectNotInsite( @Param("cache") String cache,
+                                      @Param("floor") Integer floor,
+                                      @Param("sites") ArrayList<String> sites);
 }

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

@@ -1,5 +1,6 @@
 package com.ruoyi.bas.srgvmap.service;
 
+import java.util.ArrayList;
 import java.util.List;
 import com.ruoyi.bas.srgvmap.domain.WcsSrgvMap;
 
@@ -62,4 +63,6 @@ public interface IWcsSrgvMapService
      * @return 结果
      */
     public int deleteWcsSrgvMapByGuid(String guid);
+
+    List<WcsSrgvMap> selectNotInsite(String cache, Integer floor, ArrayList<String> sites);
 }

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

@@ -4,7 +4,6 @@ package com.ruoyi.bas.srgvmap.service;
 import com.ruoyi.bas.srgvmap.domain.WcsSrgvMap;
 import com.ruoyi.device.srgv.domain.DeviceSrgv;
 
-import java.util.List;
 import java.util.Map;
 
 public interface RoadCacheService {
@@ -18,11 +17,13 @@ public interface RoadCacheService {
 
     /**
      * 处理地图
+     *
      * @param arrByRoadSite
      * @param deviceSrgv
+     * @param floor
      * @return
      */
-    int[][] handleMap(Map<String, WcsSrgvMap> arrByRoadSite, DeviceSrgv deviceSrgv);
+    int[][] handleMap(Map<String, WcsSrgvMap> arrByRoadSite, DeviceSrgv deviceSrgv, Integer floor);
     /**
      * 根据x y z 获取指定位置的缓存
      * @param x

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

@@ -41,29 +41,27 @@ public class RoadCacheServiceImpl implements RoadCacheService {
         for (WcsSrgvMap wcsSrgvMap : wcsSrgvMaps) {
             maps.put(wcsSrgvMap.getSiteId(), wcsSrgvMap);
         }
-        param.setAxy("11,9");
+
-        List<WcsSrgvMap> tsjMap = wcsSrgvMapMapper.selectWcsSrgvMapList(param);
-        for (WcsSrgvMap wcsSrgvMap : tsjMap) {
-            maps.put("tsj",wcsSrgvMap);
-        }
         return maps;
     }
 
     @Override
-    public int[][] handleMap(Map<String, WcsSrgvMap> maps, DeviceSrgv deviceSrgv) {
+    public int[][] handleMap(Map<String, WcsSrgvMap> maps, DeviceSrgv deviceSrgv, Integer floor) {
 
         //1.锁定其他车任务路径
         lockedOtherCarQueuePath(maps, deviceSrgv);
         //2.锁定无任务小车当前位置
-        lockedOtherCarCurrSite(maps, deviceSrgv);
+//        lockedOtherCarCurrSite(maps, deviceSrgv);
         //3.锁定离线小车当前位置
         lockedOfflineCarCurrSite(maps, deviceSrgv);
-
+        maps.put("tsj", maps.get("07050" + floor));
+        //4.锁定满货位的位置  TODO 是否存在移库影响效率
         int[][] mapsInt = new int[50][50];
         for (String site : maps.keySet()) {
             WcsSrgvMap wcsSrgvMap = maps.get(site);
             mapsInt[wcsSrgvMap.getX()][wcsSrgvMap.getY()] = wcsSrgvMap.getValue();
-            if (wcsSrgvMap.getAxy().equals("11,8")){
+
+            if (wcsSrgvMap.getAxy().equals("11,9")) {
                 System.err.println(wcsSrgvMap.getValue());
             }
         }
@@ -77,7 +75,7 @@ public class RoadCacheServiceImpl implements RoadCacheService {
         param.setY(y);
         param.setZ(z);
         List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapMapper.selectWcsSrgvMapList(param);
-        if (CollUtil.isNotEmpty(wcsSrgvMaps)){
+        if (CollUtil.isNotEmpty(wcsSrgvMaps)) {
             return wcsSrgvMaps.get(0);
         }
         return null;
@@ -142,8 +140,18 @@ public class RoadCacheServiceImpl implements RoadCacheService {
                 //添加其他小车路径列表
                 HashSet<String> otherCarSiteList = new HashSet<>();
                 for (WcsSrgvQueue wcsSrgvQueue : otherCarQueue) {
-                    if (wcsSrgvQueue.getPathInfo()!=null) {
+                    if (wcsSrgvQueue.getPathInfo() != null) {
-                        otherCarSiteList.addAll(Arrays.asList(wcsSrgvQueue.getPathInfo().split(",")));
+                        //根据小车当前点位去除已走路径
+                        DeviceSrgv otherCarCurrStatus = deviceSrgvService.selectDeviceSrgvByGuid(wcsSrgvQueue.getAgvId());
+                        String currSite = otherCarCurrStatus.getCurrSite();
+                        List<String> allSiteList = Arrays.asList(wcsSrgvQueue.getPathInfo().split(","));
+                        int i = allSiteList.indexOf(currSite);
+                        if (i == -1) {
+                            i = 0;
+                        }
+                        List<String> resultSiteList = allSiteList.subList(i, allSiteList.size());
+                        otherCarSiteList.addAll(resultSiteList);
+                        //otherCarSiteList.addAll(Arrays.asList(wcsSrgvQueue.getPathInfo().split(",")));
                     }
                 }
                 //锁定其他小车路径

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

@@ -1,6 +1,8 @@
 package com.ruoyi.bas.srgvmap.service.impl;
 
+import java.util.ArrayList;
 import java.util.List;
+
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import com.ruoyi.bas.srgvmap.mapper.WcsSrgvMapMapper;
@@ -14,8 +16,7 @@ import com.ruoyi.bas.srgvmap.service.IWcsSrgvMapService;
  * @date 2025-11-21
  */
 @Service
-public class WcsSrgvMapServiceImpl implements IWcsSrgvMapService 
+public class WcsSrgvMapServiceImpl implements IWcsSrgvMapService {
-{
     @Autowired
     private WcsSrgvMapMapper wcsSrgvMapMapper;
 
@@ -26,8 +27,7 @@ public class WcsSrgvMapServiceImpl implements IWcsSrgvMapService
      * @return 小车点位地图表
      */
     @Override
-    public WcsSrgvMap selectWcsSrgvMapByGuid(String guid)
+    public WcsSrgvMap selectWcsSrgvMapByGuid(String guid) {
-    {
         return wcsSrgvMapMapper.selectWcsSrgvMapByGuid(guid);
     }
 
@@ -43,8 +43,7 @@ public class WcsSrgvMapServiceImpl implements IWcsSrgvMapService
      * @return 小车点位地图表
      */
     @Override
-    public List<WcsSrgvMap> selectWcsSrgvMapList(WcsSrgvMap wcsSrgvMap)
+    public List<WcsSrgvMap> selectWcsSrgvMapList(WcsSrgvMap wcsSrgvMap) {
-    {
         return wcsSrgvMapMapper.selectWcsSrgvMapList(wcsSrgvMap);
     }
 
@@ -55,8 +54,7 @@ public class WcsSrgvMapServiceImpl implements IWcsSrgvMapService
      * @return 结果
      */
     @Override
-    public int insertWcsSrgvMap(WcsSrgvMap wcsSrgvMap)
+    public int insertWcsSrgvMap(WcsSrgvMap wcsSrgvMap) {
-    {
         return wcsSrgvMapMapper.insertWcsSrgvMap(wcsSrgvMap);
     }
 
@@ -67,8 +65,7 @@ public class WcsSrgvMapServiceImpl implements IWcsSrgvMapService
      * @return 结果
      */
     @Override
-    public int updateWcsSrgvMap(WcsSrgvMap wcsSrgvMap)
+    public int updateWcsSrgvMap(WcsSrgvMap wcsSrgvMap) {
-    {
         return wcsSrgvMapMapper.updateWcsSrgvMap(wcsSrgvMap);
     }
 
@@ -79,8 +76,7 @@ public class WcsSrgvMapServiceImpl implements IWcsSrgvMapService
      * @return 结果
      */
     @Override
-    public int deleteWcsSrgvMapByGuids(String[] guids)
+    public int deleteWcsSrgvMapByGuids(String[] guids) {
-    {
         return wcsSrgvMapMapper.deleteWcsSrgvMapByGuids(guids);
     }
 
@@ -91,8 +87,12 @@ public class WcsSrgvMapServiceImpl implements IWcsSrgvMapService
      * @return 结果
      */
     @Override
-    public int deleteWcsSrgvMapByGuid(String guid)
+    public int deleteWcsSrgvMapByGuid(String guid) {
-    {
         return wcsSrgvMapMapper.deleteWcsSrgvMapByGuid(guid);
     }
+
+    @Override
+    public List<WcsSrgvMap> selectNotInsite(String cache, Integer floor, ArrayList<String> sites) {
+        return wcsSrgvMapMapper.selectNotInsite(cache, floor, sites);
+    }
 }

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

@@ -12,6 +12,7 @@ public class Constant {
     public static final String CANCEL_TASK_URL = RCS_BASE_URL+"queryAgvStatus";;
     public static final String GEN_AGV_SCHEDULING_TASK = RCS_BASE_URL+"genAgvSchedulingTask";;
     public static final String CREATE_IN_MYDO_JOB_URL = WMS_BASE_URL+"requestEnterByTrayCode";
+    public static final String SEND_CARGOSPACE = WMS_BASE_URL+"sendCargoSpace";
     public static final String REQUEST_MYDO_JOB_URL = WMS_BASE_URL+"requestByNoTrayCode";
     public static final String RE_ASSIGN_URL = WMS_BASE_URL+"reAssign";
     public static final String RE_MATERIAL_URL = WMS_BASE_URL+"reMaterial";

ruoyi-admin/src/main/java/com/ruoyi/device/cdz/mapper/DeviceCdzMapper.java

@@ -68,4 +68,6 @@ public interface DeviceCdzMapper
      * @return
      */
     List<DeviceCdz> selectDeviceCdzHasSRgvList();
+
+    void updateDeviceCdzSpare(DeviceCdz deviceCdz);
 }

ruoyi-admin/src/main/java/com/ruoyi/device/cdz/service/IDeviceCdzService.java

@@ -68,4 +68,6 @@ public interface IDeviceCdzService
      * @return
      */
     List<DeviceCdz> selectDeviceCdzHasSRgvList();
+
+    void updateDeviceCdzSpare(DeviceCdz deviceCdz);
 }

ruoyi-admin/src/main/java/com/ruoyi/device/cdz/service/impl/DeviceCdzServiceImpl.java

@@ -100,4 +100,9 @@ public class DeviceCdzServiceImpl implements IDeviceCdzService
     public List<DeviceCdz> selectDeviceCdzHasSRgvList() {
         return deviceCdzMapper.selectDeviceCdzHasSRgvList();
     }
+
+    @Override
+    public void updateDeviceCdzSpare(DeviceCdz deviceCdz) {
+        deviceCdzMapper.updateDeviceCdzSpare(deviceCdz);
+    }
 }

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

@@ -94,4 +94,5 @@ public class MydoJob extends BaseEntity
 
     private String productId;
     private String productName;
+    private String classId;
 }

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

@@ -81,4 +81,12 @@ public interface MydoJobMapper
     List<MydoJob> selectMydoJobFinishList(MydoJob mydoJob);
 
     MydoJob selectRunningMydoJobByExitList(@Param("exitList") List<String> exitList);
+
+    List<MydoJob> selectMydoJobOut();
+
+    MydoJob selectMydoJobByTrayCode(String trayCode);
+
+    Integer selectExit(String ssj);
+
+    Integer selectMydoJobCount();
 }

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

@@ -80,4 +80,12 @@ public interface IMydoJobService
     MydoJob selectRunningMydoJobByExitList(List<String> strings);
 
     AjaxResult manualCallback(String jobId);
+
+    List<MydoJob> selectMydoJobOut();
+
+    MydoJob selectMydoJobByTrayCode(String trayCode);
+
+    Integer selectExit(String ssj);
+
+    Integer selectMydoJobCount();
 }

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

@@ -173,4 +173,24 @@ public class MydoJobServiceImpl implements IMydoJobService
         }
         return AjaxResult.error("手动回调失败");
     }
+
+    @Override
+    public List<MydoJob> selectMydoJobOut() {
+        return mydoJobMapper.selectMydoJobOut();
+    }
+
+    @Override
+    public MydoJob selectMydoJobByTrayCode(String trayCode) {
+        return mydoJobMapper.selectMydoJobByTrayCode(trayCode);
+    }
+
+    @Override
+    public Integer selectExit(String ssj) {
+        return mydoJobMapper.selectExit(ssj);
+    }
+
+    @Override
+    public Integer selectMydoJobCount() {
+        return mydoJobMapper.selectMydoJobCount();
+    }
 }

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

@@ -2,6 +2,7 @@ package com.ruoyi.queue.srgv.mapper;
 
 import java.util.List;
 import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
+import org.apache.ibatis.annotations.Param;
 
 /**
  * 四向小车任务队列Mapper接口
@@ -70,4 +71,10 @@ public interface WcsSrgvQueueMapper
      * @return 结果
      */
     public int deleteWcsSrgvQueueByGuids(String[] guids);
+
+    String selectMinCountJob(@Param("list") List<String> outModelSSJ);
+
+    Integer selectTsj();
+
+    Integer selectByCaogoPlaceSite(String siteId);
 }

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

@@ -77,4 +77,10 @@ public interface IWcsSrgvQueueService
      * @param taskNo
      */
     public WcsSrgvQueue insertHistory(String taskNo);
+
+    String selectMinCountJob(List<String> outModelSSJ);
+
+    Integer selectTsj();
+
+    Integer selectByCaogoPlaceSite(String siteId);
 }

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

@@ -115,6 +115,22 @@ public class WcsSrgvQueueServiceImpl implements IWcsSrgvQueueService
         return wcsSrgvQueueMapper.deleteWcsSrgvQueueByGuid(guid);
     }
 
+    @Override
+    public String selectMinCountJob( List<String> outModelSSJ) {
+        return wcsSrgvQueueMapper.selectMinCountJob(outModelSSJ) ;
+    }
+
+    @Override
+    public Integer selectTsj() {
+
+        return wcsSrgvQueueMapper.selectTsj();
+    }
+
+    @Override
+    public Integer selectByCaogoPlaceSite(String siteId) {
+        return wcsSrgvQueueMapper.selectByCaogoPlaceSite(siteId);
+    }
+
     @Override
     public WcsSrgvQueue insertHistory(String taskNo) {
         WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueueMapper.selectWcsSrgvQueueByTaskNo(taskNo);

ruoyi-admin/src/main/java/com/ruoyi/queue/tsj/mapper/TsjDeviceExecutionQueueMapper.java

@@ -65,4 +65,6 @@ public interface TsjDeviceExecutionQueueMapper
      * @return 提升机执行队列
      */
     TsjDeviceExecutionQueue selectTsjDeviceExecutionQueueByRwh(Long taskNo);
+
+    Integer selectCount();
 }

ruoyi-admin/src/main/java/com/ruoyi/queue/tsj/service/ITsjDeviceExecutionQueueService.java

@@ -64,4 +64,6 @@ public interface ITsjDeviceExecutionQueueService
      * @return
      */
     TsjDeviceExecutionQueue selectTsjDeviceExecutionQueueByRwh(Long taskNo);
+
+    Integer selectCount();
 }

ruoyi-admin/src/main/java/com/ruoyi/queue/tsj/service/impl/TsjDeviceExecutionQueueServiceImpl.java

@@ -104,5 +104,10 @@ public class TsjDeviceExecutionQueueServiceImpl implements ITsjDeviceExecutionQu
         return tsjDeviceExecutionQueueMapper.selectTsjDeviceExecutionQueueByRwh(taskNo);
     }
 
+    @Override
+    public Integer selectCount() {
+        return tsjDeviceExecutionQueueMapper.selectCount();
+    }
+
 
 }

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

@@ -67,12 +67,12 @@ public class PlcCdzRead implements Runnable {
     }
 
     private void plcRead(DeviceCdz deviceCdz) {
-        OperateResultExOne<byte[]> read2 = readWriteNet.Read(deviceCdz.getPlcDbReadAddress(), Short.parseShort("4"));
+        OperateResultExOne<byte[]> read2 = readWriteNet.Read(deviceCdz.getPlcDbReadAddress(), Short.parseShort("2"));
         String ddsx1 = "0";
         if (read2.IsSuccess) {
             ddsx1 = SoftBasic.ByteToHexString(read2.Content);
             deviceCdz.setStatus(ParseUtil.optInt(0, ddsx1));
-            deviceCdz.setModel(ParseUtil.optInt(2, ddsx1));
+//            deviceCdz.setModel(ParseUtil.optInt(2, ddsx1));
         }
     }
 

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

@@ -90,6 +90,12 @@ public class PlcSrgvRead implements Runnable {
         if (read2.IsSuccess) {
             setValueByByte2(read2.Content, deviceSrgv);
         }
+
+        //        //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);
+        }
     }
 
     //单字
@@ -104,6 +110,8 @@ public class PlcSrgvRead implements Runnable {
         agvData.setAlarm(Convert.toInt(byteTransform.TransInt16(content, 6)));
 //        agvData.setStatus(0);
         agvData.setStatus(Convert.toInt(byteTransform.TransInt16(content, 8)));
+        //载货标志
+        agvData.setCargoFlag(Convert.toInt(byteTransform.TransInt16(content, 13)));
         //接收完成标志
         //        agvData.setFinish(Convert.toInt(byteTransform.TransInt16(content, 10)));
 //        agvData.setFinish(0);
@@ -150,6 +158,29 @@ public class PlcSrgvRead implements Runnable {
         agvData.setCurrFloor(floor);
     }
 
+    private void setValueByByte4(byte[] content, DeviceSrgv agvData) {
+
+        StringBuilder sb = new StringBuilder();
+        for (int i = 0; i < content.length; i += 4) {
+            // 检查剩余字节是否足够4个
+            if (i + 4 > content.length) break;
+            // TODO 注意双字反转
+            int value = byteTransform.TransInt32(content, i);
+
+            // 如果值为0，终止循环
+            if (value == 0) {
+                break;
+            }
+            sb.append(String.format("%06d", value)).append(","); // 用逗号分隔每个int值
+        }
+
+        // 移除最后多余的 ","
+        if (sb.length() > 0) {
+            sb.setLength(sb.length() - 1);
+        }
+        agvData.setPath(sb.toString());
+    }
+
     public void ConnectServer() {
         modbusTcpNet = new ModbusTcpNet();//创建一个Modbus对象
         log.info("创建连接对象,IP{}", this.ip);

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

@@ -198,6 +198,7 @@ public class PathFinder {
         if (gCost[endX][endY] == Integer.MAX_VALUE) {
             List<int[]> path = new ArrayList<>();
             path.add(new int[]{-1, -1});
+
             return path;
         }
 

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

@@ -99,6 +99,7 @@ public class PlcSsjRead implements Runnable {
             ssjDevice.setKx(ParseUtil.optInt(4, ddsx1));
             ssjDevice.setDw(ParseUtil.optInt(6, ddsx1));
             ssjDevice.setTaskNo(ParseUtil.optDInt(0, ddsx1));
+            ssjDevice.setModel(ParseUtil.optInt(8, ddsx1));//出入库模式 1入 2出
         }
     }
 

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

@@ -13,6 +13,8 @@ import com.ruoyi.device.srgv.domain.DeviceSrgv;
 import com.ruoyi.device.srgv.service.IDeviceSrgvService;
 import com.ruoyi.job.charg.domain.SrgvChargingJob;
 import com.ruoyi.job.charg.service.ISrgvChargingJobService;
+import com.ruoyi.job.mapper.MydoJobMapper;
+import com.ruoyi.job.service.IMydoJobService;
 import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
 import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService;
 import com.ruoyi.schedule.plcRead.cdz.PlcCdzRead;
@@ -32,19 +34,21 @@ public class CdzThread implements Runnable {
 
     public boolean isRun = true;
 
-    private final Integer LITTLE_BETTERY = 30;
+    private final Integer LITTLE_BETTERY = 40;
     private final Integer MIDDLE_BETTERY = 70;
-
+    private final Integer MAX_BETTERY = 90;
     private ISrgvChargingJobService chargingJobService;
     private IDeviceCdzService deviceCdzService;
     private IDeviceSrgvService deviceSrgvService;
     private IWcsSrgvQueueService wcsSrgvQueueService;
+    public IMydoJobService mydoJobService;
 
     public void init() {
         chargingJobService = SpringUtils.getBean(ISrgvChargingJobService.class);
         deviceCdzService = SpringUtils.getBean(IDeviceCdzService.class);
         deviceSrgvService = SpringUtils.getBean(IDeviceSrgvService.class);
         wcsSrgvQueueService = SpringUtils.getBean(IWcsSrgvQueueService.class);
+        mydoJobService = SpringUtils.getBean(IMydoJobService.class);
     }
 
     @Override
@@ -64,17 +68,17 @@ public class CdzThread implements Runnable {
 
 
     void dispatch() {
-
+        Integer count = mydoJobService.selectMydoJobCount();
         //获取低电量小车
         List<DeviceSrgv> littleBatterySRgv = new ArrayList<>();
         //获取中电量小车
         List<DeviceSrgv> middleBatterySRgv = new ArrayList<>();
         for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
             DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(sRgv);
-            if (deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() != 3) {
+            if (deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() != 3 && deviceSrgv.getChargeFlag() != 2) {
                 if (deviceSrgv.getBattery() <= LITTLE_BETTERY) {
                     littleBatterySRgv.add(deviceSrgv);
-                } else if (deviceSrgv.getBattery() <= MIDDLE_BETTERY) {
+                } else if (deviceSrgv.getBattery() <= MIDDLE_BETTERY && count == 0) {
                     middleBatterySRgv.add(deviceSrgv);
                 }
             }
@@ -92,22 +96,20 @@ public class CdzThread implements Runnable {
         }
 
         //超过30分钟自动生成充电任务
-        List<DeviceSrgv> deviceSrgvs = deviceSrgvService.selectDeviceSrgvList(new DeviceSrgv());
+//        List<DeviceSrgv> deviceSrgvs = deviceSrgvService.selectDeviceSrgvList(new DeviceSrgv());
-        List<DeviceSrgv> timeOutSrgvList = deviceSrgvs.stream().filter(x -> DateUtil.between(DateUtil.parse(x.getLastTime()), DateUtil.date(), DateUnit.MINUTE) > 30).collect(Collectors.toList());
+//        List<DeviceSrgv> timeOutSrgvList = deviceSrgvs.stream().filter(x -> DateUtil.between(DateUtil.parse(x.getLastTime()), DateUtil.date(), DateUnit.MINUTE) > 30).collect(Collectors.toList());
-        if (CollUtil.isNotEmpty(timeOutSrgvList)) {
+//        if (CollUtil.isNotEmpty(timeOutSrgvList)) {
-            //生成充电任务
+//            //生成充电任务
-            createChargingInJob(timeOutSrgvList);
+//            createChargingInJob(timeOutSrgvList);
-        }
+//        }
 
 
-        //充电任务下发
+        //充电任务下发 查到充电任务并且充电桩未开启直接开启
         SrgvChargingJob srgvChargingJobParam = new SrgvChargingJob();
         srgvChargingJobParam.setChargingStatus("0");
         srgvChargingJobParam.setJobType("1");
-        srgvChargingJobParam.setJobStatus("3");
         List<SrgvChargingJob> srgvChargingJobs = chargingJobService.selectSrgvChargingJobList(srgvChargingJobParam);
         if (CollUtil.isNotEmpty(srgvChargingJobs)) {
-
             for (SrgvChargingJob srgvChargingJob : srgvChargingJobs) {
                 if ("0".equals(srgvChargingJob.getChargingStatus())) {
                     String chargingSite = srgvChargingJob.getChargingSite();
@@ -118,44 +120,29 @@ public class CdzThread implements Runnable {
                     SendData qxSendData = new SendData(Tools.INT, 1);
                     byte[] bytes = Tools.sendData(qxSendData);
                     int i = PlcCdzRead.WriteToCdz(plcDbWriteAddress, bytes);
+                    // 查到充电任务，并且充电桩未开启就直接开启
                     if (i == 1) {
+                        log.info("下发{" + deviceCdzs.get(0).getId() + "}号充电桩开启");
                         srgvChargingJob.setChargingStatus("2");
                         srgvChargingJob.setChargingDate(DateUtil.formatDateTime(DateUtil.date()));
                         chargingJobService.updateSrgvChargingJob(srgvChargingJob);
                     }
+
+
                 }
             }
 
         }
 
+        //生成断电任务  有任务且电量大于50
 
-        //生成断电任务  有任务且电量大于50   todo 代码无效
+        List<DeviceCdz> deviceCdzdd = deviceCdzService.selectDeviceCdzHasSRgvList();
-        WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
+        for (DeviceCdz deviceCdz : deviceCdzdd) {
-        wcsSrgvQueueParam.setIssued("0");
-        List<WcsSrgvQueue> wcsSrgvQueues = wcsSrgvQueueService.selectWcsSrgvQueueList(wcsSrgvQueueParam);
-        if (CollUtil.isNotEmpty(wcsSrgvQueues)) {
-            boolean existsKxSRgv = false;
-            //判断有没有空闲小车
-            for (DeviceSrgv x : PlcSrgvRead.deviceSrgvMap.values()) {
-                if (x.getWorkMode() == 5 && x.getStatus() == 1) {
-                    existsKxSRgv = true;
-                    break;
-                }
-            }
-            if (!existsKxSRgv) {
-                List<DeviceCdz> deviceCdzs = deviceCdzService.selectDeviceCdzHasSRgvList();
-                if (CollUtil.isNotEmpty(deviceCdzs)) {
-                    for (DeviceCdz deviceCdz : deviceCdzs) {
-                        if (PlcSrgvRead.deviceSrgvMap.containsKey(deviceCdz.getSpare1())) {
             DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1());
-                            if (deviceSrgv.getBattery() >= 50) {
+            if (((deviceSrgv.getBattery() >= MIDDLE_BETTERY && count > 0) || deviceSrgv.getBattery() >= MAX_BETTERY)
-                                //生成断电任务
+                    && deviceSrgv.getWorkMode() == 5
-                                createChargingOutJob(deviceSrgv, deviceCdz);
+                    && deviceSrgv.getChargeFlag() == 2 && deviceCdz.getStatus() == 1) {
-                                break;
+                createChargingOutJob(PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1()), deviceCdz);
-                            }
-                        }
-                    }
-                }
             }
         }
 
@@ -166,7 +153,6 @@ public class CdzThread implements Runnable {
         srgvChargingJobDdParam.setJobType("2");
         List<SrgvChargingJob> srgvChargingJobDds = chargingJobService.selectSrgvChargingJobList(srgvChargingJobDdParam);
         if (CollUtil.isNotEmpty(srgvChargingJobDds)) {
-
             for (SrgvChargingJob srgvChargingJob : srgvChargingJobDds) {
                 if ("0".equals(srgvChargingJob.getChargingStatus())) {
                     String chargingSite = srgvChargingJob.getChargingSite();
@@ -178,6 +164,7 @@ public class CdzThread implements Runnable {
                     byte[] bytes = Tools.sendData(qxSendData);
                     int i = PlcCdzRead.WriteToCdz(plcDbWriteAddress, bytes);
                     if (i == 1) {
+                        log.info("下发{" + deviceCdzs.get(0).getId() + "}号充电桩关闭");
                         srgvChargingJob.setChargingStatus("1");
                         srgvChargingJob.setChargingDate(DateUtil.formatDateTime(DateUtil.date()));
                         chargingJobService.updateSrgvChargingJob(srgvChargingJob);
@@ -185,14 +172,11 @@ public class CdzThread implements Runnable {
                         chargingJobService.insertHistory(srgvChargingJob.getGuid());
                         chargingJobService.deleteSrgvChargingJobByGuid(srgvChargingJob.getGuid());
                         deviceCdzs.get(0).setSpare1(null);
-                        deviceCdzService.updateDeviceCdz(deviceCdzs.get(0));
+                        deviceCdzService.updateDeviceCdzSpare(deviceCdzs.get(0));
                     }
                 }
-
             }
-
         }
-
     }
 
     /**
@@ -207,42 +191,43 @@ public class CdzThread implements Runnable {
             wcsChargingJob.setAgvId(deviceSrgv.getDeviceId().toString());
             List<SrgvChargingJob> srgvChargingJobs = chargingJobService.selectSrgvChargingJobList(wcsChargingJob);
             if (CollUtil.isEmpty(srgvChargingJobs)) {
-                List<DeviceCdz> cdzList = deviceCdzService.selectDeviceCdzListNoSRgvId();
+                DeviceCdz deviceCdz = deviceCdzService.selectDeviceCdzById(Long.valueOf(deviceSrgv.getDeviceId()));
-                if (CollUtil.isNotEmpty(cdzList)) {
+//                List<DeviceCdz> cdzList = deviceCdzService.selectDeviceCdzListNoSRgvId();
+//                if (CollUtil.isNotEmpty(deviceCdz)) {
                 //寻找最接近的充电桩
-                    Integer floor = deviceSrgv.getCurrFloor();
+//                    Integer floor = deviceSrgv.getCurrFloor();
-                    DeviceCdz cdz = null;
+//                    DeviceCdz cdz = null;
-                    Optional<DeviceCdz> min = cdzList.stream().filter(c -> c.getSzcs().equals(floor)).min((o1, o2) -> {
+//                    Optional<DeviceCdz> min = cdzList.stream().min((o1, o2) -> {
-                        Integer distance1 = Math.abs(o1.getSzcs());
+//                        Integer distance1 = Math.abs(o1.getSzcs());
-                        Integer distance2 = Math.abs(o2.getSzcs());
+//                        Integer distance2 = Math.abs(o2.getSzcs());
-                        return distance1 - distance2;
+//                        return distance1 - distance2;
-                    });
+//                    });
-                    if (min.isPresent()) {
+//                    if (min.isPresent()) {
-                        cdz = min.get();
+//                        cdz = min.get();
-                    }
+//                    }
-                    if (ObjUtil.isNotNull(cdz)) {
+                if (ObjUtil.isNotNull(deviceCdz)) {
                     //生成充电任务
                     SrgvChargingJob srgvChargingJobParam = new SrgvChargingJob();
                     srgvChargingJobParam.setAgvId(deviceSrgv.getDeviceId().toString());
-                        srgvChargingJobParam.setChargingSite("08020" + cdz.getSzcs());
+                    srgvChargingJobParam.setChargingSite("08020" + deviceCdz.getSzcs());
-                        srgvChargingJobParam.setChargingId(cdz.getId().toString());
+                    srgvChargingJobParam.setChargingId(deviceCdz.getId().toString());
                     List<SrgvChargingJob> wcsChargingJobs = chargingJobService.selectSrgvChargingJobList(srgvChargingJobParam);
                     if (CollUtil.isEmpty(wcsChargingJobs)) {
                         SrgvChargingJob scj = new SrgvChargingJob();
                         scj.setGuid(IdUtil.fastSimpleUUID());
-                            scj.setChargingSite(cdz.getSiteId());
+                        scj.setChargingSite(deviceCdz.getSiteId());
                         scj.setJobStatus("1");
                         scj.setChargingStatus("0");
                         scj.setStartDate(DateUtil.now());
                         scj.setJobType("1");//到充电桩
                         scj.setAgvId(deviceSrgv.getDeviceId().toString());
-                            scj.setChargingId(cdz.getId().toString());
+                        scj.setChargingId(deviceCdz.getId().toString());
                         chargingJobService.insertSrgvChargingJob(scj);
-                            cdz.setSpare1(deviceSrgv.getDeviceId().toString());
+                        deviceCdz.setSpare1(deviceSrgv.getDeviceId().toString());
-                            deviceCdzService.updateDeviceCdz(cdz);
+                        deviceCdzService.updateDeviceCdz(deviceCdz);
-                        }
                     }
                 }
+//                }
             }
         }
     }
@@ -265,7 +250,7 @@ public class CdzThread implements Runnable {
         srgvChargingJobParamOut.setJobType("2");
         List<SrgvChargingJob> srgvChargingJobOut = chargingJobService.selectSrgvChargingJobList(srgvChargingJobParamOut);
 
-        if (CollUtil.isNotEmpty(srgvChargingJobs)&&CollUtil.isEmpty(srgvChargingJobOut)) {
+        if (CollUtil.isNotEmpty(srgvChargingJobs) && CollUtil.isEmpty(srgvChargingJobOut)) {
             SrgvChargingJob scj = srgvChargingJobs.get(0);
 
             //插入历史

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/monit/MonitoringThread.java

@@ -51,14 +51,18 @@ public class MonitoringThread implements Runnable {
             }
             for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
                 DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(srgvCode);
+                if (!deviceSrgv.getCurrSite().equals("000000")){
                     deviceSrgvService.updateDeviceSrgv(deviceSrgv);
                 }
+            }
             for (String tsjCode : PlcTsjRead.deviceTsjMap.keySet()) {
                 DeviceTsj deviceTsj = PlcTsjRead.deviceTsjMap.get(tsjCode);
                 deviceTsjService.updateDeviceTsj(deviceTsj);
             }
             for (String cdzCode : PlcCdzRead.deviceCdzMap.keySet()) {
                 DeviceCdz deviceCdz = PlcCdzRead.deviceCdzMap.get(cdzCode);
+                deviceCdz.setSpare1(null);
+                deviceCdz.setModel(deviceCdz.getStatus());
                 deviceCdzService.updateDeviceCdz(deviceCdz);
             }
             try {

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

@@ -18,6 +18,7 @@ import com.ruoyi.common.domain.SendData2;
 import com.ruoyi.common.utils.spring.SpringUtils;
 import com.ruoyi.device.srgv.domain.DeviceSrgv;
 import com.ruoyi.device.srgv.service.IDeviceSrgvService;
+import com.ruoyi.device.ssj.domain.DeviceSsj;
 import com.ruoyi.job.charg.domain.SrgvChargingJob;
 import com.ruoyi.job.charg.service.ISrgvChargingJobService;
 import com.ruoyi.job.domain.JobCallBack;
@@ -30,8 +31,11 @@ import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService;
 import com.ruoyi.schedule.ScheduleThread;
 import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;
 import com.ruoyi.schedule.plcRead.srgv.roadUtil.PathFinder;
+import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
+import io.swagger.models.auth.In;
 import lombok.extern.slf4j.Slf4j;
 
+import java.sql.Struct;
 import java.text.SimpleDateFormat;
 import java.util.*;
 import java.util.concurrent.ConcurrentHashMap;
@@ -65,7 +69,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
     private IBasCargoSpaceService basCargoSpaceService;
 
     public IDeviceSrgvService deviceSrgvService;
-    private int taskCache = 450001;
+    private int taskCache = 30001;
 
     public void init() {
         sRgvCodeList = new HashMap<>();
@@ -109,7 +113,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             createCarInQueue();
                             // 出库队列
                             createCarOutQueue();
-                            // 充电任务
+                            // 充电任务队列
                             inCharging(deviceSrgv);
                             // 充电完成调离
 //                            outCharging(deviceSrgv);
@@ -154,6 +158,10 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         param.setJobStatus("1");
         param.setJobType("1");
         param.setAgvId(deviceSrgv.getDeviceId().toString());
+
+        if (deviceSrgv != null && deviceSrgv.getWorkMode() != 5) {
+            return;
+        }
         List<SrgvChargingJob> srgvChargingJobs = srgvChargingJobMapper.selectSrgvChargingJobList(param);
         if (CollUtil.isNotEmpty(srgvChargingJobs)) {
             SrgvChargingJob srgvChargingJob = srgvChargingJobs.get(0);
@@ -171,8 +179,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 wcsSrgvQueue.setCargo("0");
                 wcsSrgvQueue.setIssued("0");
                 wcsSrgvQueue.setExecutionStatus("1");
-                wcsSrgvQueue.setCargoPickSite("");
+                wcsSrgvQueue.setCargoPickSite(deviceSrgv.getCurrSite());
-                wcsSrgvQueue.setCargoPlaceSite("");
+                wcsSrgvQueue.setCargoPlaceSite(chargingSite);
                 wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
 
                 WcsSrgvMap wcsSrgvMap = wcsSrgvMapService.selectWcsSrgvMapBySiteId(chargingSite);
@@ -182,8 +190,18 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 } else {
                     wcsSrgvQueue.setEndSite("tsj");
                     wcsSrgvQueue.setDefault02("8");
+
+                    Integer count = wcsSagvQueueMapper.selectTsj();
+                    if (count > 0) {
+                        return;
                     }
-                wcsSrgvQueue.setTaskNo("9999");
+                }
+                // 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)) {
+//                    wcsSrgvQueue.setIssued("1");
+//                    wcsSrgvQueue.setExecutionStatus("3");
+//                }
+                wcsSrgvQueue.setTaskNo(String.valueOf(deviceSrgv.getDeviceId() + 500));
                 wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
                 wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
                 wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
@@ -212,26 +230,24 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
      * 生成出库小车队列
      */
     private void createCarOutQueue() {
-        MydoJob mydoJob = new MydoJob();
+
-        mydoJob.setInOut("2");
+
-        mydoJob.setExecutionPhase("0");
+        List<MydoJob> mydoJobs = mydoJobService.selectMydoJobOut();
-        mydoJob.setStatus("1");
+
-        List<MydoJob> mydoJobs = mydoJobService.selectInOrOutMydoJobList(mydoJob);
         if (!mydoJobs.isEmpty()) {
-            MydoJob mydoJob1 = mydoJobs.get(0);
+            for (MydoJob mydoJob1 : mydoJobs) {
-            // 查询是否有已下发的该任务号队列
                 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)
+                            .filter(deviceSrgv -> deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() == 1)
                             .filter(deviceSrgv -> deviceSrgv.getBattery() > 30)
                             .sorted((d1, d2) -> Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d2.getCurrFloor())
                                     - Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d1.getCurrFloor()))
                             .collect(Collectors.toList());
                     if (!deviceSrgvList.isEmpty()) {
                         DeviceSrgv deviceSrgv = null;
-                    for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
+                        /*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;
@@ -242,6 +258,83 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                     deviceSrgv = deviceSrgv1;
                                 }
                             }
+                        }*/
+                        WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
+                        wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId());
+                        List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
+                        //取货地址
+                        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
+                        int minXDistance = 100000; // 记录最小的X轴距离
+                        DeviceSrgv bestSrgv = null; // 最终选中的最优小车
+
+                        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));
+                            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));
+
+                            // 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
+                            if (currentYDistance < minYDistance) {
+                                // 情况1：当前Y轴距离更小，直接更新最优解
+                                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) {
+                                // 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);
+                                }
+                            }
+                        }
+
+                        // 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，再找其他楼层的小车
+                            for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
+                                if (!deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
+                                    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);
+
+                                    }
+                                }
+                            }
                         }
                         if (deviceSrgv != null) {
                             WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
@@ -254,11 +347,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                 String executionStatus = "1";
                                 String default08 = "";//是否二段任务标识
                                 String default06 = "";
-                            WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
+
-                            wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId());
-                            List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
-                            //取货地址
-                            String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
                                 Integer currFloor = deviceSrgv.getCurrFloor();
                                 Integer theLayer = wcsSrgvMaps.get(0).getPlcLayer();
                                 if (Objects.equals(deviceSrgv.getCurrFloor(), wcsSrgvMaps.get(0).getPlcLayer())) {
@@ -279,50 +368,91 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                     //终点是提升机
                                     endSite = "tsj";
                                 }
-                            WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
+//                                if (endSite.equals("tsj")) {
-                            wcsSrgvMap1.setRemark(mydoJob1.getExitId());
+//                                    Integer count = wcsSagvQueueMapper.selectTsj();
-                            List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
+//                                    if (count > 0) {
-                            String cargoPlaceSite = wcsSrgvMaps1.get(0).getSiteId();
+//                                        return;
+//                                    }
+//                                }
 
+                                mydoJob1.setExitId(null);
+                                WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
+                                String cargoPlaceSite = "";
+                                ConcurrentHashMap<String, DeviceSsj> deviceSsjMap = PlcSsjRead.deviceSsjMap;
+                                List<String> outModelSSJ = new ArrayList<>();
+                                if (!mydoJob1.getInOrOut().equals("30")) {
+                                    for (String deviceSsj : deviceSsjMap.keySet()) {
+                                        if (deviceSsj.equals("TD1001") || deviceSsj.equals("TD1008")) {
+                                            DeviceSsj deviceSsj1 = deviceSsjMap.get(deviceSsj);
+                                            if (deviceSsj1.getModel() == 2) {
+                                                String s = "";
+                                                String ssj = "";
+                                                if (deviceSsj1.getName().equals("TD1001")) {
+                                                    s = "050101";
+                                                    ssj = "L1004";
+                                                } else {
+                                                    s = "070101";
+                                                    ssj = "L1005";
+                                                }
+                                                Integer count = mydoJobService.selectExit(ssj);
+                                                if (count >= 0 && count <= 1) {
+                                                    mydoJob1.setExitId(ssj);
+                                                    mydoJobService.updateMydoJob(mydoJob1);
+                                                    outModelSSJ.add(s);
+                                                    break;
+                                                }
+                                            }
+                                        }
+                                    }
+                                    cargoPlaceSite = wcsSagvQueueMapper.selectMinCountJob(outModelSSJ);
+                                    if (Objects.equals(cargoPlaceSite, "")) {
+                                        return;
+                                    }
+                                }
+
+                                wcsSrgvMap1.setRemark(mydoJob1.getExitId());
+                                //TODO 读取输送机入出库模式分配出口
+                                List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
+                                String cargoPlaceSite1 = cargoPlaceSite;
                                 List<DeviceSrgv> sameSiteDevices = deviceSrgvMap.values().stream()
                                         .filter(d -> d.getWorkMode() == 5
                                                 && d.getStatus() == 1
-                                            && d.getCurrSite().equals(cargoPlaceSite))
+                                                && d.getCurrSite().equals(cargoPlaceSite1))
                                         .collect(Collectors.toList());
                                 if (!sameSiteDevices.isEmpty() && !Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())) {
                                     WcsSrgvMap wcsSrgvMap3 = new WcsSrgvMap();
                                     wcsSrgvMap3.setRemark("cache");
-                                List<WcsSrgvMap> wcsSrgvMaps3 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap3);
+//                                    List<WcsSrgvMap> wcsSrgvMaps3 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap3);
-                                for (WcsSrgvMap wcsSrgvMap4 : wcsSrgvMaps3) {
+//                                    for (WcsSrgvMap wcsSrgvMap4 : wcsSrgvMaps3) {
-                                    //deviceSrgvMap中所有对象的currSite都不等于wcsSrgvMap4的siteId的对象
+//                                        //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()))) {
+//                                        if (deviceSrgvMap.values().stream().noneMatch(d -> d.getCurrSite().equals(wcsSrgvMap4.getSiteId()))) {
-                                        //生成小车到缓存点队列
+//                                            //生成小车到缓存点队列
-                                        WcsSrgvQueue wcsSrgvQueue5 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(sameSiteDevices.get(0).getDeviceId().toString());
+//                                            WcsSrgvQueue wcsSrgvQueue5 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(sameSiteDevices.get(0).getDeviceId().toString());
-                                        WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
+//                                            WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
-                                        wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
+//                                            wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
-                                        List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue);
+//                                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue);
-                                        if (wcsSrgvQueue5 == null && wcsSrgvQueues.isEmpty()) {
+//                                            if (wcsSrgvQueue5 == null && wcsSrgvQueues.isEmpty()) {
-                                            WcsSrgvQueue wcsSrgvQueue3 = new WcsSrgvQueue();
+//                                                WcsSrgvQueue wcsSrgvQueue3 = new WcsSrgvQueue();
-                                            wcsSrgvQueue3.setGuid(UUID.randomUUID().toString());
+//                                                wcsSrgvQueue3.setGuid(UUID.randomUUID().toString());
-                                            wcsSrgvQueue3.setTaskNo("9999");
+//                                                wcsSrgvQueue3.setTaskNo("11111");
-                                            wcsSrgvQueue3.setTaskType("1");
+//                                                wcsSrgvQueue3.setTaskType("1");
-                                            wcsSrgvQueue3.setPriority(Long.parseLong("2"));
+//                                                wcsSrgvQueue3.setPriority(Long.parseLong("2"));
-                                            wcsSrgvQueue3.setCargo("1");
+//                                                wcsSrgvQueue3.setCargo("1");
-                                            wcsSrgvQueue3.setIssued(issued);
+//                                                wcsSrgvQueue3.setIssued(issued);
-                                            wcsSrgvQueue3.setExecutionStatus(executionStatus);
+//                                                wcsSrgvQueue3.setExecutionStatus(executionStatus);
-                                            wcsSrgvQueue3.setCargoPickSite(cargoPickSite);
+//                                                wcsSrgvQueue3.setCargoPickSite(cargoPickSite);
-                                            wcsSrgvQueue3.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
+//                                                wcsSrgvQueue3.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
-                                            wcsSrgvQueue3.setStartSite(sameSiteDevices.get(0).getCurrSite());
+//                                                wcsSrgvQueue3.setStartSite(sameSiteDevices.get(0).getCurrSite());
-                                            wcsSrgvQueue3.setEndSite(wcsSrgvMap4.getSiteId());
+//                                                wcsSrgvQueue3.setEndSite(wcsSrgvMap4.getSiteId());
-                                            wcsSrgvQueue3.setTheFloor(sameSiteDevices.get(0).getCurrFloor().toString());
+//                                                wcsSrgvQueue3.setTheFloor(sameSiteDevices.get(0).getCurrFloor().toString());
-                                            wcsSrgvQueue3.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+//                                                wcsSrgvQueue3.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
-                                            wcsSrgvQueue3.setAgvId(sameSiteDevices.get(0).getDeviceId().toString());
+//                                                wcsSrgvQueue3.setAgvId(sameSiteDevices.get(0).getDeviceId().toString());
-                                            wcsSrgvQueue3.setDefault02("4");
+//                                                wcsSrgvQueue3.setDefault02("4");
-                                            wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString());
+//                                                wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString());
-                                            wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
+//                                                wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
-                                        }
+//                                            }
-                                    }
+//                                        }
-                                }
+//                                    }
                                 }
 
 
@@ -336,7 +466,12 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                 wcsSrgvQueue.setIssued(issued);
                                 wcsSrgvQueue.setExecutionStatus(executionStatus);
                                 wcsSrgvQueue.setCargoPickSite(cargoPickSite);
-
+                                if (mydoJob1.getInOrOut().equals("30")) {
+                                    WcsSrgvMap wcsSrgvMapsite = new WcsSrgvMap();
+                                    wcsSrgvMapsite.setCargoSpaceId(mydoJob1.getTargetCargoSpaceId());
+                                    List<WcsSrgvMap> wcsSrgvSite = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMapsite);
+                                    cargoPlaceSite = wcsSrgvSite.get(0).getSiteId();
+                                }
                                 wcsSrgvQueue.setCargoPlaceSite(cargoPlaceSite);
                                 wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
                                 wcsSrgvQueue.setEndSite(endSite);
@@ -345,6 +480,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                 wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
                                 if (endSite.equals("tsj")) {
                                     wcsSrgvQueue.setDefault02("8");
+                                    mydoJob1.setExitId(null);
+                                    mydoJobService.updateMydoJob(mydoJob1);
                                 } else {
                                     wcsSrgvQueue.setDefault02("4");
                                 }
@@ -359,6 +496,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                     }
                 }
             }
+
+
+        }
     }
 
 
@@ -371,7 +511,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         mydoJob.setInOut("1");
         List<MydoJob> mydoJobs = mydoJobService.selectInOrOutMydoJobList(mydoJob);
         if (!mydoJobs.isEmpty()) {
-            MydoJob mydoJob1 = mydoJobs.get(0);
+            for (MydoJob mydoJob1 : mydoJobs) {
                 // 查询是否有已下发的该任务号队列
                 WcsSrgvQueue wcsSrgvQueue1 = wcsSagvQueueMapper.selectWcsSrgvQueueByTaskNo(mydoJob1.getTaskNo());
 
@@ -382,6 +522,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             .filter(deviceSrgv -> deviceSrgv.getWorkMode() == 5)
                             .filter(deviceSrgv -> deviceSrgv.getBattery() > 30)
                             .filter(deviceSrgv -> deviceSrgv.getCurrFloor() > 0)
+                            .filter(deviceSrgv -> deviceSrgv.getStatus() == 1)
                             .sorted((d1, d2) -> d2.getCurrFloor().compareTo(d1.getCurrFloor()))
                             .collect(Collectors.toList());
 
@@ -389,12 +530,59 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
                     if (!deviceSrgvList.isEmpty()) {
                         DeviceSrgv deviceSrgv = null;
+
+                        //找到入库
+                        WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
+                        wcsSrgvMap.setRemark(mydoJob1.getEntranceId());
+                        if (StrUtil.isEmpty(wcsSrgvMap.getRemark())) {
+                            log.error("入库任务号：{} 入库入口ID为空", mydoJob1.getTaskNo());
+                            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
+
+                        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));
+                            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));
+
+                            // 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
+                            if (currentYDistance < minYDistance) {
+                                // 情况1：当前Y轴距离更小，直接更新最优解
+                                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) {
+                                // 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);
+                                }
+                            }
+                        }
+
+                        // 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
                             for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
-                        if (deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
+                                if (!deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
-                            deviceSrgv = deviceSrgv1;
-                            log.info("楼层相等：{}", deviceSrgv);
-                            break; // 找到了相同楼层的直接选它
-                        } else {
                                     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
@@ -403,27 +591,35 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                     }
                                 }
                             }
-
+                        }
+//                        // 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())) {
+//                                    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);
+//
+//                                    }
+//                                }
+//                            }
+//
+//                        }
                         if (deviceSrgv != null) {
 
                             WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
                             WcsSrgvQueue wcsSrgvQueue4 = wcsSagvQueueMapper.selectWcsSrgvQueueByFloor(mydoJob1.getTheFloor());
 
-                        if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1 && wcsSrgvQueue4 == null) {
+                            if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1
+//                                    && wcsSrgvQueue4 == null
+                            ) {
 
                                 //查询小车是否为1楼,且1楼小车不在入库站点
                                 String endSite = "";
                                 String issued = "0";
                                 String executionStatus = "1";
-                            WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
+
-                            wcsSrgvMap.setRemark(mydoJob1.getEntranceId());
-                            if (StrUtil.isEmpty(wcsSrgvMap.getRemark())) {
-                                log.error("入库任务号：{} 入库入口ID为空", mydoJob1.getTaskNo());
-                                return;
-                            }
-                            List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
-                            //取货地址
-                            String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
 
                                 if (deviceSrgv.getCurrFloor() == 1) {
                                     endSite = cargoPickSite;
@@ -436,51 +632,60 @@ 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()
+//                                List<DeviceSrgv> sameSiteDevices = deviceSrgvMap.values().stream()
-                                    .filter(d -> d.getWorkMode() == 5
+//                                        .filter(d -> d.getWorkMode() == 5
-                                            && d.getStatus() == 1
+//                                                && d.getStatus() == 1
-                                            && d.getCurrSite().equals(cargoPickSite))
+//                                                && d.getCurrSite().equals(cargoPickSite))
-                                    .collect(Collectors.toList());
+//                                        .collect(Collectors.toList());
-                            if (!sameSiteDevices.isEmpty() && !Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())) {
+                                // 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
-                                WcsSrgvMap wcsSrgvMap3 = new WcsSrgvMap();
+//                                if (!sameSiteDevices.isEmpty() && !Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())) {
-                                wcsSrgvMap3.setRemark("cache");
+//                                    WcsSrgvMap wcsSrgvMap3 = new WcsSrgvMap();
-                                List<WcsSrgvMap> wcsSrgvMaps3 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap3);
+//                                    wcsSrgvMap3.setSiteId("07070"+sameSiteDevices.get(0).getCurrFloor());
-                                for (WcsSrgvMap wcsSrgvMap4 : wcsSrgvMaps3) {
+//                                    List<WcsSrgvMap> wcsSrgvMaps3 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap3);
-                                    //deviceSrgvMap中所有对象的currSite都不等于wcsSrgvMap4的siteId的对象
+//                                    for (WcsSrgvMap wcsSrgvMap4 : wcsSrgvMaps3) {
-                                    if (deviceSrgvMap.values().stream().noneMatch(d -> d.getCurrSite().equals(wcsSrgvMap4.getSiteId()))) {
+//
-                                        WcsSrgvQueue wcsSrgvQueue5 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(sameSiteDevices.get(0).getDeviceId().toString());
+//                                        if (deviceSrgvMap.values().stream().noneMatch(d -> d.getCurrSite().equals(wcsSrgvMap4.getSiteId()))) {
-                                        WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
+//                                            WcsSrgvQueue wcsSrgvQueue5 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(sameSiteDevices.get(0).getDeviceId().toString());
-                                        wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
+//                                            WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
-                                        List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue);
+//                                            wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
-                                        if (wcsSrgvQueue5 == null && wcsSrgvQueues.isEmpty()) {
+//                                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue);
-                                            //生成占位小车到缓存点队列
+//                                            if (wcsSrgvQueue5 == null && wcsSrgvQueues.isEmpty()) {
-                                            WcsSrgvQueue wcsSrgvQueue3 = new WcsSrgvQueue();
+//                                                //生成占位小车到缓存点队列
-                                            wcsSrgvQueue3.setGuid(UUID.randomUUID().toString());
+//                                                WcsSrgvQueue wcsSrgvQueue3 = new WcsSrgvQueue();
-                                            wcsSrgvQueue3.setTaskNo(mydoJob1.getTaskNo());
+//                                                wcsSrgvQueue3.setGuid(UUID.randomUUID().toString());
-                                            wcsSrgvQueue3.setTaskType("1");
+//                                                wcsSrgvQueue3.setTaskNo(String.valueOf(taskCache));
-                                            wcsSrgvQueue3.setPriority(Long.parseLong("2"));
+//                                                wcsSrgvQueue3.setTaskType("1");
-                                            wcsSrgvQueue3.setCargo("1");
+//                                                wcsSrgvQueue3.setPriority(Long.parseLong("2"));
-                                            wcsSrgvQueue3.setIssued(issued);
+//                                                wcsSrgvQueue3.setCargo("1");
-                                            wcsSrgvQueue3.setExecutionStatus(executionStatus);
+//                                                wcsSrgvQueue3.setIssued(issued);
-                                            wcsSrgvQueue3.setCargoPickSite(cargoPickSite);
+//                                                wcsSrgvQueue3.setExecutionStatus(executionStatus);
-                                            wcsSrgvQueue3.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
+//                                                wcsSrgvQueue3.setCargoPickSite(cargoPickSite);
-                                            wcsSrgvQueue3.setStartSite(sameSiteDevices.get(0).getCurrSite());
+//                                                wcsSrgvQueue3.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
-                                            wcsSrgvQueue3.setEndSite(wcsSrgvMap4.getSiteId());
+//                                                wcsSrgvQueue3.setStartSite(sameSiteDevices.get(0).getCurrSite());
-                                            wcsSrgvQueue3.setTheFloor(sameSiteDevices.get(0).getCurrFloor().toString());
+//                                                wcsSrgvQueue3.setEndSite(wcsSrgvMap4.getSiteId());
-                                            wcsSrgvQueue3.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+//                                                wcsSrgvQueue3.setTheFloor(sameSiteDevices.get(0).getCurrFloor().toString());
-                                            wcsSrgvQueue3.setAgvId(sameSiteDevices.get(0).getDeviceId().toString());
+//                                                wcsSrgvQueue3.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
-                                            wcsSrgvQueue3.setDefault02("4");
+//                                                wcsSrgvQueue3.setAgvId(sameSiteDevices.get(0).getDeviceId().toString());
-                                            wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString());
+//                                                wcsSrgvQueue3.setDefault02("4");
-                                            wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
+//                                                wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString());
-                                            return;
+//                                                wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
-                                        }
+//                                                taskCache++;
-                                    }
+//                                                return;
-
+//                                            }
-
+//                                        }
-                                }
+//
-                            }
+//                                    }
+//                                }
 
 
                                 //生成小车取货队列
@@ -518,6 +723,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
         }
 
+    }
+
     /**
      * 小车发送任务
      */
@@ -543,7 +750,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                         sendMainTask(deviceSrgv, wcsSrgvQueue, currSite, endSite);
                     } else {
                         //小车不在起始点
-                        sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, startSite);
+//                        sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, startSite);
+                        sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite);
                     }
                 }
             }
@@ -558,31 +766,54 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         Integer floor = deviceSrgv.getCurrFloor();
         //获取当前地图
         Map<String, WcsSrgvMap> arrByRoadSite = roadCacheService.getArrByRoadSite(floor);
-        if ((wcsSrgvQueue.getDefault02().equals("1") || wcsSrgvQueue.getDefault02().equals("2") || wcsSrgvQueue.getDefault02().equals("4")) && wcsSrgvQueue.getTheFloor().equals("1") && !wcsSrgvQueue.getEndSite().equals("tsj")) {
+        if (wcsSrgvQueue.getDefault02().equals("1") || wcsSrgvQueue.getDefault02().equals("2")) {
-            //如果是1层 锁定提升机站点
+            // 出入库任务时，只要车不在提升机里面就锁定提升机的点位，设置成墙
-            if (CollUtil.isNotEmpty(arrByRoadSite) && arrByRoadSite.values().iterator().next().getZ() == 1) {
+            if (CollUtil.isNotEmpty(arrByRoadSite) && !deviceSrgv.getCurrSite().equals("09050" + floor)) {
-                if (arrByRoadSite.containsKey("080501")) {
+                String siteId = "08050" + floor;
-                    arrByRoadSite.get("080501").setValue(0);
+                if (arrByRoadSite.containsKey(siteId)) {
+                    arrByRoadSite.get(siteId).setValue(0);
                 }
             }
         }
-//        if (wcsSrgvQueue.getDefault02().equals("8")){
+        // 移库任务直接锁定
-//            endSite="07050"+deviceSrgv.getCurrFloor();
+        if (wcsSrgvQueue.getDefault02().equals("7")) {
-//        }
+            String siteId = "08050" + floor;
-        //
+            if (arrByRoadSite.containsKey(siteId)) {
+                arrByRoadSite.get(siteId).setValue(0);
+            }
+        }
+        // 如果是点到点的 并且小车不在提升机里面才锁提升机，在提升机里面不需要锁
+        if (wcsSrgvQueue.getDefault02().equals("4") && !deviceSrgv.getCurrSite().equals("09050" + floor)) {
+            if (CollUtil.isNotEmpty(arrByRoadSite)) {
+                String siteId = "08050" + floor;
+                if (arrByRoadSite.containsKey(siteId)) {
+                    arrByRoadSite.get(siteId).setValue(0);
+                }
+
+            }
+        }
+        // 当前是换层任务，并且车的当前层和目标层不一样的时候把提升机锁住 如果是一样的时候，则直接解锁
+        if (wcsSrgvQueue.getDefault02().equals("8") && floor != Integer.parseInt(wcsSrgvQueue.getDefault07())) {
+            String siteId = "08050" + floor;
+            if (arrByRoadSite.containsKey(siteId)) {
+                arrByRoadSite.get(siteId).setValue(0);
+            }
+        }
 
 
         //处理地图
-        int[][] emptyMap = roadCacheService.handleMap(arrByRoadSite, deviceSrgv);
+        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());
 
-        if (shortestPath.size() == 1 && shortestPath.get(0)[0] == -1 && shortestPath.get(0)[1] == -1) {
+        // 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
-            shortestPath = null;
+        if (shortestPath.size() > 0) {
+            if (shortestPath.size() == 1 && shortestPath.get(0)[0] == -1) {
+                return false;
+            }
             String endBlockAgv = null;
             DeviceSrgv endBlockDevice = null;
-            // TODO 通过arrByRoadSite 中的站点 查询是否存在其他车的站点，如果存在则生成其他车到避让点的队列
             if (arrByRoadSite != null && !arrByRoadSite.isEmpty()) {
                 // 将arrByRoadSite转为String类型的Set（统一类型，方便匹配）
                 Set<String> roadSiteSet = arrByRoadSite.keySet().stream()
@@ -591,18 +822,37 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                         .collect(Collectors.toSet());
 
                 // 2. Stream流式处理deviceSrgvMap
-                Optional<Map.Entry<String, DeviceSrgv>> targetEntry = PlcSrgvRead.deviceSrgvMap.entrySet().stream()
+                Optional<Map.Entry<String, DeviceSrgv>> targetEntry = Optional.empty();
+                for (int i = 0; i < shortestPath.size(); i++) {
+                    int endx = shortestPath.get(i)[0];
+                    int endy = shortestPath.get(i)[1];
+                    WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
+                    wcsSrgvMap.setX(endx);
+                    wcsSrgvMap.setY(endy);
+                    wcsSrgvMap.setZ(floor);
+                    List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
+                    String siteId = wcsSrgvMaps.get(0).getSiteId();
+                    targetEntry = PlcSrgvRead.deviceSrgvMap.entrySet().stream()
                             .filter(entry -> entry.getValue() != null) // 过滤other为null的条目
                             // 条件1：other的当前站点存在于roadSiteSet中
                             .filter(entry -> roadSiteSet.contains(entry.getValue().getCurrSite()))
+                            .filter(entry -> siteId.equals(entry.getValue().getCurrSite()))
                             // 条件2：设备ID不等于当前entry的key
                             .filter(entry -> !Objects.equals(Convert.toStr(deviceSrgv.getDeviceId()), entry.getKey()))
-                        .findFirst(); // 找到第一个符合条件的条目（等价于原代码的break）
+                            .findFirst();
+                    // 找到第一个符合条件的条目（等价于原代码的break）
+                    if (targetEntry.isPresent()) {
+                        break;
+                    }
+
+                }
+
 
                 // 3. 处理结果（若找到则赋值）
                 if (targetEntry.isPresent()) {
                     endBlockAgv = targetEntry.get().getKey();
                     endBlockDevice = targetEntry.get().getValue();
+                    shortestPath = null;
                 }
             }
 
@@ -611,36 +861,59 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
             List<WcsSrgvQueue> wcsSrgvQueueBRS = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueBR);
             if (endBlockDevice != null && wcsSrgvQueueBRS.isEmpty()) {
                 // 选择当前层最近且可达的缓存点（避让点）
-                WcsSrgvMap cacheParam = new WcsSrgvMap();
+                ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
-                cacheParam.setRemark("cache");
+                List<DeviceSrgv> deviceSrgvs = deviceSrgvMap.values().stream()
-                cacheParam.setTheLayer(floor);
+                        .filter(d -> d.getWorkMode() == 5
-                List<WcsSrgvMap> cacheMaps = wcsSrgvMapService.selectWcsSrgvMapList(cacheParam);
+                                && d.getStatus() == 1
+                                && d.getCurrFloor().equals(floor))
+                        .collect(Collectors.toList());
+                ArrayList<String> sites = new ArrayList<>();
+                for (int i = 0; i < deviceSrgvs.size(); i++) {
+                    sites.add(deviceSrgvs.get(i).getCurrSite());
+                }
+                List<WcsSrgvMap> cacheMaps = wcsSrgvMapService.selectNotInsite("cache", floor, sites);
+//                List<WcsSrgvMap> cacheMaps = wcsSrgvMapService.selectWcsSrgvMapList(cacheParam);
                 // 生成阻挡车的避让任务（点到点，高优先级，未下发）
                 WcsSrgvQueue taskB = new WcsSrgvQueue();
                 taskB.setGuid(UUID.randomUUID().toString());
                 // 生成纯数字任务号（PLC要求），9 + HHmmss
                 taskB.setTaskNo(String.valueOf(taskCache));
                 taskB.setAgvId(endBlockAgv);
-                taskB.setTaskType("1");      // 点到点移动
+                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，尽快避让
                 taskB.setIssued("0");        // 未下发
                 taskB.setExecutionStatus("1");// 初始状态
                 taskB.setStartSite(endBlockDevice.getCurrSite());
                 taskB.setCargoPickSite(endBlockDevice.getCurrSite());
-                taskB.setCargoPlaceSite("05020" + endBlockDevice.getCurrFloor());
+                if (cacheMaps.size() > 1) {
-                taskB.setEndSite("05020" + endBlockDevice.getCurrFloor());
+                    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());
+                    }
+                }
+                if (cacheMaps.size() == 1) {
+                    taskB.setCargoPlaceSite(cacheMaps.get(0).getSiteId());
+                    taskB.setEndSite(cacheMaps.get(0).getSiteId());
+                }
+
                 taskB.setTheFloor(floor.toString());
-                taskB.setDefault03(endBlockDevice.getCurrSite());
+//                taskB.setDefault03(endBlockDevice.getCurrSite());
                 taskB.setDefault07(floor.toString());
-                taskB.setDefault08("1");//避让任务，直接完成
+//                taskB.setDefault08("1");//避让任务，直接完成
                 taskB.setCreateDate(DateUtil.now());
                 wcsSagvQueueMapper.insertWcsSrgvQueue(taskB);
+
                 taskCache++;
                 log.info("目标点 {" + deviceSrgv.getCurrSite() + "} 被小车 {" + deviceSrgv.getDeviceId() + "} 占用，已调度其前往避让点 {}", endSite, endBlockAgv, "02050" + endBlockDevice.getCurrFloor());
                 // 当前车等待下一轮调度（待阻挡车移开后自然可达）
                 return false;
             }
+
         }
 
 
@@ -745,14 +1018,14 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         }
         if (("tsj").equals(endSite)) {
             if (wcsSrgvQueue.getDefault02().equals("8")) {
-                endSite = extractTarget(String.valueOf(pathBuilder));
+//                endSite = extractTarget(String.valueOf(pathBuilder));
-            } else {
+                endSite = "07050" + wcsSrgvQueue.getTheFloor();
+            }
+            if (wcsSrgvQueue.getDefault02().equals("1") || wcsSrgvQueue.getDefault02().equals("2")) {
                 endSite = "09050" + wcsSrgvQueue.getTheFloor();
             }
         }
-//        if (("tsj").equals(startSite)) {
+
-//            endSite = "09050" + wcsSrgvQueue.getTheFloor();
-//        }
         List<SendData2> sendDataList = null;
         if (StrUtil.isEmpty(wcsSrgvQueue.getDefault08())) {
             sendDataList = new ArrayList<>();
@@ -841,8 +1114,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 sendDataList.add(taskType);
 
             }
-
+            //  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
@@ -864,14 +1138,17 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 wcjs.setType(1);
                 sendDataList.add(wcjs);
 
-                //任务类型转换
+                //任务类型转换   //TODO  不行就改成7
                 SendData2 taskType = new SendData2();
                 taskType.setAddress("4402");
-                taskType.setData("7");
+                taskType.setData("9");
                 taskType.setType(1);
                 sendDataList.add(taskType);
 
             }
+            if (sendDataList == null) {
+                sendDataList = new ArrayList<>();
+            }
             //任务号、原、目标数据转换
             String siteId = wcsSrgvQueue.getTaskNo();//+ "," + startSite + "," + endSite;
             SendData2 site = new SendData2();
@@ -901,7 +1178,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
             wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
             MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
             //换层任务不修改执行阶段
-            if (!wcsSrgvQueue.getDefault02().equals("8") && !wcsSrgvQueue.getDefault02().equals("3")) {
+            if (mydoJob != null && !wcsSrgvQueue.getDefault02().equals("8") && !wcsSrgvQueue.getDefault02().equals("3")) {
                 mydoJob.setExecutionPhase("3");
                 mydoJob.setStatus("3");
                 mydoJobService.updateMydoJob(mydoJob);
@@ -947,6 +1224,10 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 // 载货任务（出库、入库、移库等）
                 sendFlag = sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite);
                 break;
+            case "7":
+                // 移库任务（出库、入库、移库等）
+                sendFlag = sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite);
+                break;
         }
 
         if (sendFlag) {
@@ -1084,7 +1365,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
             //处理换层逻辑
             String site1 = "07050" + wcsSrgvQueue.getDefault07();
             String site2 = "10050" + wcsSrgvQueue.getDefault07();
+            String site3 = "09050" + wcsSrgvQueue.getDefault07();
             sites.add(site1);
+            sites.add(site3);
             sites.add(site2);
         }
         if (Objects.equals(currSite, wcsSrgvQueue.getEndSite()) || (siteId != null && Objects.equals(currSite, siteId)) || sites.contains(currSite)) {
@@ -1114,17 +1397,12 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 //                return;
             }
             //空车任务  且当前车的位置和取货位置相同
-            if ("1".equals(taskType)
+            if ("1".equals(taskType) && (cargoPickSite.equals(currSite) || (wcsSrgvQueue.getDefault06() != null && wcsSrgvQueue.getDefault06().equals(currSite)) || sites.contains(currSite))) {
-                    && (cargoPickSite.equals(currSite) || (wcsSrgvQueue.getDefault06() != null && wcsSrgvQueue.getDefault06().equals(currSite)) || sites.contains(currSite))
-
-            ) {
                 String endSite = "";
                 String xfType = "";
+                // 换完层直接根据任务去接出入库任务
                 if (wcsSrgvQueue.getDefault02().equals("8")) {
-                    //换层任务直接完成，等待后续入出库作业下发
+
-                    wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
-                    wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
-                    return;
                 } else {
                     WcsSrgvMap wcsSrgvMapq = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPickSite);
                     WcsSrgvMap wcsSrgvMapf = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPlaceSite);
@@ -1138,6 +1416,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             //不同层，终点为提升机
                             endSite = "tsj";
                         }
+                        // 如果终点是提升机需要判断是否有其他任务也是提升机的  这个时候先停一下
+//                        if (endSite.equals("tsj")) {
+//                            Integer count = wcsSagvQueueMapper.selectTsj();
+//                            if (count > 0) {
+//                                return;
+//                            }
+//                        }
 
                         if ("L1004".equals(wcsSrgvMapq.getRemark()) || "L1005".equals(wcsSrgvMapq.getRemark())) {
                             xfType = "1";//入库
@@ -1176,18 +1461,39 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             jobCallBack.setTaskNo(Convert.toLong(mydoJob.getTaskNo()));
                             jobCallBack.setCreateTime(new Date());
                             jobCallBackService.insertJobCallBack(jobCallBack);
+                            mydoJobService.insertHistory(mydoJob.getJobId());
                             mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId());
                         }
                         break;
 
                     case "2":
                         MydoJob mydoJobOut = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
-                        if (mydoJobOut != null) {
+                        if (mydoJobOut != null && (cargoPlaceSite.equals(currSite))) {
+                            log.info("1471 taskNo:[{}],currSite:[{}],cargoPlaceSite:[{}]",wcsSrgvQueue.getTaskNo(),currSite,cargoPlaceSite);
+                            JobCallBack jobCallBack = new JobCallBack();
+                            jobCallBack.setType(wcsSrgvQueue.getDefault02());
+                            jobCallBack.setMydojobId(mydoJobOut.getJobId());
+                            jobCallBack.setStatus("0");
+                            jobCallBack.setTaskNo(Convert.toLong(mydoJobOut.getTaskNo()));
+                            jobCallBack.setCreateTime(new Date());
+                            jobCallBackService.insertJobCallBack(jobCallBack);
                             mydoJobService.insertHistory(mydoJobOut.getJobId());
                             mydoJobService.deleteMydoJobByJobId(mydoJobOut.getJobId());
                         }
                     case "7"://移库，变动库存
-                        break;
+                        MydoJob mydoJobyk = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
+                        if (mydoJobyk != null) {
+                            JobCallBack jobCallBack = new JobCallBack();
+                            jobCallBack.setType(wcsSrgvQueue.getDefault02());
+                            jobCallBack.setMydojobId(mydoJobyk.getJobId());
+                            jobCallBack.setStatus("0");
+                            jobCallBack.setTaskNo(Convert.toLong(mydoJobyk.getTaskNo()));
+                            jobCallBack.setCreateTime(new Date());
+                            jobCallBackService.insertJobCallBack(jobCallBack);
+                            mydoJobService.insertHistory(mydoJobyk.getJobId());
+                            mydoJobService.deleteMydoJobByJobId(mydoJobyk.getJobId());
+                        }
+
                     default:
                         break;
                 }
@@ -1196,8 +1502,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
                 wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
 
-                // 充电任务
+                // 充电任务  并且小车也是充电任务
-            } else if ("3".equals(taskType)) {
+            } else if ("3".equals(taskType) && wcsSrgvQueue.getDefault02().equals("3")) {
                 //删除队列，插入历史表
                 wcsSrgvQueue.setExecutionStatus("4");
                 wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
@@ -1207,9 +1513,15 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
                 //充电之类的，不知道用不用
 
+            } else if ("4".equals(taskType)) {
+                {
+                    wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
                 }
+
+            }
+
             //更新小车待机时间
-            deviceSrgvService.updateLastTimeByAgvId(wcsSrgvQueue.getAgvId());
+//            deviceSrgvService.updateLastTimeByAgvId(wcsSrgvQueue.getAgvId());
         }
 
     }
@@ -1237,9 +1549,10 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 String startSite = wcsSrgvQueue.getStartSite();
 
                 if (!startSite.equals(currSite)) {
-                    wcsSrgvQueue.setIssued("1");
+//                    wcsSrgvQueue.setIssued("1");
-                    wcsSrgvQueue.setStartDate(DateUtil.now());
+//                    wcsSrgvQueue.setExecutionStatus("3");
-                    wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
+//                    wcsSrgvQueue.setStartDate(DateUtil.now());
+//                    wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
                 }
             }
         }

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

@@ -124,7 +124,17 @@ public class SsjThread implements Runnable {
     }
 
     void inDispatch1(DeviceSsj deviceSsj) {
-        if (deviceSsj.getRkqq() == 1 && StrUtil.isNotBlank(deviceSsj.getTrayCode())) {
+        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) {
+                int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), getMydoJob.getTaskNo(), 1, 1);
+                if (i == 1) {
+                    getMydoJob.setStatus("3");
+                    mydoJobService.updateMydoJob(getMydoJob);
+                    log.info(deviceSsj.getDeviceCode() + "输送机下发任务号成功:{}", getMydoJob.getTaskNo());
+                }
+            } 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());
@@ -136,6 +146,8 @@ public class SsjThread implements Runnable {
                     mydoJob.setStatus("1");
                     mydoJob.setExecutionPhase("1");
                     mydoJob.setCreateTime(new Date());
+                    mydoJob.setTheFloor(mydoJob.getClassId());
+                    mydoJob.setTrayCode(trayCode);
                     if ("GS1002".equals(deviceSsj.getDeviceCode())) {
                         mydoJob.setEntranceId("L1004");
                     } else {
@@ -144,6 +156,7 @@ public class SsjThread implements Runnable {
                     // 插入入库作业，并且根据作业直接下发 ，下发完毕直接修改执行阶段
                     MydoJob mydoJob1 = new MydoJob();
                     mydoJob1.setTaskNo(mydoJob.getTaskNo());
+                    mydoJob1.setTrayCode(mydoJob.getTrayCode());
                     List<MydoJob> mydoJobs = mydoJobService.selectMydoJobList(mydoJob1);
                     if (mydoJobs.size() > 0) {
                         return;
@@ -158,11 +171,10 @@ public class SsjThread implements Runnable {
                 } else {
                     int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), "0", 2, 2);
                     if (i == 1) {
-                    log.info(deviceSsj.getDeviceCode() + "未查到该托盘码作业，下发退回，去向2");
+                        log.info(deviceSsj.getDeviceCode() + "未查到该托盘码作业，下发退回，去向2 条码" + deviceSsj.getTrayCode());
+                    }
                 }
-
             }
-
 
         }
 
@@ -171,11 +183,28 @@ public class SsjThread implements Runnable {
     void inDispatch2(DeviceSsj deviceSsj) {
         if (deviceSsj.getDw() == 1 && deviceSsj.getTaskNo() > 1000) {
 
+            MydoJob mydoJob1 = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(deviceSsj.getTaskNo()));
+            if (mydoJob1.getCargoSpaceId() != null) {
+                return;
+            }
+
+            HashMap<String, Object> map = new HashMap<>();
+            map.put("taskNo", deviceSsj.getTaskNo());
+            //拉取
+            AjaxResult ajaxResult = apiService.sendCargoSpace(map);
+            if (ajaxResult.isSuccess()) {
+                MydoJob data = BeanUtil.toBean(ajaxResult.get("data"), MydoJob.class);
+                String cargoSpaceId = data.getCargoSpaceId();
+                String theFloor = data.getClassId();
                 MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo((long) deviceSsj.getTaskNo());
                 if (mydoJob != null) {
+                    mydoJob.setTheFloor(theFloor);
+                    mydoJob.setCargoSpaceId(cargoSpaceId);
                     mydoJob.setExecutionPhase("2");
                     mydoJobService.updateMydoJob(mydoJob);
                 }
             }
+
+        }
     }
 }

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

@@ -8,6 +8,8 @@ import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjUtil;
 import cn.hutool.core.util.StrUtil;
 import com.ruoyi.bas.port.service.IWcsPortService;
+import com.ruoyi.bas.srgvmap.domain.WcsSrgvMap;
+import com.ruoyi.bas.srgvmap.service.IWcsSrgvMapService;
 import com.ruoyi.common.domain.SendData;
 import com.ruoyi.common.utils.spring.SpringUtils;
 import com.ruoyi.device.srgv.domain.DeviceSrgv;
@@ -35,13 +37,17 @@ public class TsjThread implements Runnable {
     private ITsjDeviceExecutionQueueFinishService tsjDeviceExecutionQueueFinishService;
     private IWcsPortService wcsPortService;
     private IWcsSrgvQueueService wcsSrgvQueueService;
-    public IMydoJobService mydoJobService;
+    private IMydoJobService mydoJobService;
+    private IWcsSrgvMapService wcsSrgvMapService;
+
 
     public void init() {
         tsjDeviceExecutionQueueService = SpringUtils.getBean(ITsjDeviceExecutionQueueService.class);
         tsjDeviceExecutionQueueFinishService = SpringUtils.getBean(ITsjDeviceExecutionQueueFinishService.class);
         wcsPortService = SpringUtils.getBean(IWcsPortService.class);
         wcsSrgvQueueService = SpringUtils.getBean(IWcsSrgvQueueService.class);
+        wcsSrgvMapService = SpringUtils.getBean(IWcsSrgvMapService.class);
+
     }
 
     @Override
@@ -76,7 +82,7 @@ public class TsjThread implements Runnable {
          * 1、下发完成  如果设备状态为 2-工作 ，触发方式 2-自动，任务号大于999，则代表任务下发完成
          *
          * */
-        if (czfs == 2 && sbzt == 2 && rwh > 999) {
+        if (czfs == 2 && sbzt == 2 && rwh > 500) {
 //            finishSend(rwh, tsj);
         }
 
@@ -84,11 +90,16 @@ public class TsjThread implements Runnable {
          * 2、四向车任务生成 2-工作 ，触发方式 2-自动，任务号大于999
          *
          * */
-        if (czfs == 2 && sbzt == 2 && jdbz == 4 && rwh > 999) {
+        if (czfs == 2 && sbzt == 2 && jdbz == 4 && rwh > 500) {
+            WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueueService.selectWcsSrgvQueueByTaskNo(String.valueOf(rwh));
+            String agvId = wcsSrgvQueue.getAgvId();
+            DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(agvId);
+            if (deviceSrgv.getCurrSite().equals("09050" + tsj.getDqcs())) {
                 createSRgvQueue(rwh, tsj);
             }
+        }
         // 提升机取货中 说明对齐当前要取货层 开始给小车下发
-        if (czfs == 2 && sbzt == 2 && jdbz == 2 && rwh > 999) {
+        if (czfs == 2 && sbzt == 2 && jdbz == 2 && rwh > 500) {
             createSRgvQueueTsjQd(rwh, tsj);
         }
 
@@ -96,7 +107,7 @@ public class TsjThread implements Runnable {
          * 2、任务完成
          *
          * */
-        if (czfs == 2 && sbzt == 2 && jdbz == 5 && rwh > 999) {
+        if (czfs == 2 && sbzt == 2 && jdbz == 5 && rwh > 500) {
             //任务完成
             finishTask(rwh, tsj);
         }
@@ -117,8 +128,7 @@ public class TsjThread implements Runnable {
     private void createSRgvQueueTsjQd(Long rwh, DeviceTsj tsj) {
         for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
             DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(sRgv);
-            if (deviceSrgv.getCurrSite().equals("09050" + deviceSrgv.getCurrFloor()) && deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() == 2 && tsj.getHczt() == 1) {
+            if ((deviceSrgv.getCurrSite().equals("09050" + deviceSrgv.getCurrFloor()) || deviceSrgv.getCurrSite().equals("10050" + deviceSrgv.getCurrFloor())) && deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() == 1 && tsj.getHczt() == 1) {
-
                 SendData rwlxSendData = new SendData(Tools.INT, 1);
                 DeviceTsj deviceTsj = PlcTsjRead.deviceTsjMap.get(Convert.toStr(1));
                 byte[] bytes = Tools.sendData(rwlxSendData);
@@ -147,11 +157,15 @@ public class TsjThread implements Runnable {
         WcsSrgvQueue sRgvQueueParam = new WcsSrgvQueue();
         sRgvQueueParam.setTaskNo(Convert.toStr(rwh));
         sRgvQueueParam.setEndSite(Convert.toStr("tsj"));
+        sRgvQueueParam.setIssued("1");
+        sRgvQueueParam.setExecutionStatus("3");
         List<WcsSrgvQueue> wcsSrgvQueues = wcsSrgvQueueService.selectWcsSrgvQueueList(sRgvQueueParam);
         if (CollUtil.isEmpty(wcsSrgvQueues)) {
             return;
         }
         WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueueService.insertHistory(Convert.toStr(rwh));
+        String cargoPickSite = wcsSrgvQueue.getCargoPickSite();
+        String cargoPlaceSite = wcsSrgvQueue.getCargoPlaceSite();
         //修改起点终点
         if (ObjUtil.isNotEmpty(wcsSrgvQueue)) {
             wcsSrgvQueue.setCreateDate(DateUtil.formatDateTime(DateUtil.date()));
@@ -175,7 +189,6 @@ public class TsjThread implements Runnable {
                     endSite = wcsSrgvQueue.getCargoPlaceSite();
                     break;
                 case "3":
-                    //充电
                     break;
                 case "4":
                     //点到点
@@ -192,10 +205,44 @@ public class TsjThread implements Runnable {
                             log.info("任务类型错误");
                     }
                     break;
+                case "8":
+                    //换层任务直接变成点到点任务
+                    switch (wcsSrgvQueue.getTaskType()) {
+                        case "1":
+                            WcsSrgvMap wcsSrgvMapq = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPickSite);
+                            WcsSrgvMap wcsSrgvMapf = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPlaceSite);
+                            if (wcsSrgvMapq != null && wcsSrgvMapf != null) {
+
+                                wcsSrgvQueue.setEndSite(cargoPickSite);
+                                wcsSrgvQueue.setDefault02("4");
+                                wcsSrgvQueue.setTheFloor(wcsSrgvMapq.getTheLayer().toString());
+                                wcsSrgvQueue.setDefault07(wcsSrgvMapf.getTheLayer().toString());
+                                wcsSrgvQueue.setIssued("0");
+                                wcsSrgvQueue.setExecutionStatus("1");
+                                wcsSrgvQueue.setTaskType("1");
+                            }
+                            wcsSrgvQueue.setStartSite("09050" + tsj.getDqcs());
+                            wcsSrgvQueueService.updateWcsSrgvQueue(wcsSrgvQueue);
+                            break;
+                        case "3":
+                            WcsSrgvMap wcsSrgvMapq1 = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPickSite);
+                            WcsSrgvMap wcsSrgvMapf1 = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPlaceSite);
+                            if (wcsSrgvMapq1 != null && wcsSrgvMapf1 != null) {
+                                wcsSrgvQueue.setEndSite(cargoPlaceSite);
+                                wcsSrgvQueue.setDefault02("3");
+                                wcsSrgvQueue.setTheFloor(wcsSrgvMapq1.getTheLayer().toString());
+                                wcsSrgvQueue.setDefault07(wcsSrgvMapf1.getTheLayer().toString());
+                                wcsSrgvQueue.setIssued("0");
+                                wcsSrgvQueue.setExecutionStatus("1");
+                                wcsSrgvQueue.setTaskType("3");
+                            }
+                            wcsSrgvQueue.setStartSite("09050" + tsj.getDqcs());
+                            wcsSrgvQueueService.updateWcsSrgvQueue(wcsSrgvQueue);
+                            break;
+                    }
             }
 
-            if (StrUtil.isNotEmpty(startSite) && StrUtil.isNotEmpty(endSite)) {
+            if (StrUtil.isNotEmpty(startSite) && StrUtil.isNotEmpty(endSite) && !wcsSrgvQueue.getDefault02().equals("8")) {
-
                 wcsSrgvQueue.setStartSite(startSite);
                 wcsSrgvQueue.setEndSite(endSite);
                 wcsSrgvQueueService.updateWcsSrgvQueue(wcsSrgvQueue);
@@ -209,7 +256,8 @@ public class TsjThread implements Runnable {
     private void createQueue(DeviceTsj tsj) {
         for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
             DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(sRgv);
-            if (deviceSrgv.getSpare2().equals("1") && deviceSrgv.getTaskNo() > 0) {
+            Integer count = tsjDeviceExecutionQueueService.selectCount();
+            if (deviceSrgv.getSpare2().equals("1") && deviceSrgv.getTaskNo() > 0 && count == 0) {
                 //请求进入输送机
                 WcsSrgvQueue sRgvQueueParam = new WcsSrgvQueue();
                 sRgvQueueParam.setAgvId(Convert.toStr(deviceSrgv.getDeviceId()));

ruoyi-admin/src/main/java/com/ruoyi/tcp/GetDeviceSrgvMap.java

@@ -90,6 +90,9 @@ public class GetDeviceSrgvMap {
                 }
                 dto.setStatus(status);
                 dto.setLocation(d.getCurrSite() == null ? "" : d.getCurrSite());
+                dto.setRow(d.getCurrSite() == null ? "" :  d.getCurrSite().substring(2,4));
+                dto.setColumn(d.getCurrSite() == null ? "" :d.getCurrSite().substring(0,2));
+                dto.setLayer(d.getCurrSite() == null ? "" : d.getCurrSite().substring(4,6));
                 dto.setAlarm(d.getAlarm() == null ? "" : String.valueOf(d.getAlarm()));
                 dto.setAlarmMsg(DictUtils.getDictLabel("srgv_alarm", d.getAlarm() == null ? "" : String.valueOf(d.getAlarm())));
                 if (d.getTaskNo() != null && d.getTaskNo() > 0) {
@@ -132,6 +135,9 @@ public class GetDeviceSrgvMap {
         private String isThere;
         private String status;
         private String location;
+        private String row;
+        private String column;
+        private String layer;
         private String alarm;
         private String alarmMsg;
         private String trayCode;

ruoyi-admin/src/main/java/com/ruoyi/tcp/GetDeviceSsjMap.java

@@ -99,8 +99,21 @@ public class GetDeviceSsjMap {
             dto.setRotationDirection(calcRotationDirection(d.getTaskNo()));
             dto.setAlarm(String.valueOf(d.getException()));
             dto.setAlarmMsg(DictUtils.getDictLabel("ssj_ex", String.valueOf(d.getException())));
-            dto.setDW(String.valueOf(d.getDw()));
             dto.setKX(String.valueOf(d.getKx()));
+            if (!dto.getTaskNo().equals("0")){
+                if (dto.getRotationDirection().equals("1")){
+                    dto.setDW(String.valueOf(d.getDw()));
+                }else {
+                    if (dto.getKX().equals("0")){
+                        dto.setDW("1");
+                    }else {
+                        dto.setDW("0");
+                    }
+                }
+            }else {
+                dto.setDW("0");
+            }
+
             if (d.getTaskNo() > 0) {
                 try {
                     MydoJob job = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(d.getTaskNo()));
@@ -128,16 +141,10 @@ public class GetDeviceSsjMap {
      */
     private String calcRotationDirection(int taskNo) {
         try {
-            if (taskNo <= 0) return "0";
+            if (taskNo <= 0) {
-            MydoJob job = mydoJobService.selectMydoJobByTaskNo((long) taskNo);
-            if (job == null || job.getInOrOut() == null) return "0";
-            int val;
-            try {
-                val = Integer.parseInt(job.getInOrOut());
-            } catch (NumberFormatException e) {
                 return "0";
             }
-            return val >= 20 ? "2" : "1";
+            return taskNo <= 50000 ? "1" : "2";
         } catch (Exception e) {
             return "0";
         }

ruoyi-admin/src/main/java/com/ruoyi/tcp/GetDeviceTsjMap.java

@@ -80,7 +80,7 @@ public class GetDeviceTsjMap {
                 String code = entry.getKey();
                 DeviceTsj d = entry.getValue();
                 TsjDto dto = new TsjDto();
-                dto.setId(String.valueOf(d.getId()));
+                dto.setId("TW001");
                 dto.setLayer(d.getDqcs() == null ? "" : String.valueOf(d.getDqcs()));
                 dto.setTaskNo(d.getRwh() == null ? "" : String.valueOf(d.getRwh()));
                 dto.setZxjd(d.getJdbz() == null ? "" : String.valueOf(d.getJdbz()));

ruoyi-admin/src/main/resources/application-druid.yml

@@ -6,9 +6,9 @@ spring:
         druid:
             #主数据信息
             master:
-                url: jdbc:sqlserver://127.0.0.1:1433;databaseName=FT546-WCS;
+                url: jdbc:sqlserver://127.0.0.1:1433;databaseName=FT546-wcs;
                 username: sa
-                password: 123456
+                password: Flrd0914.
             # 从库数据源
             slave:
                 # 从数据源开关/默认关闭

ruoyi-admin/src/main/resources/application.yml

@@ -34,7 +34,7 @@ server:
 # 日志配置
 logging:
   level:
-    com.ruoyi: debug
+    com.ruoyi: info
     org.springframework: warn
 
 # 用户配置
@@ -64,7 +64,7 @@ spring:
   devtools:
     restart:
       # 热部署开关
-      enabled: true
+      enabled: false
   # redis 配置
   redis:
     # 地址

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

@@ -161,4 +161,29 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             #{guid}
         </foreach>
     </delete>
+
+    <select id="selectNotInsite"  resultMap="WcsSrgvMapResult">
+        SELECT
+
+        *
+        FROM
+        wcs_srgv_map
+        WHERE
+        remark = #{cache}
+        AND plc_layer = #{floor}
+
+        <if test="sites != null and sites.size() > 0">
+            AND site_id NOT IN
+            <foreach collection="sites" item="site" separator="," open="(" close=")">
+                #{site}
+            </foreach>
+
+        </if>
+        <if test="sites == null or sites.size() == 0">
+            AND 1=1
+        </if>
+    </select>
+
+
+
 </mapper>

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

@@ -123,4 +123,9 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             #{id}
         </foreach>
     </delete>
+    <update id="updateDeviceCdzSpare" parameterType="DeviceCdz">
+        update device_cdz set spare1=null where id=#{id}
+    </update>
+
+
 </mapper>

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

@@ -25,13 +25,14 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <result property="theFloor"    column="the_floor"    />
         <result property="productId"    column="product_id"    />
         <result property="productName"    column="product_name"    />
+        <result property="trayCode"    column="tray_code"    />
     </resultMap>
 
     <sql id="selectMydoJobVo">
-        select job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag,the_floor,product_id,product_name from mydo_job_wcs
+        select job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag,the_floor,product_id,product_name,tray_code from mydo_job_wcs
     </sql>
     <sql id="selectMydoJobFinishVo">
-        select job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag,the_floor from mydo_job_wcs_finish
+        select job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag,the_floor,product_id,product_name,tray_code from mydo_job_wcs_finish
     </sql>
 
     <select id="selectMydoJobList" parameterType="MydoJob" resultMap="MydoJobResult">
@@ -55,6 +56,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="theFloor != null  and theFloor != ''"> and the_floor = #{theFloor}</if>
             <if test="productId != null  and productId != ''"> and product_id = #{productId}</if>
             <if test="productName != null  and productName != ''"> and product_name = #{productName}</if>
+            <if test="trayCode != null  and trayCode != ''"> and tray_code = #{trayCode}</if>
 
         </where>
     </select>
@@ -118,6 +120,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="warehouseId != null">warehouse_id,</if>
             <if test="faultFlag != null">fault_flag,</if>
             <if test="theFloor != null">the_floor,</if>
+            <if test="trayCode != null">tray_code,</if>
          </trim>
         <trim prefix="values (" suffix=")" suffixOverrides=",">
             <if test="jobId != null">#{jobId},</if>
@@ -138,6 +141,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="warehouseId != null">#{warehouseId},</if>
             <if test="faultFlag != null">#{faultFlag},</if>
             <if test="theFloor != null">#{theFloor},</if>
+            <if test="trayCode != null">#{trayCode},</if>
          </trim>
     </insert>
     <insert id="insertHistory">
@@ -244,4 +248,67 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         and status = 3
         order by priority desc,create_time
     </select>
+
+    <select id="selectMydoJobOut"  resultMap="MydoJobResult">
+        WITH floor_group AS (
+        SELECT
+        b.cargo_space_id,
+        b.group_coding_no,
+        b.the_floor,
+        b.group_coding,
+        a.task_no AS task_no,
+        a.job_id AS job_id,
+        a.in_or_out,  -- 之前新增的字段
+        a.target_cargo_space_id,  -- 新增字段：加入target_cargo_space_id
+        ROW_NUMBER() OVER (PARTITION BY b.the_floor 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
+        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,
+        task_no,
+        job_id,
+        in_or_out,  -- 之前新增的展示字段
+        target_cargo_space_id  -- 最终查询结果中显示该字段
+        FROM
+        floor_group
+        WHERE
+        rn &lt;= 1
+        ORDER BY
+        group_coding DESC;
+
+    </select>
+    <select id="selectMydoJobByTrayCode" resultMap="MydoJobResult">
+        <include refid="selectMydoJobVo"/>
+        where tray_code =#{trayCode}
+    </select>
+
+    <select id="selectExit" parameterType="string" resultType="java.lang.Integer">
+select count(1) from mydo_job_wcs where in_or_out>=20 and  exit_id = #{exitId}
+
+    </select>
+
+    <select id="selectMydoJobCount" resultType="java.lang.Integer">
+        select count(1) from mydo_job_wcs
+
+    </select>
+
 </mapper>

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

@@ -121,6 +121,13 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
          </trim>
     </insert>
 
+
+    <select id="selectCount" resultType="java.lang.Integer">
+        select count(1)
+        from tsj_device_execution_queue
+
+    </select>
+
     <update id="updateTsjDeviceExecutionQueue" parameterType="TsjDeviceExecutionQueue">
         update tsj_device_execution_queue
         <trim prefix="SET" suffixOverrides=",">

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

@@ -85,7 +85,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
 
     <select id="selectWcsSrgvQueueByFloor" parameterType="String" resultMap="WcsSrgvQueueResult">
         <include refid="selectWcsSrgvQueueVo"/>
-        where default07 =#{theFloor}
+        where default07 =#{theFloor} and default07 !='1'
     </select>
 
     <insert id="insertWcsSrgvQueue" parameterType="WcsSrgvQueue">
@@ -192,4 +192,34 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         </foreach>
     </delete>
 
+        <select id="selectMinCountJob" parameterType="list" resultType="string">
+            <choose>
+                <when test="list == null or list.size() == 0">
+                    SELECT '' AS result_site
+                </when>
+                <otherwise>
+                    select top(1) site_id from
+                    (select '050101' as site_id,isnull(count(1),0) as num from wcs_srgv_queue where cargo_place_site ='050101'
+                    union
+                    select '070101' as site_id,isnull(count(1),0) as num  from wcs_srgv_queue where cargo_place_site ='070101')r
+                    where r.site_id in
+                    <foreach collection="list" item="site" open="(" separator="," close=")">
+                         #{site}
+                    </foreach>
+                    order by num
+
+                </otherwise>
+            </choose>
+        </select>
+
+
+    <select id="selectTsj" resultType="java.lang.Integer" >
+           select   count(1)  from   wcs_srgv_queue where end_site='tsj'
+
+    </select>
+
+    <select id="selectByCaogoPlaceSite" resultType="java.lang.Integer" parameterType="string">
+        select   count(1)  from   wcs_srgv_queue where cargo_place_site=#{siteId}
+    </select>
+
 </mapper>