修复同通道出库作业顺序

pom.xml

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

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

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

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

@@ -1,30 +1,43 @@
 package com.ruoyi.api.controller;
 
+import cn.hutool.json.JSONObject;
+import com.mchange.v2.lang.ObjectUtils;
 import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackRequest;
 import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackResponse;
 import com.ruoyi.api.service.IApiService;
 import com.ruoyi.common.core.controller.BaseController;
 import com.ruoyi.common.core.domain.AjaxResult;
+import com.ruoyi.queue.agv.service.impl.AgvQueueServiceImpl;
+import com.ruoyi.system.domain.AgvContainerTask;
+import com.ruoyi.system.mapper.AgvContainerTaskMapper;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.web.bind.annotation.*;
 
+import java.util.HashMap;
+import java.util.List;
 import java.util.Map;
 
 /**
  * Agv操作请求
  */
 @RestController
-@RequestMapping("/agv/api")
+@RequestMapping("/api/agv")
 @Slf4j
 public class AgvController extends BaseController {
 
 
     @Autowired
     private IApiService apiService;
+    @Autowired
+    private AgvQueueServiceImpl agvQueueService;
+    @Autowired
+    private AgvContainerTaskMapper agvContainerTaskMapper;
 
     /**
      * agv执行状态返回接口
+     *
      * @param request
      * @return
      */
@@ -34,15 +47,14 @@ public class AgvController extends BaseController {
     }
 
 
-
     /**
      * agv搬运作业
-     * @param param{
-     *             startPoint:起始点
-     *             endPoint:结束点
-     *             containerCode:容器编号
-     *             taskNo:任务号
-     * }
+     *
+     * @param param{ startPoint:起始点
+     *               endPoint:结束点
+     *               containerCode:容器编号
+     *               taskNo:任务号
+     *               }
      * @return
      */
     @PostMapping("/receiveAgvMoveJob")
@@ -50,4 +62,98 @@ public class AgvController extends BaseController {
         return apiService.receiveAgvMoveJob(param);
     }
 
+
+    /**
+     * 获取AGV任务定时器
+     */
+
+    @Scheduled(fixedDelay = 5000)
+    public void queryAgvMoveJob() {
+        apiService.sendContarTask();
+    }
+
+    @Scheduled(fixedDelay = 5000)
+    public void finishAgvMoveJob() {
+       AgvContainerTask agvContainerTask= agvContainerTaskMapper.selectAgvContainerFinishOne();
+       if (agvContainerTask!=null){
+           apiService.finishAgvJob(agvContainerTask.getContainer());
+       }
+
+    }
+
+
+    /**任务下发
+     *
+     */
+    @Scheduled(fixedDelay = 1000)
+    public void sendAgvMoveJob() {
+        AgvContainerTask agvContainerTask = new AgvContainerTask();
+        agvContainerTask.setStatus("0");
+        List<AgvContainerTask> agvContainerTasks = agvContainerTaskMapper.selectAgvContainerTaskList(agvContainerTask);
+        if (agvContainerTasks.size() > 0) {
+            AgvContainerTask agvContainerTask1 = agvContainerTasks.get(0);
+            Map<String, String> param = new HashMap<>();
+            param.put("FromStation", agvContainerTask1.getStartPoint());
+            param.put("ToStation", agvContainerTask1.getEndPoint());
+            param.put("Type", agvContainerTask1.getSpare1());
+            param.put("OrderId", agvContainerTask1.getContainer());
+//            param.put("TaskGuideId", agvContainerTask1.getTaskNo());
+            AjaxResult ajaxResult = apiService.sendAgvCar(param);
+            Integer code = (Integer) ajaxResult.get("code");
+            if (200 == code) {
+                agvContainerTask1.setStatus("1");
+                agvContainerTaskMapper.updateAgvContainerTask(agvContainerTask1);
+            }
+        }
+    }
+
+
+    /***
+     * 请求取货放货接口
+     * @param jsonObject
+     * @return
+     */
+    @RequestMapping("/checkAllow")
+    public AjaxResult checkAllow(@RequestBody JSONObject jsonObject) {
+        // 取放货站点
+        String requestStation = String.valueOf(jsonObject.get("requestStation"));
+        // 表内主键
+        String orderId = String.valueOf(jsonObject.get("orderId"));
+        String Type = String.valueOf(jsonObject.get("type"));
+
+        HashMap<String, Object> map = new HashMap<>();
+        map.put("v_position", requestStation);
+        map.put("v_orderId", orderId);
+        map.put("v_type", Type);
+        agvQueueService.selectKx(map);
+        Integer vResult = (Integer) map.get("v_result");
+        if (vResult == 1) {
+            return new AjaxResult(1, Type.equals("1") ? "允许取货" : "允许放货");
+        } else {
+            return new AjaxResult(0, Type.equals("1") ? "不允许取货，请等待" : "不允许放货，请等待");
+        }
+    }
+
+
+    /**
+     * 取货放货完成返回接口
+     *
+     * @param jsonObject
+     * @return
+     */
+    @RequestMapping("/completionSignal")
+    public AjaxResult completionSignal(@RequestBody JSONObject jsonObject) {
+
+        String orderId = String.valueOf(jsonObject.get("orderId"));
+        String Type = String.valueOf(jsonObject.get("type"));
+
+
+        agvContainerTaskMapper.updateAgvContainerTaskByOrder(orderId);
+//        agvContainerTaskMapper.insertAgvContainerTaskFinish(orderId);
+//        agvContainerTaskMapper.deleteAgvContainerTaskByContainer(orderId);
+
+        return new AjaxResult(1, "返回成功");
+    }
+
+
 }

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

@@ -1,10 +1,12 @@
 package com.ruoyi.api.controller;
 
+import cn.hutool.json.JSONObject;
 import com.ruoyi.api.domain.wcs2wms.JobParam;
 import com.ruoyi.api.domain.wcs2wms.ReceiveJob;
 import com.ruoyi.api.service.IApiService;
 import com.ruoyi.common.core.domain.AjaxResult;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
@@ -53,4 +55,5 @@ public class Wcs2WmsController {
 
 
 
+
 }

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);
@@ -132,4 +136,18 @@ public interface IApiService
     AjaxResult allotSpace(JobParam jobParam);
 
     AjaxResult JobFinish(Map<String, Object> param);
+
+    AjaxResult OutMakeSure(HashMap<String, Object> map);
+
+    void updateLed(HashMap<String, Object> objectObjectHashMap);
+
+    void updateLedError(HashMap<String, Object> objectObjectHashMap);
+
+    void sendContarTask();
+
+    AjaxResult sendAgvCar(Map<String, String> param);
+
+    AjaxResult insertAgvQuene(HashMap<String, Object> objectObjectHashMap);
+
+    void finishAgvJob(String container);
 }

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

@@ -75,4 +75,6 @@ public interface IRequestLogService
      * @return
      */
     public RequestLog getRequestLog(String url, String param);
+
+    public RequestLog getRequestLogs(String url, String param, String endPoint);
 }

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

@@ -24,6 +24,8 @@ import com.ruoyi.job.domain.MydoJob;
 import com.ruoyi.job.service.IMydoJobService;
 import com.ruoyi.queue.agv.domain.AgvQueue;
 import com.ruoyi.queue.agv.service.IAgvQueueService;
+import com.ruoyi.system.domain.AgvContainerTask;
+import com.ruoyi.system.service.IAgvContainerTaskService;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
@@ -51,7 +53,8 @@ public class ApiServiceImpl implements IApiService {
     private IAgvQueueService agvQueueService;
     @Autowired
     private IMydoJobService mydoJobService;
-
+    @Autowired
+    private IAgvContainerTaskService agvContainerTaskService;
 
 
     /**
@@ -138,10 +141,6 @@ public class ApiServiceImpl implements IApiService {
     }
 
 
-
-
-
-
     /**
      * 处理agv状态返回
      *
@@ -196,26 +195,24 @@ public class ApiServiceImpl implements IApiService {
     public AjaxResult cancelMydoJob(JobParam jobParam) {
 
         MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(jobParam.getTaskNo()));
-        if(mydoJob==null){
+        if (mydoJob == null) {
             return AjaxResult.error("任务不存在");
         }
-        if("1".equals(mydoJob.getStatus())){
+        if ("1".equals(mydoJob.getStatus())) {
             mydoJob.setStatus("5");
             mydoJobService.insertHistory(mydoJob.getJobId());
             mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId());
             return AjaxResult.success();
-        }else{
+        } else {
             return AjaxResult.error("任务已开始");
         }
     }
 
 
-
-
     @Override
     public AjaxResult reAssign(JobParam jobParam) {
         RequestLog requestLog = requestLogService.getRequestLog(RE_ASSIGN_URL, "重新分配货位", JSONUtil.toJsonStr(jobParam));
-        if ("1".equals(requestLog.getIsSuccessful())){
+        if ("1".equals(requestLog.getIsSuccessful())) {
             InterfaceReceive bean = JSONUtil.toBean(requestLog.getResponseBody(), InterfaceReceive.class);
             MydoJob wmsMydoJob = BeanUtil.toBean(bean.getData(), MydoJob.class);
             MydoJob mydoJob = mydoJobService.selectMydoJobByJobId(wmsMydoJob.getJobId());
@@ -229,7 +226,7 @@ public class ApiServiceImpl implements IApiService {
     @Override
     public AjaxResult reMaterial(JobParam jobParam) {
         RequestLog requestLog = requestLogService.getRequestLog(RE_MATERIAL_URL, "重新分配物料", JSONUtil.toJsonStr(jobParam));
-        if ("1".equals(requestLog.getIsSuccessful())){
+        if ("1".equals(requestLog.getIsSuccessful())) {
             return AjaxResult.success();
         }
         return AjaxResult.error();
@@ -347,12 +344,26 @@ 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");
@@ -360,10 +371,12 @@ 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();
-        }else{
+        } else {
             return AjaxResult.error();
         }
 
@@ -385,7 +398,7 @@ public class ApiServiceImpl implements IApiService {
         int i = mydoJobService.insertMydoJob(mydoJob);
         if (i > 0) {
             return AjaxResult.success();
-        }else{
+        } else {
             return AjaxResult.error();
         }
     }
@@ -430,4 +443,74 @@ public class ApiServiceImpl implements IApiService {
 
 
     }
+
+    @Override
+    public AjaxResult OutMakeSure(HashMap<String, Object> map) {
+        RequestLog requestLog = requestLogService.getRequestLog(OUT_MAKE_SURE, "线边直出请求过账", JSONUtil.toJsonStr(map));
+        if ("1".equals(requestLog.getIsSuccessful())) {
+            InterfaceReceive bean = JSONUtil.toBean(requestLog.getResponseBody(), InterfaceReceive.class);
+            return AjaxResult.success(bean.getData());
+        } else {
+            return AjaxResult.error();
+        }
+    }
+
+    @Override
+    public void updateLed(HashMap<String, Object> map) {
+        RequestLog requestLog = requestLogService.getRequestLog(UPDATE_LED, "出库到位更新LED", JSONUtil.toJsonStr(map));
+
+
+    }
+
+    @Override
+    public void updateLedError(HashMap<String, Object> map) {
+        RequestLog requestLog = requestLogService.getRequestLog(UPDATE_LED_ERROR, "更新线体报错信息", JSONUtil.toJsonStr(map));
+
+
+    }
+
+    @Override
+    public void sendContarTask() {
+        RequestLog requestLog = requestLogService.getRequestLog(QUERY_AGV_QUENE, "请求获取AGV执行队列", JSONUtil.toJsonStr(""));
+        if ("1".equals(requestLog.getIsSuccessful())) {
+            InterfaceReceive bean = JSONUtil.toBean(requestLog.getResponseBody(), InterfaceReceive.class);
+            AgvContainerTask bean1 = BeanUtil.toBean(bean.getData(), AgvContainerTask.class);
+            bean1.setStatus("0");
+            agvContainerTaskService.insertAgvContainerTask(bean1);
+        }
+    }
+
+    @Override
+    public AjaxResult sendAgvCar(Map<String, String> param) {
+        RequestLog requestLog = requestLogService.getRequestLogs(SEND_AGV_CAR, "下发AGV执行对列", JSONUtil.toJsonStr(param));
+        if ("1".equals(requestLog.getIsSuccessful())) {
+            return AjaxResult.success();
+        }
+        {
+            return AjaxResult.error();
+        }
+    }
+
+    @Override
+    public AjaxResult insertAgvQuene(HashMap<String, Object> param) {
+        RequestLog requestLog = requestLogService.getRequestLog(INSERT_AGV_QUENE, "请求自动生成AGV执行队列", JSONUtil.toJsonStr(param));
+        if ("1".equals(requestLog.getIsSuccessful())) {
+            return AjaxResult.success();
+        }
+        {
+            return AjaxResult.error();
+        }
+    }
+
+    @Override
+    public void finishAgvJob(String container) {
+        HashMap<Object, Object> objectObjectHashMap = new HashMap<>();
+        objectObjectHashMap.put("order", container);
+        RequestLog requestLog = requestLogService.getRequestLog(FINISH_AGV_QUENE, "完成AGV执行队列", JSONUtil.toJsonStr(objectObjectHashMap));
+        if ("1".equals(requestLog.getIsSuccessful())) {
+
+            agvContainerTaskService.deleteAgvContainerTaskByOrderId(container);
+        }
+    }
+
 }

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.ContentType;
+import cn.hutool.http.HttpResponse;
 import cn.hutool.http.HttpUtil;
 import cn.hutool.json.JSONUtil;
 import com.ruoyi.api.domain.InterfaceReceive;
@@ -24,8 +26,7 @@ import com.ruoyi.api.service.IRequestLogService;
  */
 @Service
 @Slf4j
-public class RequestLogServiceImpl implements IRequestLogService
-{
+public class RequestLogServiceImpl implements IRequestLogService {
     @Autowired
     private RequestLogMapper requestLogMapper;
 
@@ -36,8 +37,7 @@ public class RequestLogServiceImpl implements IRequestLogService
      * @return 接口记录
      */
     @Override
-    public RequestLog selectRequestLogByRequestId(Long requestId)
-    {
+    public RequestLog selectRequestLogByRequestId(Long requestId) {
         return requestLogMapper.selectRequestLogByRequestId(requestId);
     }
 
@@ -48,8 +48,7 @@ public class RequestLogServiceImpl implements IRequestLogService
      * @return 接口记录
      */
     @Override
-    public List<RequestLog> selectRequestLogList(RequestLog requestLog)
-    {
+    public List<RequestLog> selectRequestLogList(RequestLog requestLog) {
         return requestLogMapper.selectRequestLogList(requestLog);
     }
 
@@ -60,11 +59,10 @@ public class RequestLogServiceImpl implements IRequestLogService
      * @return 结果
      */
     @Override
-    public int insertRequestLog(RequestLog requestLog)
-    {
-        if ("1".equals(requestLog.getIsSuccessful())){
+    public int insertRequestLog(RequestLog requestLog) {
+        if ("1".equals(requestLog.getIsSuccessful())) {
             return requestLogMapper.insertRequestLog(requestLog);
-        }else {
+        } else {
             //log.error("请求失败：" + requestLog.getErrorDetails());
             return 0;
         }
@@ -77,8 +75,7 @@ public class RequestLogServiceImpl implements IRequestLogService
      * @return 结果
      */
     @Override
-    public int updateRequestLog(RequestLog requestLog)
-    {
+    public int updateRequestLog(RequestLog requestLog) {
         return requestLogMapper.updateRequestLog(requestLog);
     }
 
@@ -89,8 +86,7 @@ public class RequestLogServiceImpl implements IRequestLogService
      * @return 结果
      */
     @Override
-    public int deleteRequestLogByRequestIds(Long[] requestIds)
-    {
+    public int deleteRequestLogByRequestIds(Long[] requestIds) {
         return requestLogMapper.deleteRequestLogByRequestIds(requestIds);
     }
 
@@ -101,8 +97,7 @@ public class RequestLogServiceImpl implements IRequestLogService
      * @return 结果
      */
     @Override
-    public int deleteRequestLogByRequestId(Long requestId)
-    {
+    public int deleteRequestLogByRequestId(Long requestId) {
         return requestLogMapper.deleteRequestLogByRequestId(requestId);
     }
 
@@ -115,7 +110,7 @@ public class RequestLogServiceImpl implements IRequestLogService
      * @return requestLog
      */
     @Override
-    public RequestLog getRequestLog(String url,  String endPoint,String param) {
+    public RequestLog getRequestLog(String url, String endPoint, String param) {
         RequestLog requestLog = new RequestLog();
         Date requestTime = new Date();
         requestLog.setRequestTime(DateUtil.format(requestTime, "yyyy-MM-dd HH:mm:ss"));
@@ -128,15 +123,17 @@ public class RequestLogServiceImpl implements IRequestLogService
         requestLog.setRequestUrl(url);
         try {
             String resStr = HttpUtil.post(url, param);
+
             requestLog.setResponseBody(resStr);
+
             InterfaceReceive bean = JSONUtil.toBean(resStr, InterfaceReceive.class);
-            Date responseTime =new Date();
+            Date responseTime = new Date();
             if (bean.getCode() == 200) {
                 requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
                 requestLog.setResponseStatus("1");
                 requestLog.setDuration(Convert.toStr(DateUtil.between(requestTime, responseTime, DateUnit.MS)));
                 requestLog.setIsSuccessful("1");
-            }else {
+            } else {
                 requestLog.setResponseStatus("0");
                 requestLog.setErrorDetails(bean.getMsg());
                 requestLog.setIsSuccessful("0");
@@ -171,4 +168,46 @@ public class RequestLogServiceImpl implements IRequestLogService
         requestLog.setDuration(Convert.toStr(DateUtil.between(requestTime, requestTime, DateUnit.MS)));
         return requestLog;
     }
+
+    @Override
+    public RequestLog getRequestLogs(String url, String param, String endPoint) {
+        RequestLog requestLog = new RequestLog();
+        Date requestTime = new Date();
+        requestLog.setRequestTime(DateUtil.format(requestTime, "yyyy-MM-dd HH:mm:ss"));
+        requestLog.setSourceSystem("wcs");
+        requestLog.setTargetSystem("wms");
+        requestLog.setEndpoint(param);
+        requestLog.setRequestMethod("post");
+        requestLog.setRequestHeaders(null);
+        requestLog.setRequestBody(endPoint);
+        requestLog.setRequestUrl(url);
+        try {
+            // 链式创建POST请求，获取完整响应对象
+            HttpResponse response = HttpUtil.createPost(url)
+                    .body(endPoint, "application/json") // 传入表单参数
+                    .execute();
+            String body = response.body();
+            int status = response.getStatus();
+            InterfaceReceive bean = JSONUtil.toBean(body, InterfaceReceive.class);
+            Date responseTime = new Date();
+            if (status == 200) {
+                requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
+                requestLog.setResponseStatus("1");
+                requestLog.setDuration(Convert.toStr(DateUtil.between(requestTime, responseTime, DateUnit.MS)));
+                requestLog.setIsSuccessful("1");
+            } else {
+                requestLog.setResponseStatus("0");
+                requestLog.setErrorDetails(bean.getMsg());
+                requestLog.setIsSuccessful("0");
+            }
+
+        } catch (Exception e) {
+            requestLog.setErrorDetails(e.getMessage());
+            requestLog.setIsSuccessful("0");
+            requestLog.setResponseStatus("0");
+        } finally {
+            insertRequestLog(requestLog);
+        }
+        return requestLog;
+    }
 }

ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/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) {
-                        otherCarSiteList.addAll(Arrays.asList(wcsSrgvQueue.getPathInfo().split(",")));
+                    if (wcsSrgvQueue.getPathInfo() != null) {
+                        //根据小车当前点位去除已走路径 除了当前点和上一个点之外都解锁
+                        DeviceSrgv otherCarCurrStatus = deviceSrgvService.selectDeviceSrgvByGuid(wcsSrgvQueue.getAgvId());
+                        String currSite = otherCarCurrStatus.getCurrSite();
+                        List<String> allSiteList = Arrays.asList(wcsSrgvQueue.getPathInfo().split(","));
+                        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

@@ -4,20 +4,26 @@ package com.ruoyi.common;
 public class Constant {
 
     public static final String WMS_BASE_URL = "http://localhost:8080/api2wms/";
-    public static final String RCS_BASE_URL = "http://127.0.0.1:8081/rcms-dps/rest/";
-
+    public static final String RCS_BASE_URL = "http://192.168.188.251:9501/";
+    public static final String WMS_BASE_PDA_URL = "http://localhost:8080/pda/";
 
     public static final String JOB_FINISH_URL = WMS_BASE_URL+"jobFinish";
     public static final String CONTINUE_TASK_URL = RCS_BASE_URL+"continueTask";
     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 OUT_MAKE_SURE=WMS_BASE_PDA_URL+"outMakeSure";
+    public static final String UPDATE_LED=WMS_BASE_URL+"updateLed";
+    public static final String QUERY_AGV_QUENE=WMS_BASE_URL+"queryAgvQuene";
+    public static final String FINISH_AGV_QUENE=WMS_BASE_URL+"finishAgvQuene";
+    public static final String SEND_AGV_CAR=RCS_BASE_URL+"api/app/agvs-task";
+    public static final String INSERT_AGV_QUENE=WMS_BASE_URL+"insertAgvQuene";
+    public static final String UPDATE_LED_ERROR=WMS_BASE_URL+"updateLedError";
     public static final String WAREHOUSE_01 = "01";
     public static final String WAREHOUSE_02 = "02";
 

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

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

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

@@ -2,6 +2,7 @@ package com.ruoyi.job.controller;
 
 import java.util.List;
 import javax.servlet.http.HttpServletResponse;
+
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.GetMapping;
@@ -29,8 +30,7 @@ import com.ruoyi.common.core.page.TableDataInfo;
  */
 @RestController
 @RequestMapping("/job/mydoJob")
-public class MydoJobController extends BaseController
-{
+public class MydoJobController extends BaseController {
     @Autowired
     private IMydoJobService mydoJobService;
 
@@ -39,8 +39,7 @@ public class MydoJobController extends BaseController
      */
     @PreAuthorize("@ss.hasPermi('job:mydoJob:list')")
     @GetMapping("/list")
-    public TableDataInfo list(MydoJob mydoJob)
-    {
+    public TableDataInfo list(MydoJob mydoJob) {
         startPage();
         List<MydoJob> list = mydoJobService.selectMydoJobList(mydoJob);
         return getDataTable(list);
@@ -51,10 +50,11 @@ public class MydoJobController extends BaseController
      */
     @PreAuthorize("@ss.hasPermi('job:mydoJob:list')")
     @GetMapping("/listFinish")
-    public TableDataInfo listFinish(MydoJob mydoJob)
-    {
+    public TableDataInfo listFinish(MydoJob mydoJob) {
         startPage();
+//        mydoJob.setStatus("3");
         List<MydoJob> list = mydoJobService.selectMydoJobFinishList(mydoJob);
+
         return getDataTable(list);
     }
 
@@ -64,9 +64,15 @@ public class MydoJobController extends BaseController
     @PreAuthorize("@ss.hasPermi('job:mydoJob:export')")
     @Log(title = "作业信息", businessType = BusinessType.EXPORT)
     @PostMapping("/export")
-    public void export(HttpServletResponse response, MydoJob mydoJob)
-    {
-        List<MydoJob> list = mydoJobService.selectMydoJobList(mydoJob);
+    public void export(HttpServletResponse response, MydoJob mydoJob) {
+        List<MydoJob> list = null;
+        if (mydoJob.getStatus().equals("3")) {
+            list = mydoJobService.selectMydoJobList(mydoJob);
+        } else {
+
+            list = mydoJobService.selectMydoJobFinishList(mydoJob);
+        }
+
         ExcelUtil<MydoJob> util = new ExcelUtil<MydoJob>(MydoJob.class);
         util.exportExcel(response, list, "作业信息数据");
     }
@@ -76,8 +82,7 @@ public class MydoJobController extends BaseController
      */
     @PreAuthorize("@ss.hasPermi('job:mydoJob:query')")
     @GetMapping(value = "/{jobId}")
-    public AjaxResult getInfo(@PathVariable("jobId") String jobId)
-    {
+    public AjaxResult getInfo(@PathVariable("jobId") String jobId) {
         return success(mydoJobService.selectMydoJobByJobId(jobId));
     }
 
@@ -87,8 +92,7 @@ public class MydoJobController extends BaseController
     @PreAuthorize("@ss.hasPermi('job:mydoJob:add')")
     @Log(title = "作业信息", businessType = BusinessType.INSERT)
     @PostMapping
-    public AjaxResult add(@RequestBody MydoJob mydoJob)
-    {
+    public AjaxResult add(@RequestBody MydoJob mydoJob) {
         return toAjax(mydoJobService.insertMydoJob(mydoJob));
     }
 
@@ -98,8 +102,7 @@ public class MydoJobController extends BaseController
     @PreAuthorize("@ss.hasPermi('job:mydoJob:edit')")
     @Log(title = "作业信息", businessType = BusinessType.UPDATE)
     @PutMapping
-    public AjaxResult edit(@RequestBody MydoJob mydoJob)
-    {
+    public AjaxResult edit(@RequestBody MydoJob mydoJob) {
         return toAjax(mydoJobService.updateMydoJob(mydoJob));
     }
 
@@ -108,9 +111,8 @@ public class MydoJobController extends BaseController
      */
     @PreAuthorize("@ss.hasPermi('job:mydoJob:remove')")
     @Log(title = "作业信息", businessType = BusinessType.DELETE)
-	@DeleteMapping("/{jobIds}")
-    public AjaxResult remove(@PathVariable String[] jobIds)
-    {
+    @DeleteMapping("/{jobIds}")
+    public AjaxResult remove(@PathVariable String[] jobIds) {
         return toAjax(mydoJobService.deleteMydoJobByJobIds(jobIds));
     }
 
@@ -118,8 +120,7 @@ public class MydoJobController extends BaseController
     @PreAuthorize("@ss.hasPermi('job:mydoJob:manualCallback')")
     @Log(title = "作业信息", businessType = BusinessType.UPDATE)
     @GetMapping("/manualCallback/{jobId}")
-    public AjaxResult manualCallback(@PathVariable("jobId") String jobId)
-    {
+    public AjaxResult manualCallback(@PathVariable("jobId") String jobId) {
         return mydoJobService.manualCallback(jobId);
     }
 }

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

@@ -24,10 +24,11 @@ public class MydoJob extends BaseEntity
     private static final long serialVersionUID = 1L;
 
     /** 任务ID */
+    @Excel(name = "任务ID")
     private String jobId;
 
     /** 任务状态 */
-    @Excel(name = "任务状态")
+    @Excel(name = "任务状态",dictType = "job_status")
     private String status;
 
     /** 任务号 */
@@ -35,7 +36,7 @@ public class MydoJob extends BaseEntity
     private String taskNo;
 
     /** 巷道ID */
-    @Excel(name = "巷道ID")
+//    @Excel(name = "巷道ID")
     private String roadwayId;
 
     /** 货位ID */
@@ -55,11 +56,11 @@ public class MydoJob extends BaseEntity
     private Long priority;
 
     /** 执行阶段 */
-    @Excel(name = "执行阶段")
+//    @Excel(name = "执行阶段")
     private String executionPhase;
 
     /** 任务类型 */
-    @Excel(name = "任务类型")
+    @Excel(name = "任务类型",dictType = "job_type")
     private String inOrOut;
 
     /** 开始时间 */
@@ -83,9 +84,9 @@ public class MydoJob extends BaseEntity
     private String warehouseId;
 
     /** 重分标志 */
-    @Excel(name = "重分标志")
+//    @Excel(name = "重分标志")
     private String faultFlag;
-
+    @Excel(name = "托盘条码")
     private String trayCode;
 
     private String inOut;
@@ -94,4 +95,5 @@ 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 +81,26 @@ 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();
+
+    Integer selectMydoJobIn();
+
+    Integer selectMydoJobCountOut();
+
+    Integer selectByJobOut(Integer currFloor);
+
+    Integer selectByJobOutIsOne(Integer currFloor);
+
+    Integer selectMydoJobExit(String exit);
+
+    Integer selectTheFloorYk(String theFloor);
+
+    void deleteMydoJobByTaskNos(List<String> validTaskNos);
 }

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

@@ -80,4 +80,24 @@ 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();
+
+    Integer selectMydoJobIn();
+
+    Integer selectMydoJobCountOut();
+
+    Integer selectByJobOut(Integer currFloor);
+
+    Integer selectByJobOutIsOne(Integer currFloor);
+
+    Integer selectMydoJobExit(String exit);
+
+    Integer selectTheFloorYk(String theFloor);
 }

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

@@ -173,4 +173,55 @@ 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();
+    }
+
+    @Override
+    public Integer selectMydoJobIn() {
+        return mydoJobMapper.selectMydoJobIn();
+    }
+
+    @Override
+    public Integer selectMydoJobCountOut() {
+        return mydoJobMapper.selectMydoJobCountOut();
+    }
+
+    @Override
+    public Integer selectByJobOut(Integer currFloor) {
+
+        return  mydoJobMapper.selectByJobOut(currFloor);
+    }
+
+    @Override
+    public Integer selectByJobOutIsOne(Integer currFloor) {
+        return mydoJobMapper.selectByJobOutIsOne(currFloor);
+    }
+
+    @Override
+    public Integer selectMydoJobExit(String exit) {
+        return mydoJobMapper.selectMydoJobExit(exit);
+    }
+
+    @Override
+    public Integer selectTheFloorYk(String theFloor) {
+        return mydoJobMapper.selectTheFloorYk(theFloor);
+    }
 }

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

@@ -1,5 +1,6 @@
 package com.ruoyi.queue.agv.mapper;
 
+import java.util.HashMap;
 import java.util.List;
 import com.ruoyi.queue.agv.domain.AgvQueue;
 
@@ -67,4 +68,6 @@ public interface AgvQueueMapper
     AgvQueue selectAgvQueueByTaskCode(String taskCode);
 
     void insertHistory(String reqCode);
+
+    void selectKx(HashMap<String, Object> map);
 }

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

@@ -1,5 +1,6 @@
 package com.ruoyi.queue.agv.service;
 
+import java.util.HashMap;
 import java.util.List;
 import com.ruoyi.queue.agv.domain.AgvQueue;
 
@@ -71,4 +72,6 @@ public interface IAgvQueueService
      * @param reqCode
      */
     void insertHistory(String reqCode);
+
+    void selectKx(HashMap<String, Object> map);
 }

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

@@ -1,5 +1,6 @@
 package com.ruoyi.queue.agv.service.impl;
 
+import java.util.HashMap;
 import java.util.List;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
@@ -100,4 +101,9 @@ public class AgvQueueServiceImpl implements IAgvQueueService
     public void insertHistory(String reqCode) {
         agvQueueMapper.insertHistory(reqCode);
     }
+
+    @Override
+    public void selectKx(HashMap<String, Object> map) {
+        agvQueueMapper.selectKx(map);
+    }
 }

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

@@ -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 +71,14 @@ public interface WcsSrgvQueueMapper
      * @return 结果
      */
     public int deleteWcsSrgvQueueByGuids(String[] guids);
+
+    String selectMinCountJob(@Param("list") List<String> outModelSSJ);
+
+    Integer selectTsj();
+
+    Integer selectByCaogoPlaceSite(String siteId);
+
+    Integer selectByEndSite();
+
+    List<String> selectTaskNosByGuids(String[] guids);
 }

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

@@ -1,10 +1,12 @@
 package com.ruoyi.queue.srgv.service.impl;
 
+import java.util.ArrayList;
 import java.util.List;
 
 import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.ObjUtil;
+import com.ruoyi.job.mapper.MydoJobMapper;
 import com.ruoyi.queue.srgv.domain.WcsSrgvQueueFinish;
 import com.ruoyi.queue.srgv.mapper.WcsSrgvQueueFinishMapper;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -26,7 +28,8 @@ public class WcsSrgvQueueServiceImpl implements IWcsSrgvQueueService
     private WcsSrgvQueueMapper wcsSrgvQueueMapper;
     @Autowired
     private WcsSrgvQueueFinishMapper wcsSrgvQueueFinishMapper;
-
+    @Autowired
+    private MydoJobMapper mydoJobMapper;
     /**
      * 查询四向小车任务队列
      *
@@ -100,9 +103,29 @@ public class WcsSrgvQueueServiceImpl implements IWcsSrgvQueueService
     @Override
     public int deleteWcsSrgvQueueByGuids(String[] guids)
     {
+        if (guids == null || guids.length == 0) {
+            return 0;
+        }
+        List<String> taskNos = wcsSrgvQueueMapper.selectTaskNosByGuids(guids);
+        deleteMydoJobsByTaskNos(taskNos);
         return wcsSrgvQueueMapper.deleteWcsSrgvQueueByGuids(guids);
     }
 
+    private void deleteMydoJobsByTaskNos(List<String> taskNos) {
+        if (taskNos == null || taskNos.isEmpty()) {
+            return;
+        }
+        List<String> validTaskNos = new ArrayList<>();
+        for (String taskNo : taskNos) {
+            if (taskNo != null && !"".equals(taskNo)) {
+                validTaskNos.add(taskNo);
+            }
+        }
+        if (!validTaskNos.isEmpty()) {
+            mydoJobMapper.deleteMydoJobByTaskNos(validTaskNos);
+        }
+    }
+
     /**
      * 删除四向小车任务队列信息
      *
@@ -115,6 +138,28 @@ 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 +67,14 @@ 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));
+        }else {
+            log.error(read2.Message);
         }
     }
 
@@ -116,8 +118,8 @@ public class PlcCdzRead implements Runnable {
     }
 
     void closeServer() {
-        if (readWriteNet != null) {
-            readWriteNet.ConnectClose();
+        if (siemensS7Net != null) {
+            siemensS7Net.ConnectClose();
         }
         setIsConnect(false);
     }

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

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

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

@@ -78,17 +78,39 @@ public class PlcSrgvRead implements Runnable {
         OperateResultExOne<byte[]> read1 = modbusTcpNet.Read("4068", (short) 15);//2400-2414
         if (read1.IsSuccess) {
             setValueByByte1(read1.Content, deviceSrgv);
+        }else {
+            log.error(read1.Message);
         }
+
+        OperateResultExOne<byte[]> read5 = modbusTcpNet.Read("4081", (short) 2);//2400-2414
+        if (read5.IsSuccess) {
+            setValueByByte5(read1.Content, deviceSrgv);
+        }else {
+            log.error(read1.Message);
+        }
+
         //读取二段任务 小车是否接收完成1段作业
         OperateResultExOne<byte[]> read3 = modbusTcpNet.Read("1000", (short) 2);//2400-2414
         if (read3.IsSuccess) {
             setValueByByte3(read3.Content, deviceSrgv);
+        }else {
+            log.error(read1.Message);
         }
 
         //读取双字
         OperateResultExOne<byte[]> read2 = modbusTcpNet.Read("4060", (short) 8);// 4800-4807任务号、原点、目标点、当前
         if (read2.IsSuccess) {
             setValueByByte2(read2.Content, deviceSrgv);
+        }else {
+            log.error(read1.Message);
+        }
+
+        //        //读取双字，路径
+        OperateResultExOne<byte[]> read4 = modbusTcpNet.Read("6000", (short) 800);// 5000-5799 路径 400个
+        if (read4.IsSuccess) {
+            setValueByByte4(read4.Content, deviceSrgv);
+        }else {
+            log.error(read1.Message);
         }
     }
 
@@ -104,6 +126,8 @@ 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 +147,15 @@ 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 +183,29 @@ 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);
@@ -188,8 +244,8 @@ public class PlcSrgvRead implements Runnable {
     }
 
     void closeServer() {
-        if (readWriteNet != null) {
-            readWriteNet.ConnectClose();
+        if (modbusTcpNet != null) {
+            modbusTcpNet.ConnectClose();
         }
         setIsConnect(false);
     }

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 +90,19 @@ 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.setErrorCode(ParseUtil.optInt(8,ddsx1));
+            ssjDevice.setTaskNo(ParseUtil.optDInt(0, ddsx1));
+
+        }
+    }
+
     /**
      * 其他输送机
      *
@@ -99,6 +116,7 @@ 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
         }
     }
 
@@ -118,6 +136,8 @@ public class PlcSsjRead implements Runnable {
             ssjDevice.setDw(ParseUtil.optInt(6, ddsx1));
 //            ssjDevice.setTrayCode(ParseUtil.optString(14, 12, ddsx1));
 //            ssjDevice.setModel(ParseUtil.optInt(28, ddsx1));
+        }else {
+            log.error(read2.Message);
         }
     }
 
@@ -138,6 +158,8 @@ public class PlcSsjRead implements Runnable {
 //            ssjDevice.setKx(ParseUtil.optInt(4, ddsx1));
 //            ssjDevice.setDw(ParseUtil.optInt(6, ddsx1));
 
+        }else {
+            log.error(read2.Message);
         }
     }
 
@@ -175,6 +197,8 @@ public class PlcSsjRead implements Runnable {
                 //去除bytes中
                 ssjDevice.setTrayCode(ParseUtil.filterAndConvert(trayCodeRead.Content));
             }
+        }else {
+            log.error(read2.Message);
         }
     }
 
@@ -218,8 +242,8 @@ public class PlcSsjRead implements Runnable {
     }
 
     void closeServer() {
-        if (readWriteNet != null) {
-            readWriteNet.ConnectClose();
+        if (siemensS7Net != null) {
+            siemensS7Net.ConnectClose();
         }
         setIsConnect(false);
     }

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

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

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;
@@ -21,6 +23,9 @@ import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
 import com.ruoyi.schedule.plcRead.util.Tools;
 import lombok.extern.slf4j.Slf4j;
 
+import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
+import java.time.temporal.ChronoUnit;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Optional;
@@ -32,19 +37,22 @@ 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
@@ -62,19 +70,32 @@ public class CdzThread implements Runnable {
         }
     }
 
+    public static boolean isMoreThan30Min(String timeStr, String pattern) {
+        // 1. 创建格式化器
+        DateTimeFormatter formatter = DateTimeFormatter.ofPattern(pattern);
+        // 2. 解析字符串为时间对象
+        LocalDateTime targetTime = LocalDateTime.parse(timeStr, formatter);
+        // 3. 获取当前系统时间
+        LocalDateTime now = LocalDateTime.now();
+        // 4. 计算两个时间相差的总分钟（可正可负）
+        long diffMinutes = ChronoUnit.MINUTES.between(targetTime, now);
+        // 取绝对值：不管是过去/未来时间，只要间隔超30分钟就满足
+        long absDiff = Math.abs(diffMinutes);
+        return absDiff > 30;
+    }
 
     void dispatch() {
-
+        Integer count = mydoJobService.selectMydoJobCount();
         //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 && isMoreThan30Min(deviceSrgv.getLastTime(),"yyyy-MM-dd HH:mm:ss")) {
                     middleBatterySRgv.add(deviceSrgv);
                 }
             }
@@ -92,22 +113,20 @@ 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> timeOutSrgvList = deviceSrgvs.stream().filter(x -> DateUtil.between(DateUtil.parse(x.getLastTime()), DateUtil.date(), DateUnit.MINUTE) > 30).collect(Collectors.toList());
-        if (CollUtil.isNotEmpty(timeOutSrgvList)) {
-            //生成充电任务
-            createChargingInJob(timeOutSrgvList);
-        }
+//        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());
+//        if (CollUtil.isNotEmpty(timeOutSrgvList)) {
+//            //生成充电任务
+//            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 +137,29 @@ 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   todo 代码无效
-        WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
-        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) {
-                                //生成断电任务
-                                createChargingOutJob(deviceSrgv, deviceCdz);
-                                break;
-                            }
-                        }
-                    }
-                }
+        //生成断电任务  有任务且电量大于50
+        List<DeviceCdz> deviceCdzdd = deviceCdzService.selectDeviceCdzHasSRgvList();
+        for (DeviceCdz deviceCdz : deviceCdzdd) {
+            DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1());
+            //(deviceSrgv.getBattery() >= JOB_BETTERY && count > 0) ||
+            if (( deviceSrgv.getBattery() >= MAX_BETTERY)
+                    && deviceSrgv.getWorkMode() == 5
+                    && deviceSrgv.getChargeFlag() == 2 && deviceCdz.getStatus() == 1) {
+                createChargingOutJob(PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1()), deviceCdz);
             }
         }
 
@@ -166,7 +170,6 @@ 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 +181,7 @@ 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 +189,11 @@ 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 +208,43 @@ 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();
-                if (CollUtil.isNotEmpty(cdzList)) {
-                    //寻找最接近的充电桩
-                    Integer floor = deviceSrgv.getCurrFloor();
-                    DeviceCdz cdz = null;
-                    Optional<DeviceCdz> min = cdzList.stream().filter(c -> c.getSzcs().equals(floor)).min((o1, o2) -> {
-                        Integer distance1 = Math.abs(o1.getSzcs());
-                        Integer distance2 = Math.abs(o2.getSzcs());
-                        return distance1 - distance2;
-                    });
-                    if (min.isPresent()) {
-                        cdz = min.get();
-                    }
-                    if (ObjUtil.isNotNull(cdz)) {
-                        //生成充电任务
-                        SrgvChargingJob srgvChargingJobParam = new SrgvChargingJob();
-                        srgvChargingJobParam.setAgvId(deviceSrgv.getDeviceId().toString());
-                        srgvChargingJobParam.setChargingSite("08020" + cdz.getSzcs());
-                        srgvChargingJobParam.setChargingId(cdz.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.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());
-                            chargingJobService.insertSrgvChargingJob(scj);
-                            cdz.setSpare1(deviceSrgv.getDeviceId().toString());
-                            deviceCdzService.updateDeviceCdz(cdz);
-                        }
+                DeviceCdz deviceCdz = deviceCdzService.selectDeviceCdzById(Long.valueOf(deviceSrgv.getDeviceId()));
+//                List<DeviceCdz> cdzList = deviceCdzService.selectDeviceCdzListNoSRgvId();
+//                if (CollUtil.isNotEmpty(deviceCdz)) {
+                //寻找最接近的充电桩
+//                    Integer floor = deviceSrgv.getCurrFloor();
+//                    DeviceCdz cdz = null;
+//                    Optional<DeviceCdz> min = cdzList.stream().min((o1, o2) -> {
+//                        Integer distance1 = Math.abs(o1.getSzcs());
+//                        Integer distance2 = Math.abs(o2.getSzcs());
+//                        return distance1 - distance2;
+//                    });
+//                    if (min.isPresent()) {
+//                        cdz = min.get();
+//                    }
+                if (ObjUtil.isNotNull(deviceCdz)) {
+                    //生成充电任务
+                    SrgvChargingJob srgvChargingJobParam = new SrgvChargingJob();
+                    srgvChargingJobParam.setAgvId(deviceSrgv.getDeviceId().toString());
+                    srgvChargingJobParam.setChargingSite("08020" + deviceCdz.getSzcs());
+                    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(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(deviceCdz.getId().toString());
+                        chargingJobService.insertSrgvChargingJob(scj);
+                        deviceCdz.setSpare1(deviceSrgv.getDeviceId().toString());
+                        deviceCdzService.updateDeviceCdz(deviceCdz);
                     }
                 }
+//                }
             }
         }
     }
@@ -265,7 +267,7 @@ 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

@@ -46,6 +46,13 @@ public class SsjThread implements Runnable {
         ssjCodes2.add("L1004");
         ssjCodes2.add("L1005");
         ssjCodeList.put("road", ssjCodes2);
+
+        ArrayList<String> ssjCodes4 = new ArrayList<>();
+        ssjCodes4.add("L1006");
+        ssjCodes4.add("L1003");
+        ssjCodeList.put("error", ssjCodes4);
+
+
         mydoJobService = SpringUtils.getBean(IMydoJobService.class);
         jobCallBackService = SpringUtils.getBean(IJobCallBackService.class);
         apiService = SpringUtils.getBean(IApiService.class);
@@ -97,73 +104,135 @@ public class SsjThread implements Runnable {
                                 log.error(e.getMessage(), e);
                             }
                         }
+
+
+                    case "error":
+                        for (String ssjCode : ssjCodeList.get("error")) {
+                            try {
+                                if (PlcSsjRead.deviceSsjMap.containsKey(ssjCode)) {
+                                    inDispatchError(PlcSsjRead.deviceSsjMap.get(ssjCode));
+                                } else {
+                                    log.error("设备不存在 ssjCode{}", ssjCode);
+                                }
+                            } catch (RuntimeException e) {
+                                log.error(e.getMessage(), e);
+                            }
+                        }
+
                 }
             }
         }
     }
 
+    private void inDispatchError(DeviceSsj deviceSsj) {
+        if (deviceSsj.getErrorCode() > 0) {
+            if (deviceSsj.getDeviceCode().equals("L1003")) {
+                String code = "TD1001";
+                String errorCode = String.valueOf(deviceSsj.getErrorCode());
+                HashMap<String, Object> objectObjectHashMap = new HashMap<>();
+                objectObjectHashMap.put("deviceCode", code);
+                objectObjectHashMap.put("errorCode", errorCode);
+                apiService.updateLedError(objectObjectHashMap);
+            }
+            if (deviceSsj.getDeviceCode().equals("L1006")) {
+                String code = "TD1008";
+                String errorCode = String.valueOf(deviceSsj.getErrorCode());
+                HashMap<String, Object> objectObjectHashMap = new HashMap<>();
+                objectObjectHashMap.put("deviceCode", code);
+                objectObjectHashMap.put("errorCode", errorCode);
+                apiService.updateLedError(objectObjectHashMap);
+            }
+        }
+    }
+
 
     void inDispatch(DeviceSsj deviceSsj) {
         //出库到位
         if (deviceSsj.getDw() == 1 && deviceSsj.getTaskNo() > 0) {
+            HashMap<String, Object> objectObjectHashMap = new HashMap<>();
+            objectObjectHashMap.put("deviceCode", deviceSsj.getDeviceCode());
+            objectObjectHashMap.put("taskNo", deviceSsj.getTaskNo());
+            apiService.updateLed(objectObjectHashMap);
 
             MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(deviceSsj.getTaskNo()));
-            if (mydoJob != null) {
-                log.info("设备：{}  位置：{}  任务号：{}  出库到位", "输送线", deviceSsj.getDeviceCode(), mydoJob.getTaskNo());
-                mydoJobService.insertHistory(mydoJob.getJobId());
-                mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId());
-                JobCallBack jobCallBack = new JobCallBack();
-                jobCallBack.setType("2");
-                jobCallBack.setMydojobId(mydoJob.getJobId());
-                jobCallBack.setStatus("0");
-                jobCallBack.setTaskNo(Convert.toLong(mydoJob.getTaskNo()));
-                jobCallBack.setCreateTime(new Date());
-                jobCallBackService.insertJobCallBack(jobCallBack);
+            if (mydoJob != null && mydoJob.getInOrOut().equals("22")) {
+                // 新增agv执行队列，以及调用wms后台任务过账
+                AjaxResult ajaxResult1 = apiService.insertAgvQuene(objectObjectHashMap);
+                if (ajaxResult1.get("code").equals("200")) {
+                    HashMap<String, Object> map = new HashMap<>();
+                    map.put("trayCode", mydoJob.getTrayCode());
+                    //拉取
+                    AjaxResult ajaxResult = apiService.OutMakeSure(map);
+                    if (ajaxResult.get("code").equals("200")) {
+                        mydoJobService.insertHistory(mydoJob.getJobId());
+                        mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId());
+                    }
+                }
             }
         }
     }
 
     void inDispatch1(DeviceSsj deviceSsj) {
-        if (deviceSsj.getRkqq() == 1 && StrUtil.isNotBlank(deviceSsj.getTrayCode())) {
-            //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());
-            //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());
-                if ("GS1002".equals(deviceSsj.getDeviceCode())) {
-                    mydoJob.setEntranceId("L1004");
+        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) {
+                String exit = "";
+                if (deviceSsj.getDeviceCode().equals("GS1002")) {
+                    exit = "L1004";
+                }
+                if (deviceSsj.getDeviceCode().equals("GS1007")) {
+                    exit = "L1005";
+                }
+                Integer count = mydoJobService.selectMydoJobExit(exit);
+                if (count > 0) {
+                    int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), "0", 2, 2);
+                    if (i == 1) {
+                        log.info(deviceSsj.getDeviceCode() + "有相应入口的出库作业，下发退回，去向2 条码" + deviceSsj.getTrayCode());
+                        return;
+                    }
+                }
+                //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());
+                //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 {
-                    mydoJob.setEntranceId("L1005");
+                    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());
+                    }
                 }
-                // 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");
-                    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");
-                }
-
             }
 
-
         }
 
     }
@@ -171,10 +240,28 @@ public class SsjThread implements Runnable {
     void inDispatch2(DeviceSsj deviceSsj) {
         if (deviceSsj.getDw() == 1 && deviceSsj.getTaskNo() > 1000) {
 
-            MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo((long) deviceSsj.getTaskNo());
-            if (mydoJob != null) {
-                mydoJob.setExecutionPhase("2");
-                mydoJobService.updateMydoJob(mydoJob);
+            MydoJob mydoJob1 = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(deviceSsj.getTaskNo()));
+            if (mydoJob1 != null && mydoJob1.getCargoSpaceId() != null) {
+                return;
+            }
+            if (mydoJob1 != null && Integer.parseInt(mydoJob1.getInOrOut()) < 20) {
+                HashMap<String, Object> map = new HashMap<>();
+                map.put("taskNo", deviceSsj.getTaskNo());
+                map.put("deviceCode", deviceSsj.getDeviceCode());
+                //拉取
+                AjaxResult ajaxResult = apiService.sendCargoSpace(map);
+                if (ajaxResult.isSuccess()) {
+                    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 && cargoSpaceId != null && !cargoSpaceId.equals("")) {
+                        mydoJob.setTheFloor(theFloor);
+                        mydoJob.setCargoSpaceId(cargoSpaceId);
+                        mydoJob.setExecutionPhase("2");
+                        mydoJobService.updateMydoJob(mydoJob);
+                    }
+                }
             }
         }
     }

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

@@ -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;
@@ -24,8 +26,8 @@ import com.ruoyi.schedule.plcRead.tsj.PlcTsjRead;
 import com.ruoyi.schedule.plcRead.util.Tools;
 import lombok.extern.slf4j.Slf4j;
 
-import java.util.Date;
-import java.util.List;
+import java.util.*;
+import java.util.stream.Collectors;
 
 @Slf4j
 public class TsjThread implements Runnable {
@@ -35,13 +37,18 @@ public class TsjThread implements Runnable {
     private ITsjDeviceExecutionQueueFinishService tsjDeviceExecutionQueueFinishService;
     private IWcsPortService wcsPortService;
     private IWcsSrgvQueueService wcsSrgvQueueService;
-    public IMydoJobService mydoJobService;
+    private IMydoJobService mydoJobService;
+    private IWcsSrgvMapService wcsSrgvMapService;
+    public IWcsSrgvQueueService wcsSagvQueueMapper;
 
     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 +83,7 @@ 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);
         }
 
@@ -84,19 +91,28 @@ 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) {
-            createSRgvQueue(rwh, tsj);
+        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);
         }
+        // 提升机放货途中 取消当前小车的路径
+        if (czfs == 2 && sbzt == 2 && jdbz == 3 && rwh > 500) {
+            removePathCar(rwh, tsj);
+        }
 
         /*
          * 2、任务完成
          *
          * */
-        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);
         }
@@ -113,12 +129,20 @@ public class TsjThread implements Runnable {
 
     }
 
+    private void removePathCar(Long rwh, DeviceTsj tsj) {
+        WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueueService.selectWcsSrgvQueueByTaskNo(String.valueOf(rwh));
+        DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(wcsSrgvQueue.getAgvId());
+        if (!deviceSrgv.getCurrSite().equals("07050"+wcsSrgvQueue.getTheFloor()) && tsj.getHczt() == 1 && !wcsSrgvQueue.getPathInfo().isEmpty() && java.util.Arrays.asList(wcsSrgvQueue.getPathInfo().trim().replaceAll(",$", "").split(",")).contains("07050"+wcsSrgvQueue.getTheFloor())&&wcsSrgvQueue.getEndSite().equals("tsj")) {
+            wcsSrgvQueue.setPathInfo("");
+            wcsSrgvQueueService.updateWcsSrgvQueue(wcsSrgvQueue);
+        }
+    }
+
     // 下发提升机启动
     private void createSRgvQueueTsjQd(Long rwh, DeviceTsj tsj) {
         for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
             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 +171,15 @@ 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()));
@@ -170,12 +198,44 @@ public class TsjThread implements Runnable {
                     break;
                 case "2":
                     //出库
-//                    startSite="tsj";
                     startSite = "09050" + tsj.getDqcs();
-                    endSite = wcsSrgvQueue.getCargoPlaceSite();
+                    // 如果提升机当前层等于1 并且是出库任务，更新出库点位为出库缓存点
+//                    Integer i = mydoJobService.selectMydoJobCountOut();
+                    if (tsj.getDqcs() == 1 && "2".equals(wcsSrgvQueue.getDefault02())) {
+                        WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
+                        wcsSrgvMapParam.setRemark("outCache");
+                        List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMapParam);
+                        List<String> cacheSite = wcsSrgvMaps.stream().sorted(Comparator.comparing(WcsSrgvMap::getSiteId)).map(WcsSrgvMap::getSiteId).collect(Collectors.toList());
+                        List<String> currentSRgvSite = new ArrayList<>();
+                        // 判断是否有车是在一样的位置
+                        for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
+                            currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
+                        }
+                        cacheSite.removeAll(currentSRgvSite);
+                        if (CollUtil.isNotEmpty(cacheSite)) {
+                            for (String cache : cacheSite) {
+                                WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
+                                wcsSrgvQueueParam.setEndSite(cache);
+                                // 判断是否有车要去这个缓存点  没有就更新
+                                List<WcsSrgvQueue> wcsSrgvQueues1 = wcsSrgvQueueService.selectWcsSrgvQueueList(wcsSrgvQueueParam);
+//                                WcsSrgvQueue wcsSrgvQueueParam1 = new WcsSrgvQueue();
+//                                wcsSrgvQueueParam1.setStartSite(cache);
+//                                // 并且从缓存点走的
+//                                List<WcsSrgvQueue> wcsSrgvQueues2 = wcsSrgvQueueService.selectWcsSrgvQueueList(wcsSrgvQueueParam1);
+                                if (CollUtil.isEmpty(wcsSrgvQueues1)) {
+                                    wcsSrgvQueue.setStartSite(startSite);
+                                    wcsSrgvQueue.setEndSite(cacheSite.get(0));
+                                    wcsSrgvQueue.setDefault02("7");
+                                    wcsSrgvQueueService.updateWcsSrgvQueue(wcsSrgvQueue);
+                                    return;
+                                }
+                            }
+                        }
+                    } else {
+                        endSite = wcsSrgvQueue.getCargoPlaceSite();
+                    }
                     break;
                 case "3":
-                    //充电
                     break;
                 case "4":
                     //点到点
@@ -192,10 +252,52 @@ 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()) && tsj.getDqcs() == 1) {
+                                    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 +311,9 @@ 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();
+            WcsSrgvQueue wcsSrgvQueue1 = wcsSrgvQueueService.selectWcsSrgvQueueByTaskNo(String.valueOf(deviceSrgv.getTaskNo()));
+            if (deviceSrgv.getSpare2().equals("1") && deviceSrgv.getTaskNo() > 0 && count == 0 && wcsSrgvQueue1.getEndSite().equals("tsj")) {
                 //请求进入输送机
                 WcsSrgvQueue sRgvQueueParam = new WcsSrgvQueue();
                 sRgvQueueParam.setAgvId(Convert.toStr(deviceSrgv.getDeviceId()));

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

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

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

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

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

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

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

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

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

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

ruoyi-admin/src/main/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";
-            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) {
+            if (taskNo <= 0) {
                 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

@@ -144,4 +144,13 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             #{reqCode}
         </foreach>
     </delete>
+    <select id="selectKx" parameterType="java.util.Map" statementType="CALLABLE">
+        {call proc_select_kx(#{v_position,mode=IN,jdbcType=VARCHAR},
+                                   #{v_orderId,mode=IN,jdbcType=VARCHAR},
+                                   #{v_type,mode=IN,jdbcType=VARCHAR},
+                                   #{v_result,mode=OUT,jdbcType=INTEGER},
+                                   #{v_result_msg,mode=OUT,jdbcType=VARCHAR})}
+    </select>
+
+
 </mapper>

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

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

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

@@ -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">
@@ -46,8 +47,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="priority != null "> and priority = #{priority}</if>
             <if test="executionPhase != null  and executionPhase != ''"> and execution_phase = #{executionPhase}</if>
             <if test="inOrOut != null  and inOrOut != ''"> and in_or_out = #{inOrOut}</if>
-            <if test="startTime != null  and startTime != ''"> and start_time = #{startTime}</if>
-            <if test="finishTime != null  and finishTime != ''"> and finish_time = #{finishTime}</if>
+            <if test="startTime != null  and startTime != ''"> and finish_time &gt;= #{startTime}</if>
+            <if test="finishTime != null  and finishTime != ''"> and finish_time &lt;= #{finishTime}</if>
             <if test="entranceId != null  and entranceId != ''"> and entrance_id = #{entranceId}</if>
             <if test="exitId != null  and exitId != ''"> and exit_id = #{exitId}</if>
             <if test="warehouseId != null  and warehouseId != ''"> and warehouse_id = #{warehouseId}</if>
@@ -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">
@@ -225,8 +229,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="priority != null "> and priority = #{priority}</if>
             <if test="executionPhase != null  and executionPhase != ''"> and execution_phase = #{executionPhase}</if>
             <if test="inOrOut != null  and inOrOut != ''"> and in_or_out = #{inOrOut}</if>
-            <if test="startTime != null  and startTime != ''"> and start_time = #{startTime}</if>
-            <if test="finishTime != null  and finishTime != ''"> and finish_time = #{finishTime}</if>
+            <if test="startTime != null  and startTime != ''"> and finish_time &gt;= #{startTime}</if>
+            <if test="finishTime != null  and finishTime != ''"> and finish_time &lt;= #{finishTime}</if>
             <if test="entranceId != null  and entranceId != ''"> and entrance_id = #{entranceId}</if>
             <if test="exitId != null  and exitId != ''"> and exit_id = #{exitId}</if>
             <if test="warehouseId != null  and warehouseId != ''"> and warehouse_id = #{warehouseId}</if>
@@ -244,4 +248,89 @@ 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,
+                a.job_id,
+                a.in_or_out,
+                a.target_cargo_space_id,
+                ROW_NUMBER() OVER (
+                    PARTITION BY b.the_floor, b.group_coding_no
+                    ORDER BY b.group_coding DESC,
+                             CASE WHEN a.in_or_out = 30 THEN 0 ELSE 1 END,
+                             a.create_time ASC,
+                             a.job_id ASC
+                    ) AS rn
+            FROM mydo_job_wcs a
+                     INNER JOIN bas_cargo_space b
+                                ON a.cargo_space_id = b.cargo_space_id
+                                    AND a.the_floor = b.the_floor
+            WHERE a.in_or_out >= 20
+        )
+        SELECT
+            cargo_space_id,
+            group_coding_no,
+            the_floor,
+            group_coding,
+            task_no,
+            job_id,
+            in_or_out,
+            target_cargo_space_id
+        FROM floor_group
+        WHERE rn = 1          -- ✅ 每次每层每个通道只取 1 条
+        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>
+    <select id="selectMydoJobIn" resultType="java.lang.Integer">
+        select count(1) from mydo_job_wcs where in_or_out &lt;20 and cargo_space_id is null and status='3' and execution_phase='1'
+    </select>
+
+    <select id="selectMydoJobCountOut" resultType="java.lang.Integer">
+        select count(1) from mydo_job_wcs where in_or_out>20
+    </select>
+    <select id="selectByJobOut" parameterType="java.lang.Integer" resultType="java.lang.Integer">
+        select count(1)
+        from mydo_job_wcs
+        where in_or_out > 20
+          and status = '1'
+    </select>
+
+    <select id="selectByJobOutIsOne" parameterType="java.lang.Integer" resultType="java.lang.Integer">
+        select count(1) from mydo_job_wcs where in_or_out>20 and status='1' and the_floor=1
+    </select>
+
+    <select id="selectMydoJobExit" parameterType="string" resultType="integer">
+        select count(1) from mydo_job_wcs where in_or_out>20 and exit_id=#{exit}
+    </select>
+
+    <select id="selectTheFloorYk" parameterType="string" resultType="java.lang.Integer">
+        select count(1) from mydo_job_wcs where the_floor=#{theFloor} and in_or_out=30
+    </select>
+
+    <delete id="deleteMydoJobByTaskNos">
+        delete from mydo_job_wcs where task_no in
+        <foreach item="taskNo" collection="taskNos" open="(" separator="," close=")">
+            #{taskNo}
+        </foreach>
+    </delete>
+
 </mapper>

ruoyi-admin/src/main/resources/mapper/queue/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 +192,45 @@ 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>
+
+
+    <select id="selectTaskNosByGuids" parameterType="String" resultType="string">
+        select task_no from wcs_srgv_queue where guid in
+        <foreach item="guid" collection="array" open="(" separator="," close=")">
+            #{guid}
+        </foreach>
+    </select>
 </mapper>

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

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

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

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

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

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