小车

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

@@ -1,5 +1,6 @@
 package com.ruoyi;
 
+import com.ruoyi.schedule.ScheduleThread;
 import org.mybatis.spring.annotation.MapperScan;
 import org.springframework.boot.SpringApplication;
 import org.springframework.boot.autoconfigure.SpringBootApplication;
@@ -7,6 +8,8 @@ import org.springframework.boot.autoconfigure.jdbc.DataSourceAutoConfiguration;
 import org.springframework.scheduling.annotation.EnableAsync;
 import org.springframework.scheduling.annotation.EnableScheduling;
 
+import javax.annotation.Resource;
+
 /**
  * 启动程序
  *
@@ -17,6 +20,7 @@ import org.springframework.scheduling.annotation.EnableScheduling;
 @EnableAsync
 public class RuoYiApplication
 {
+
     public static void main(String[] args)
     {
         // System.setProperty("spring.devtools.restart.enabled", "false");

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

@@ -7,6 +7,7 @@ import com.ruoyi.common.core.controller.BaseController;
 import com.ruoyi.common.core.domain.AjaxResult;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.web.bind.annotation.*;
 
 import java.util.Map;
@@ -46,8 +47,14 @@ public class AgvController extends BaseController {
      * @return
      */
     @PostMapping("/receiveAgvMoveJob")
-    public AjaxResult receiveAgvMoveJob(@RequestBody Map<String, String> param) {
+    public int receiveAgvMoveJob(@RequestBody Map<String, String> param) {
         return apiService.receiveAgvMoveJob(param);
     }
 
+//@Scheduled(cron = "0/5 * * * * ?")
+    public void sendAgvTask(){
+        apiService.sendAgvTask();
+    }
+
+
 }

ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/genAgvSchedulingTask/GenAgvSchedulingTaskRequest.java

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

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

@@ -34,11 +34,11 @@ public interface IApiService
      * @param code1 起点
      * @param code2 终点
      * @param wmsTrayCode 容器码 托盘料箱码/容器码
-     * @param wmsTaskNo mydojob 任务
+     * @param type mydojob 任务
-     * @param wmsTaskType 1-入库 2-出库 3-agv搬运
+     * @param jobId 1-入库 2-出库 3-agv搬运
      * @return
      */
-    public AgvQueue createAgvQueue(String code1,String code2,String wmsTrayCode,String taskCode,String wmsTaskType,String traySize,String wmsTaskNo);
+    public int createAgvQueue(String code1,String code2,String wmsTrayCode,String taskCode,String type,String jobId);
 
         /**
          * 取消AGV任务
@@ -76,7 +76,9 @@ public interface IApiService
      * @param param
      * @return
      */
-    AjaxResult receiveAgvMoveJob(Map<String, String> param);
+    int receiveAgvMoveJob(Map<String, String> param);
+
+    void sendAgvTask();
 
     /**
      * 任务到达拣选口
@@ -121,6 +123,10 @@ 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/IRequestLogService.java

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

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

@@ -62,17 +62,22 @@ public class ApiServiceImpl implements IApiService {
      */
     @Override
     public GenAgvSchedulingTaskResponse genAgvSchedulingTask(GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest) {
-        RequestLog requestLog = requestLogService.getRequestLog(GEN_AGV_SCHEDULING_TASK, "生成AGV任务", JSONUtil.toJsonStr(genAgvSchedulingTaskRequest));
+        RequestLog requestLog = requestLogService.getRequestLogAgv(CREATE_AGV_TASK_URL, "生成AGV任务", JSONUtil.toJsonStr(genAgvSchedulingTaskRequest));
         if ("1".equals(requestLog.getIsSuccessful())) {
-            return BeanUtil.toBean(requestLog.getResponseBody(), GenAgvSchedulingTaskResponse.class);
+            GenAgvSchedulingTaskRequest bean = BeanUtil.toBean(requestLog.getResponseBody(), GenAgvSchedulingTaskRequest.class);
+            GenAgvSchedulingTaskResponse response = new GenAgvSchedulingTaskResponse();
+            response.setCode(0);
+            response.setMessage("请求成功");
+            response.setReqCode(genAgvSchedulingTaskRequest.getOrderId());
+            return  response;
         } else {
             //todo 需要调试
             GenAgvSchedulingTaskResponse response = new GenAgvSchedulingTaskResponse();
             response.setCode(500);
             response.setMessage("请求失败");
             //todo 需要调试小车请求
-            response.setCode(0);
+//            response.setCode(0);
-            response.setMessage("模拟测试");
+//            response.setMessage("模拟测试");
             return response;
         }
     }
@@ -111,18 +116,39 @@ public class ApiServiceImpl implements IApiService {
      * @return
      */
     @Override
-    public AjaxResult receiveAgvMoveJob(Map<String, String> param) {
+    public int receiveAgvMoveJob(Map<String, String> param) {
         String startPoint = param.get("startPoint");
         String endPoint = param.get("endPoint");
-        String traySize = param.get("traySize");
+        String type = param.get("type");
-        String wmsTaskNo = param.get("wmsTaskNo");
+        String jobId = param.get("jobId");
 
-        AgvQueue agvQueue = createAgvQueue(startPoint, endPoint, param.get("trayCode"), param.get("taskNo"), "1", traySize, wmsTaskNo);
+        int i = createAgvQueue(startPoint, endPoint, param.get("trayCode"), param.get("taskNo"), type,jobId);
-        GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(agvQueue);
+
-        if (genAgvSchedulingTaskResponse.getCode() == 0) {
+        return i;
-            return AjaxResult.success();
+//        GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(agvQueue);
+//        if (genAgvSchedulingTaskResponse.getCode() == 0) {
+//            return AjaxResult.success();
+//        }
+//        return AjaxResult.error(genAgvSchedulingTaskResponse.getMessage());
+
+    }
+
+    @Override
+    public void sendAgvTask() {
+        AgvQueue agvQueue = agvQueueService.selectAgvQueueByStatus();
+        if (agvQueue != null) {
+            GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(agvQueue);
+
+            if (genAgvSchedulingTaskResponse.getCode() == 0) {
+                agvQueue.setStatus("1");
+                agvQueueService.updateAgvQueue(agvQueue);
+                agvQueueService.insertHistory(agvQueue.getReqCode());
+
+            }else{
+                agvQueue.setStatus("2");
+                agvQueueService.updateAgvQueue(agvQueue);
+            }
         }
-        return AjaxResult.error(genAgvSchedulingTaskResponse.getMessage());
 
     }
 
@@ -242,12 +268,12 @@ public class ApiServiceImpl implements IApiService {
      * @param code1       起点
      * @param code2       终点
      * @param wmsTrayCode 容器码 托盘料箱码/容器码
-     * @param wmsTaskNo   mydojob 任务
+     * @param type   mydojob 任务
-     * @param wmsTaskType 1-入库 2-出库 3-agv搬运
+     * @param jobId 1-入库 2-出库 3-agv搬运
      * @return
      */
     @Override
-    public AgvQueue createAgvQueue(String code1, String code2, String wmsTrayCode, String taskCode, String wmsTaskType, String traySize, String wmsTaskNo) {
+    public int createAgvQueue(String code1, String code2, String wmsTrayCode, String taskCode,String type,String jobId) {
         //生成ctu执行队列
         AgvQueue agvQueue = new AgvQueue();
         String reqCode = IdUtil.fastSimpleUUID();
@@ -257,20 +283,21 @@ public class ApiServiceImpl implements IApiService {
         agvQueue.setAgvType("AGV");
         agvQueue.setPositionCode1(code1);
         agvQueue.setPositionCode2(code2);
-        agvQueue.setTaskType("F01");
+        agvQueue.setTaskType(type);
-        agvQueue.setCtnrType(traySize);
+        agvQueue.setCtnrType("0");
         agvQueue.setCtnrCode("0");
         agvQueue.setCtnrNum("0");
         agvQueue.setTaskMode("0");
         agvQueue.setPriority("10");
         agvQueue.setRequest("0");
         agvQueue.setWmsTraycode(wmsTrayCode);
-        agvQueue.setWmsTaskNo(wmsTaskNo);
+        agvQueue.setWmsTaskNo(taskCode);
         agvQueue.setStatus("0");
-        agvQueue.setTaskCode(taskCode);
+        agvQueue.setTaskCode(jobId);
-        agvQueue.setWmsTaskType(wmsTaskType);
+        agvQueue.setWmsTaskType("0");
-        agvQueueService.insertAgvQueue(agvQueue);
+        int i = agvQueueService.insertAgvQueue(agvQueue);
-        return agvQueue;
+        return i;
+
     }
 
     /**
@@ -317,20 +344,15 @@ public class ApiServiceImpl implements IApiService {
     public GenAgvSchedulingTaskResponse requestAgvQueue(AgvQueue agvQueue) {
         //todo 请求ctu
         GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest = new GenAgvSchedulingTaskRequest();
-        genAgvSchedulingTaskRequest.setReqCode(agvQueue.getReqCode());
+        genAgvSchedulingTaskRequest.setFromStation(agvQueue.getPositionCode1());
-        genAgvSchedulingTaskRequest.setTaskMode("0");
+        genAgvSchedulingTaskRequest.setToStation(agvQueue.getPositionCode2());
-        genAgvSchedulingTaskRequest.setPriority("10");
+        genAgvSchedulingTaskRequest.setOrderId(agvQueue.getTaskCode());
-        genAgvSchedulingTaskRequest.setTaskTyp("F01");
+        genAgvSchedulingTaskRequest.setType(agvQueue.getTaskType());
-        genAgvSchedulingTaskRequest.setCtnrCode("0");
+        genAgvSchedulingTaskRequest.setTaskGuideId("00000000-0000-0000-0000-000000000000");
-        genAgvSchedulingTaskRequest.setCtnrNum("0");
+        genAgvSchedulingTaskRequest.setTriggerId("00000000-0000-0000-0000-000000000000");
-        genAgvSchedulingTaskRequest.setTaskMode("0");
+        GenAgvSchedulingTaskRequest.TaskAdditionallInfo taskAdditionallInfo = new GenAgvSchedulingTaskRequest.TaskAdditionallInfo();
-        genAgvSchedulingTaskRequest.setTaskCode(agvQueue.getTaskCode());
+        genAgvSchedulingTaskRequest.setTaskAdditionallInfo(taskAdditionallInfo);
-        genAgvSchedulingTaskRequest.setAgvTyp("AGV");
+
-        genAgvSchedulingTaskRequest.setPositionSelStrategy("0");
-        List<PositionCodeData> positionCodePath = new ArrayList<>();
-        positionCodePath.add(new PositionCodeData(agvQueue.getPositionCode1(), "0"));
-        positionCodePath.add(new PositionCodeData(agvQueue.getPositionCode2(), "0"));
-        genAgvSchedulingTaskRequest.setPositionCodePath(positionCodePath);
         return genAgvSchedulingTask(genAgvSchedulingTaskRequest);
     }
 
@@ -347,12 +369,27 @@ 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 +397,8 @@ 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/api/service/impl/RequestLogServiceImpl.java

@@ -6,6 +6,8 @@ import java.util.List;
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUnit;
 import cn.hutool.core.date.DateUtil;
+import cn.hutool.http.HttpRequest;
+import cn.hutool.http.HttpResponse;
 import cn.hutool.http.HttpUtil;
 import cn.hutool.json.JSONUtil;
 import com.ruoyi.api.domain.InterfaceReceive;
@@ -137,6 +139,7 @@ public class RequestLogServiceImpl implements IRequestLogService
                 requestLog.setDuration(Convert.toStr(DateUtil.between(requestTime, responseTime, DateUnit.MS)));
                 requestLog.setIsSuccessful("1");
             }else {
+                requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
                 requestLog.setResponseStatus("0");
                 requestLog.setErrorDetails(bean.getMsg());
                 requestLog.setIsSuccessful("0");
@@ -152,6 +155,56 @@ public class RequestLogServiceImpl implements IRequestLogService
         return requestLog;
     }
 
+    @Override
+    public RequestLog getRequestLogAgv(String url, String endPoint, String param) {
+        RequestLog requestLog = new RequestLog();
+        Date requestTime = new Date();
+        requestLog.setRequestTime(DateUtil.format(requestTime, "yyyy-MM-dd HH:mm:ss"));
+        requestLog.setSourceSystem("wms");
+        requestLog.setTargetSystem("agv");
+        requestLog.setEndpoint(endPoint);
+        requestLog.setRequestMethod("post");
+        requestLog.setRequestHeaders(null);
+        requestLog.setRequestBody(param);
+        requestLog.setRequestUrl(url);
+        try {
+            // 使用HttpRequest获取HTTP状态码
+            HttpResponse response = HttpRequest.post(url)
+                    .body(param)
+                    .timeout(5000)
+                    .execute();
+
+            int httpStatusCode = response.getStatus();
+            String resStr = response.body();
+
+            requestLog.setResponseBody(resStr);
+            Date responseTime = new Date();
+
+            // 判断HTTP状态码是否成功(200-299都算成功)
+            if (httpStatusCode == 200) {
+                requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
+                requestLog.setResponseStatus(String.valueOf(httpStatusCode));
+                requestLog.setDuration(Convert.toStr(DateUtil.between(requestTime, responseTime, DateUnit.MS)));
+                requestLog.setIsSuccessful("1");
+
+
+            } else {
+                requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
+                requestLog.setResponseStatus(String.valueOf(httpStatusCode));
+                requestLog.setErrorDetails("HTTP请求失败，状态码: " + httpStatusCode);
+                requestLog.setIsSuccessful("0");
+            }
+
+        } catch (Exception e) {
+            requestLog.setErrorDetails(e.getMessage());
+            requestLog.setIsSuccessful("0");
+            requestLog.setResponseStatus("0");
+        } finally {
+            insertRequestLog(requestLog);
+        }
+        return requestLog;
+    }
+
     /**
      * 插入请求日志
      *

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;
@@ -9,25 +11,23 @@ import com.ruoyi.bas.srgvmap.service.IWcsSrgvMapService;
 
 /**
  * 小车点位地图表Service业务层处理
- * 
+ *
  * @author ruoyi
  * @date 2025-11-21
  */
 @Service
-public class WcsSrgvMapServiceImpl implements IWcsSrgvMapService 
+public class WcsSrgvMapServiceImpl implements IWcsSrgvMapService {
-{
     @Autowired
     private WcsSrgvMapMapper wcsSrgvMapMapper;
 
     /**
      * 查询小车点位地图表
-     * 
+     *
      * @param guid 小车点位地图表主键
      * @return 小车点位地图表
      */
     @Override
-    public WcsSrgvMap selectWcsSrgvMapByGuid(String guid)
+    public WcsSrgvMap selectWcsSrgvMapByGuid(String guid) {
-    {
         return wcsSrgvMapMapper.selectWcsSrgvMapByGuid(guid);
     }
 
@@ -38,61 +38,61 @@ public class WcsSrgvMapServiceImpl implements IWcsSrgvMapService
 
     /**
      * 查询小车点位地图表列表
-     * 
+     *
      * @param wcsSrgvMap 小车点位地图表
      * @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);
     }
 
     /**
      * 新增小车点位地图表
-     * 
+     *
      * @param wcsSrgvMap 小车点位地图表
      * @return 结果
      */
     @Override
-    public int insertWcsSrgvMap(WcsSrgvMap wcsSrgvMap)
+    public int insertWcsSrgvMap(WcsSrgvMap wcsSrgvMap) {
-    {
         return wcsSrgvMapMapper.insertWcsSrgvMap(wcsSrgvMap);
     }
 
     /**
      * 修改小车点位地图表
-     * 
+     *
      * @param wcsSrgvMap 小车点位地图表
      * @return 结果
      */
     @Override
-    public int updateWcsSrgvMap(WcsSrgvMap wcsSrgvMap)
+    public int updateWcsSrgvMap(WcsSrgvMap wcsSrgvMap) {
-    {
         return wcsSrgvMapMapper.updateWcsSrgvMap(wcsSrgvMap);
     }
 
     /**
      * 批量删除小车点位地图表
-     * 
+     *
      * @param guids 需要删除的小车点位地图表主键
      * @return 结果
      */
     @Override
-    public int deleteWcsSrgvMapByGuids(String[] guids)
+    public int deleteWcsSrgvMapByGuids(String[] guids) {
-    {
         return wcsSrgvMapMapper.deleteWcsSrgvMapByGuids(guids);
     }
 
     /**
      * 删除小车点位地图表信息
-     * 
+     *
      * @param guid 小车点位地图表主键
      * @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

@@ -5,6 +5,7 @@ public class Constant {
 
     public static final String WMS_BASE_URL = "http://localhost:8080/api2wms/";
     public static final String RCS_BASE_URL = "http://127.0.0.1:8081/rcms-dps/rest/";
+    public static final String AGV_BASE_URL = "http://127.0.0.1:9501/api/app/agvs-task";
 
 
     public static final String JOB_FINISH_URL = WMS_BASE_URL+"jobFinish";
@@ -12,10 +13,12 @@ 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";
     public static final String REQUEST_ENTER_URL = WMS_BASE_URL+"requestEnterByTrayCodeAndEntranceId";
+    public static final String CREATE_AGV_TASK_URL = AGV_BASE_URL+"agvs-task";
 
 
     public static final String WAREHOUSE_01 = "01";

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/agv/mapper/AgvQueueMapper.java

@@ -66,5 +66,7 @@ public interface AgvQueueMapper
      */
     AgvQueue selectAgvQueueByTaskCode(String taskCode);
 
+    AgvQueue selectAgvQueueByStatus();
+
     void insertHistory(String reqCode);
 }

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

@@ -66,6 +66,8 @@ public interface IAgvQueueService
      */
     AgvQueue selectAgvQueueByTaskCode(String taskCode);
 
+    AgvQueue selectAgvQueueByStatus();
+
     /**
      * 插入agv完成历史
      * @param reqCode

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

@@ -96,6 +96,11 @@ public class AgvQueueServiceImpl implements IAgvQueueService
         return agvQueueMapper.selectAgvQueueByTaskCode(taskCode);
     }
 
+    @Override
+    public AgvQueue selectAgvQueueByStatus() {
+        return agvQueueMapper.selectAgvQueueByStatus();
+    }
+
     @Override
     public void insertHistory(String reqCode) {
         agvQueueMapper.insertHistory(reqCode);

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

@@ -9,11 +9,10 @@ import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
  * @author ruoyi
  * @date 2025-11-21
  */
-public interface WcsSrgvQueueMapper 
+public interface WcsSrgvQueueMapper {
-{
     /**
      * 查询四向小车任务队列
-     * 
+     *
      * @param guid 四向小车任务队列主键
      * @return 四向小车任务队列
      */
@@ -28,12 +27,9 @@ public interface WcsSrgvQueueMapper
     public WcsSrgvQueue selectWcsSrgvQueueByFloor(String theFloor);
 
 
-
-
-
     /**
      * 查询四向小车任务队列列表
-     * 
+     *
      * @param wcsSrgvQueue 四向小车任务队列
      * @return 四向小车任务队列集合
      */
@@ -41,7 +37,7 @@ public interface WcsSrgvQueueMapper
 
     /**
      * 新增四向小车任务队列
-     * 
+     *
      * @param wcsSrgvQueue 四向小车任务队列
      * @return 结果
      */
@@ -49,7 +45,7 @@ public interface WcsSrgvQueueMapper
 
     /**
      * 修改四向小车任务队列
-     * 
+     *
      * @param wcsSrgvQueue 四向小车任务队列
      * @return 结果
      */
@@ -57,7 +53,7 @@ public interface WcsSrgvQueueMapper
 
     /**
      * 删除四向小车任务队列
-     * 
+     *
      * @param guid 四向小车任务队列主键
      * @return 结果
      */
@@ -65,9 +61,18 @@ public interface WcsSrgvQueueMapper
 
     /**
      * 批量删除四向小车任务队列
-     * 
+     *
      * @param guids 需要删除的数据主键集合
      * @return 结果
      */
     public int deleteWcsSrgvQueueByGuids(String[] guids);
+
+    String selectMinCountJob(@Param("list") List<String> outModelSSJ);
+
+    Integer selectTsj();
+
+    Integer selectByCaogoPlaceSite(String siteId);
+
+    Integer selectByEndSite();
+
 }

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

@@ -77,4 +77,12 @@ public interface IWcsSrgvQueueService
      * @param taskNo
      */
     public WcsSrgvQueue insertHistory(String taskNo);
+
+    String selectMinCountJob(List<String> outModelSSJ);
+
+    Integer selectTsj();
+
+    Integer selectByCaogoPlaceSite(String siteId);
+
+    Integer selectByEndSite();
 }

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

@@ -115,6 +115,29 @@ 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 Integer selectByEndSite() {
+        return wcsSrgvQueueMapper.selectByEndSite();
+
+    }
+
     @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

@@ -79,6 +79,12 @@ public class PlcSrgvRead implements Runnable {
         if (read1.IsSuccess) {
             setValueByByte1(read1.Content, deviceSrgv);
         }
+
+        OperateResultExOne<byte[]> read5 = modbusTcpNet.Read("4081", (short) 2);//2400-2414
+        if (read5.IsSuccess) {
+            setValueByByte5(read1.Content, deviceSrgv);
+        }
+
         //读取二段任务 小车是否接收完成1段作业
         OperateResultExOne<byte[]> read3 = modbusTcpNet.Read("1000", (short) 2);//2400-2414
         if (read3.IsSuccess) {
@@ -90,6 +96,12 @@ 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 +116,8 @@ 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.TransInt32(content[1], 13)));
         //接收完成标志
         //        agvData.setFinish(Convert.toInt(byteTransform.TransInt16(content, 10)));
 //        agvData.setFinish(0);
@@ -123,6 +137,15 @@ public class PlcSrgvRead implements Runnable {
 
     }
 
+
+    private void setValueByByte5(byte[] content, DeviceSrgv agvData) {
+        int cargoFlag = content[27] & 0xFF;
+        agvData.setCargoFlag(cargoFlag);
+
+    }
+
+
+
     //单字
     private void setValueByByte3(byte[] content, DeviceSrgv agvData) {
 //        agvData.setTaskType(0);
@@ -150,6 +173,29 @@ 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

@@ -68,6 +68,10 @@ public class PlcSsjRead implements Runnable {
                                 // 线体到位输送机
                                 readPlcOtherSsj(ssjDevice);
                                 break;
+                            case "4":
+                                // 线体到位输送机
+                                readPlcInDwSsj(ssjDevice);
+                                break;
                         }
                     }
 
@@ -86,6 +90,18 @@ public class PlcSsjRead implements Runnable {
         }
     }
 
+    private void readPlcInDwSsj(DeviceSsj ssjDevice) {
+        OperateResultExOne<byte[]> read2 = readWriteNet.Read(ssjDevice.getPlcDbReadAddress(), Short.parseShort("10"));
+        String ddsx1 = "0";
+        if (read2.IsSuccess) {
+            ddsx1 = SoftBasic.ByteToHexString(read2.Content);
+            ssjDevice.setKx(ParseUtil.optInt(4, ddsx1));
+            ssjDevice.setDw(ParseUtil.optInt(6, ddsx1));
+            ssjDevice.setTaskNo(ParseUtil.optDInt(0, ddsx1));
+
+        }
+    }
+
     /**
      * 其他输送机
      *
@@ -99,6 +115,7 @@ 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 +34,22 @@ 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 final Integer JOB_BETTERY=50;
     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 +69,17 @@ 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 +97,20 @@ 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 +121,29 @@ 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");
+            DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1());
-        List<WcsSrgvQueue> wcsSrgvQueues = wcsSrgvQueueService.selectWcsSrgvQueueList(wcsSrgvQueueParam);
+            if (((deviceSrgv.getBattery() >= JOB_BETTERY && count > 0) || deviceSrgv.getBattery() >= MAX_BETTERY)
-        if (CollUtil.isNotEmpty(wcsSrgvQueues)) {
+                    && deviceSrgv.getWorkMode() == 5
-            boolean existsKxSRgv = false;
+                    && deviceSrgv.getChargeFlag() == 2 && deviceCdz.getStatus() == 1) {
-            //判断有没有空闲小车
+                createChargingOutJob(PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1()), deviceCdz);
-            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) {
-                                //生成断电任务
-                                createChargingOutJob(deviceSrgv, deviceCdz);
-                                break;
-                            }
-                        }
-                    }
-                }
             }
         }
 
@@ -166,7 +154,6 @@ 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 +165,7 @@ 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 +173,11 @@ 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 +192,43 @@ 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();
-                    //寻找最接近的充电桩
+//                if (CollUtil.isNotEmpty(deviceCdz)) {
-                    Integer floor = deviceSrgv.getCurrFloor();
+                //寻找最接近的充电桩
-                    DeviceCdz cdz = null;
+//                    Integer floor = deviceSrgv.getCurrFloor();
-                    Optional<DeviceCdz> min = cdzList.stream().filter(c -> c.getSzcs().equals(floor)).min((o1, o2) -> {
+//                    DeviceCdz cdz = null;
-                        Integer distance1 = Math.abs(o1.getSzcs());
+//                    Optional<DeviceCdz> min = cdzList.stream().min((o1, o2) -> {
-                        Integer distance2 = Math.abs(o2.getSzcs());
+//                        Integer distance1 = Math.abs(o1.getSzcs());
-                        return distance1 - distance2;
+//                        Integer distance2 = Math.abs(o2.getSzcs());
-                    });
+//                        return distance1 - distance2;
-                    if (min.isPresent()) {
+//                    });
-                        cdz = min.get();
+//                    if (min.isPresent()) {
-                    }
+//                        cdz = min.get();
-                    if (ObjUtil.isNotNull(cdz)) {
+//                    }
-                        //生成充电任务
+                if (ObjUtil.isNotNull(deviceCdz)) {
-                        SrgvChargingJob srgvChargingJobParam = new SrgvChargingJob();
+                    //生成充电任务
-                        srgvChargingJobParam.setAgvId(deviceSrgv.getDeviceId().toString());
+                    SrgvChargingJob srgvChargingJobParam = new SrgvChargingJob();
-                        srgvChargingJobParam.setChargingSite("08020" + cdz.getSzcs());
+                    srgvChargingJobParam.setAgvId(deviceSrgv.getDeviceId().toString());
-                        srgvChargingJobParam.setChargingId(cdz.getId().toString());
+                    srgvChargingJobParam.setChargingSite("08020" + deviceCdz.getSzcs());
-                        List<SrgvChargingJob> wcsChargingJobs = chargingJobService.selectSrgvChargingJobList(srgvChargingJobParam);
+                    srgvChargingJobParam.setChargingId(deviceCdz.getId().toString());
-                        if (CollUtil.isEmpty(wcsChargingJobs)) {
+                    List<SrgvChargingJob> wcsChargingJobs = chargingJobService.selectSrgvChargingJobList(srgvChargingJobParam);
-                            SrgvChargingJob scj = new SrgvChargingJob();
+                    if (CollUtil.isEmpty(wcsChargingJobs)) {
-                            scj.setGuid(IdUtil.fastSimpleUUID());
+                        SrgvChargingJob scj = new SrgvChargingJob();
-                            scj.setChargingSite(cdz.getSiteId());
+                        scj.setGuid(IdUtil.fastSimpleUUID());
-                            scj.setJobStatus("1");
+                        scj.setChargingSite(deviceCdz.getSiteId());
-                            scj.setChargingStatus("0");
+                        scj.setJobStatus("1");
-                            scj.setStartDate(DateUtil.now());
+                        scj.setChargingStatus("0");
-                            scj.setJobType("1");//到充电桩
+                        scj.setStartDate(DateUtil.now());
-                            scj.setAgvId(deviceSrgv.getDeviceId().toString());
+                        scj.setJobType("1");//到充电桩
-                            scj.setChargingId(cdz.getId().toString());
+                        scj.setAgvId(deviceSrgv.getDeviceId().toString());
-                            chargingJobService.insertSrgvChargingJob(scj);
+                        scj.setChargingId(deviceCdz.getId().toString());
-                            cdz.setSpare1(deviceSrgv.getDeviceId().toString());
+                        chargingJobService.insertSrgvChargingJob(scj);
-                            deviceCdzService.updateDeviceCdz(cdz);
+                        deviceCdz.setSpare1(deviceSrgv.getDeviceId().toString());
-                        }
+                        deviceCdzService.updateDeviceCdz(deviceCdz);
                     }
                 }
+//                }
             }
         }
     }
@@ -265,7 +251,7 @@ 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

@@ -51,7 +51,9 @@ public class MonitoringThread implements Runnable {
             }
             for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
                 DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(srgvCode);
-                deviceSrgvService.updateDeviceSrgv(deviceSrgv);
+                if (!deviceSrgv.getCurrSite().equals("000000")){
+                    deviceSrgvService.updateDeviceSrgv(deviceSrgv);
+                }
             }
             for (String tsjCode : PlcTsjRead.deviceTsjMap.keySet()) {
                 DeviceTsj deviceTsj = PlcTsjRead.deviceTsjMap.get(tsjCode);
@@ -59,6 +61,8 @@ public class MonitoringThread implements Runnable {
             }
             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/ssj/SsjThread.java

@@ -124,46 +124,58 @@ 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())) {
-            //todo 查是否为入库模式，不是退回，是否超重
+            String trayCode = deviceSsj.getTrayCode().trim();
-            HashMap<String, Object> map = new HashMap<>();
+            MydoJob getMydoJob = mydoJobService.selectMydoJobByTrayCode(trayCode);
-            map.put("trayCode", deviceSsj.getTrayCode());
+            if (getMydoJob != null && deviceSsj.getTaskNo() < 1000) {
-            //拉取
+                int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), getMydoJob.getTaskNo(), 1, 1);
-            AjaxResult ajaxResult = apiService.createInMydoJob(map);
-            if (ajaxResult.isSuccess()) {
-                //拿到正常作业，插到wcs作业表，下发给输送机任务号，覆盖任务号
-                MydoJob mydoJob = BeanUtil.toBean(ajaxResult.get("data"), MydoJob.class);
-                mydoJob.setStatus("1");
-                mydoJob.setExecutionPhase("1");
-                mydoJob.setCreateTime(new Date());
-                if ("GS1002".equals(deviceSsj.getDeviceCode())) {
-                    mydoJob.setEntranceId("L1004");
-                } else {
-                    mydoJob.setEntranceId("L1005");
-                }
-                // 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());
-                List<MydoJob> mydoJobs = mydoJobService.selectMydoJobList(mydoJob1);
-                if (mydoJobs.size() > 0) {
-                    return;
-                }
-                mydoJobService.insertMydoJob(mydoJob);
-                int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), mydoJob.getTaskNo(), 1, 1);
                 if (i == 1) {
-                    mydoJob.setStatus("3");
+                    getMydoJob.setStatus("3");
-                    mydoJobService.updateMydoJob(mydoJob);
+                    mydoJobService.updateMydoJob(getMydoJob);
-                    log.info(deviceSsj.getDeviceCode() + "输送机下发任务号成功:{}", mydoJob.getTaskNo());
+                    log.info(deviceSsj.getDeviceCode() + "输送机下发任务号成功:{}", getMydoJob.getTaskNo());
                 }
             } else {
-                int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), "0", 2, 2);
+                //todo 查是否为入库模式，不是退回，是否超重
-                if (i == 1) {
+                HashMap<String, Object> map = new HashMap<>();
-                    log.info(deviceSsj.getDeviceCode() + "未查到该托盘码作业，下发退回，去向2");
+                map.put("trayCode", deviceSsj.getTrayCode());
+                //拉取
+                AjaxResult ajaxResult = apiService.createInMydoJob(map);
+                if (ajaxResult.isSuccess()) {
+                    //拿到正常作业，插到wcs作业表，下发给输送机任务号，覆盖任务号
+                    MydoJob mydoJob = BeanUtil.toBean(ajaxResult.get("data"), MydoJob.class);
+                    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 {
+                        mydoJob.setEntranceId("L1005");
+                    }
+                    // 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;
+                    }
+                    mydoJobService.insertMydoJob(mydoJob);
+                    int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), mydoJob.getTaskNo(), 1, 1);
+                    if (i == 1) {
+                        mydoJob.setStatus("3");
+                        mydoJobService.updateMydoJob(mydoJob);
+                        log.info(deviceSsj.getDeviceCode() + "输送机下发任务号成功:{}", mydoJob.getTaskNo());
+                    }
+                } 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 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 mydoJob = mydoJobService.selectMydoJobByTaskNo((long) deviceSsj.getTaskNo());
+            MydoJob mydoJob1 = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(deviceSsj.getTaskNo()));
-            if (mydoJob != null) {
+            if (mydoJob1.getCargoSpaceId() != null) {
-                mydoJob.setExecutionPhase("2");
+                return;
-                mydoJobService.updateMydoJob(mydoJob);
             }
+
+            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;
@@ -25,7 +27,9 @@ import com.ruoyi.schedule.plcRead.util.Tools;
 import lombok.extern.slf4j.Slf4j;
 
 import java.util.Date;
+import java.util.Iterator;
 import java.util.List;
+import java.util.stream.Collectors;
 
 @Slf4j
 public class TsjThread implements Runnable {
@@ -35,13 +39,17 @@ 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 +84,7 @@ 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 +92,16 @@ 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) {
-            createSRgvQueue(rwh, tsj);
+            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 +109,7 @@ 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 +130,7 @@ 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 +159,15 @@ 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 +191,6 @@ public class TsjThread implements Runnable {
                     endSite = wcsSrgvQueue.getCargoPlaceSite();
                     break;
                 case "3":
-                    //充电
                     break;
                 case "4":
                     //点到点
@@ -192,10 +207,52 @@ 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) {
+                                Integer count = wcsSrgvQueueService.selectByEndSite();
+                                List<DeviceSrgv> collect = PlcSrgvRead.deviceSrgvMap.values().stream().filter(d ->
+                                                d.getCurrSite().equals(cargoPickSite))
+                                        .collect(Collectors.toList());
+                                if (count > 0 || !collect.isEmpty()) {
+                                    wcsSrgvQueue.setEndSite("070301");
+                                } else {
+                                    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 +266,8 @@ 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

@@ -80,7 +80,7 @@ public class GetDeviceSrgvMap {
                 AgvDto dto = new AgvDto();
                 dto.setId(d.getDeviceId() == null ? "" : String.format("%04d", d.getDeviceId()));
                 dto.setTaskNo(d.getTaskNo() == null ? "" : String.valueOf(d.getTaskNo()));
-                dto.setIsThere((d.getWorkPhase() >= 3 && d.getWorkPhase() < 6 ? "1" : "0"));
+                dto.setIsThere(d.getCargoFlag()==256?"1":"0");
                 Integer wp = d.getWorkPhase();
                 String status = "0";
                 if (wp != null) {
@@ -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 +99,17 @@ 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.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 +137,10 @@ 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/java/com/ruoyi/tcp/Wcs2wmsgetEmptyCargoSpace.java

@@ -96,6 +96,7 @@ public class Wcs2wmsgetEmptyCargoSpace {
         dto.setTrayCode(getText(node, "trayCode"));
         dto.setProductCode(getText(node, "productCode"));
         dto.setProductName(getText(node, "productName"));
+        dto.setCargoSpaceId(getText(node, "cargoSpaceId"));
         return dto;
     }
 
@@ -125,5 +126,6 @@ public class Wcs2wmsgetEmptyCargoSpace {
         private String trayCode;
         private String productCode;
         private String productName;
+        private String cargoSpaceId;
     }
 }

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/AgvQueueMapper.xml

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

ruoyi-admin/src/main/resources/mapper/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 +192,40 @@ 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>
+
+    <select id="selectByEndSite" resultType="java.lang.Integer" >
+        select   count(1)  from   wcs_srgv_queue where end_site='070101' or end_site ='050101'
+    </select>
+
+
+
 </mapper>

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

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

ruoyi-ui/src/views/device/ssj/index.vue

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

ruoyi-ui/vue.config.js

@@ -9,7 +9,7 @@ const CompressionPlugin = require('compression-webpack-plugin')
 
 const name = process.env.VUE_APP_TITLE || 'FORTUCKY WCS SYSTEM' // 网页标题
 
-const baseUrl = 'http://localhost:8081' // 后端接口地址（你的后端端口是8081）
+const baseUrl = 'http://192.168.188.236:8081' // 后端接口地址（你的后端端口是8081）
 
 const port = process.env.port || process.env.npm_config_port || 80 // 前端端口