一楼单向出库口-生成堆垛机队列 到达出口完成mydojob任务，并通知wms

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

@@ -98,12 +98,10 @@ public interface IApiService
 
     /**
      * 任务到达拣选口
-     * @param agvFinishUrl
-     * @param point
      * @param param
      * @return
      */
-    RequestLog finishMydoJob(String agvFinishUrl, String point, Map<String, Object> param);
+    RequestLog finishMydoJob(Map<String, Object> param);
 
     /**
      * 发送agv开始状态

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

@@ -178,13 +178,11 @@ public class ApiServiceImpl implements IApiService {
 
     /**
      * 出库到达拣选口
-     * @param agvFinishUrl
-     * @param endPoint
      * @param param
      * @return
      */
     @Override
-    public RequestLog finishMydoJob(String agvFinishUrl, String endPoint, Map<String, Object> param) {
+    public RequestLog finishMydoJob( Map<String, Object> param) {
         return requestLogService.getRequestLog(JOB_FINISH_URL, "agv任务完成", JSONUtil.toJsonStr(param));
     }
 

ruoyi-admin/src/main/java/com/ruoyi/bas/cargospace/mapper/BasCargoSpaceMapper.java

@@ -58,4 +58,6 @@ public interface BasCargoSpaceMapper
      * @return 结果
      */
     public int deleteBasCargoSpaceByCargoSpaceIds(String[] cargoSpaceIds);
+
+    BasCargoSpace selectBasCargoSpaceByWmsCargoSpaceId(String cargoSpaceId);
 }

ruoyi-admin/src/main/java/com/ruoyi/bas/cargospace/service/IBasCargoSpaceService.java

@@ -58,4 +58,6 @@ public interface IBasCargoSpaceService
      * @return 结果
      */
     public int deleteBasCargoSpaceByCargoSpaceId(String cargoSpaceId);
+
+    BasCargoSpace selectBasCargoSpaceByWmsCargoSpaceId(String cargoSpaceId);
 }

ruoyi-admin/src/main/java/com/ruoyi/bas/cargospace/service/impl/BasCargoSpaceServiceImpl.java

@@ -9,19 +9,19 @@ import com.ruoyi.bas.cargospace.service.IBasCargoSpaceService;
 
 /**
  * 库存信息Service业务层处理
- * 
+ *
  * @author ruoyi
  * @date 2025-09-23
  */
 @Service
-public class BasCargoSpaceServiceImpl implements IBasCargoSpaceService 
+public class BasCargoSpaceServiceImpl implements IBasCargoSpaceService
 {
     @Autowired
     private BasCargoSpaceMapper basCargoSpaceMapper;
 
     /**
      * 查询库存信息
-     * 
+     *
      * @param cargoSpaceId 库存信息主键
      * @return 库存信息
      */
@@ -33,7 +33,7 @@ public class BasCargoSpaceServiceImpl implements IBasCargoSpaceService
 
     /**
      * 查询库存信息列表
-     * 
+     *
      * @param basCargoSpace 库存信息
      * @return 库存信息
      */
@@ -45,7 +45,7 @@ public class BasCargoSpaceServiceImpl implements IBasCargoSpaceService
 
     /**
      * 新增库存信息
-     * 
+     *
      * @param basCargoSpace 库存信息
      * @return 结果
      */
@@ -57,7 +57,7 @@ public class BasCargoSpaceServiceImpl implements IBasCargoSpaceService
 
     /**
      * 修改库存信息
-     * 
+     *
      * @param basCargoSpace 库存信息
      * @return 结果
      */
@@ -69,7 +69,7 @@ public class BasCargoSpaceServiceImpl implements IBasCargoSpaceService
 
     /**
      * 批量删除库存信息
-     * 
+     *
      * @param cargoSpaceIds 需要删除的库存信息主键
      * @return 结果
      */
@@ -81,7 +81,7 @@ public class BasCargoSpaceServiceImpl implements IBasCargoSpaceService
 
     /**
      * 删除库存信息信息
-     * 
+     *
      * @param cargoSpaceId 库存信息主键
      * @return 结果
      */
@@ -90,4 +90,9 @@ public class BasCargoSpaceServiceImpl implements IBasCargoSpaceService
     {
         return basCargoSpaceMapper.deleteBasCargoSpaceByCargoSpaceId(cargoSpaceId);
     }
+
+    @Override
+    public BasCargoSpace selectBasCargoSpaceByWmsCargoSpaceId(String cargoSpaceId) {
+        return basCargoSpaceMapper.selectBasCargoSpaceByWmsCargoSpaceId(cargoSpaceId);
+    }
 }

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

@@ -3,22 +3,13 @@ package com.ruoyi.common;
 public class TaskType {
 
     /**
-     * 输送线入库（PTL出口）
+     * 堆垛机任务类型
      */
-    public static final String CONV_STOCKIN = "1";
+    //1-二楼双向
+    public static final int DDJ_RWLX_1 = 1;
+    //2-一楼单向
+    public static final int DDJ_RWLX_2 = 2;
+    //3-一楼双向
+    public static final int DDJ_RWLX_3 = 3;
 
-    /**
-     * 出库至输送线（PTL入口）---单个或组出库
-     */
-    public static final String CONV_STOCKOUT_SINGLE_GROUP = "21";
-
-    /**
-     * 出库至输送线（PTL入口）---顺序出
-     */
-    public static final String CONV_STOCKOUT_SEQUENCE = "22";
-
-    /**
-     * AGV点到点搬运
-     */
-    public static final String AGV_MOVE = "3";
 }

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

@@ -66,4 +66,6 @@ public interface MydoJobMapper
     void InvalidMydoJob(HashMap<String, Object> map);
 
     MydoJob selectMydoJobByExitList(@Param("exitList") List<String> exitList);
+
+    void insertHistory(String jobId);
 }

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

@@ -66,4 +66,6 @@ public interface IMydoJobService
     boolean InvalidMydoJob(Long rwh, Integer id);
 
     MydoJob selectMydoJobByExitList(List<String> exitList);
+
+    void insertHistory(String jobId);
 }

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

@@ -131,4 +131,9 @@ public class MydoJobServiceImpl implements IMydoJobService
     public MydoJob selectMydoJobByExitList(List<String> exitList) {
         return mydoJobMapper.selectMydoJobByExitList(exitList);
     }
+
+    @Override
+    public void insertHistory(String jobId) {
+        mydoJobMapper.insertHistory(jobId);
+    }
 }

ruoyi-admin/src/main/java/com/ruoyi/queue/ddj/mapper/DdjDeviceExecutionQueueMapper.java

@@ -5,15 +5,15 @@ import com.ruoyi.queue.ddj.domain.DdjDeviceExecutionQueue;
 
 /**
  * 堆垛机执行队列Mapper接口
- * 
+ *
  * @author ruoyi
  * @date 2025-09-22
  */
-public interface DdjDeviceExecutionQueueMapper 
+public interface DdjDeviceExecutionQueueMapper
 {
     /**
      * 查询堆垛机执行队列
-     * 
+     *
      * @param uuid 堆垛机执行队列主键
      * @return 堆垛机执行队列
      */
@@ -21,7 +21,7 @@ public interface DdjDeviceExecutionQueueMapper
 
     /**
      * 查询堆垛机执行队列列表
-     * 
+     *
      * @param ddjDeviceExecutionQueue 堆垛机执行队列
      * @return 堆垛机执行队列集合
      */
@@ -29,7 +29,7 @@ public interface DdjDeviceExecutionQueueMapper
 
     /**
      * 新增堆垛机执行队列
-     * 
+     *
      * @param ddjDeviceExecutionQueue 堆垛机执行队列
      * @return 结果
      */
@@ -37,7 +37,7 @@ public interface DdjDeviceExecutionQueueMapper
 
     /**
      * 修改堆垛机执行队列
-     * 
+     *
      * @param ddjDeviceExecutionQueue 堆垛机执行队列
      * @return 结果
      */
@@ -45,7 +45,7 @@ public interface DdjDeviceExecutionQueueMapper
 
     /**
      * 删除堆垛机执行队列
-     * 
+     *
      * @param uuid 堆垛机执行队列主键
      * @return 结果
      */
@@ -53,9 +53,11 @@ public interface DdjDeviceExecutionQueueMapper
 
     /**
      * 批量删除堆垛机执行队列
-     * 
+     *
      * @param uuids 需要删除的数据主键集合
      * @return 结果
      */
     public int deleteDdjDeviceExecutionQueueByUuids(String[] uuids);
+
+    List<DdjDeviceExecutionQueue> selectDdjDeviceExecutionQueueListByRwlx(Integer rwlx);
 }

ruoyi-admin/src/main/java/com/ruoyi/queue/ddj/service/IDdjDeviceExecutionQueueService.java

@@ -60,4 +60,6 @@ public interface IDdjDeviceExecutionQueueService
     public int deleteDdjDeviceExecutionQueueByUuid(String uuid);
 
     DdjDeviceExecutionQueue selectDdjDeviceExecutionQueueByRwh(Long rwh);
+
+    List<DdjDeviceExecutionQueue> selectDdjDeviceExecutionQueueListByRwlx(Integer rwlx);
 }

ruoyi-admin/src/main/java/com/ruoyi/queue/ddj/service/impl/DdjDeviceExecutionQueueServiceImpl.java

@@ -95,4 +95,9 @@ public class DdjDeviceExecutionQueueServiceImpl implements IDdjDeviceExecutionQu
     public DdjDeviceExecutionQueue selectDdjDeviceExecutionQueueByRwh(Long rwh) {
         return null;
     }
+
+    @Override
+    public List<DdjDeviceExecutionQueue> selectDdjDeviceExecutionQueueListByRwlx(Integer rwlx) {
+        return ddjDeviceExecutionQueueMapper.selectDdjDeviceExecutionQueueListByRwlx(rwlx);
+    }
 }

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/floor1/Floor1SingleSsjThread.java

@@ -1,19 +1,28 @@
 package com.ruoyi.schedule.scheduleTask.ssj.floor1;
 
+import cn.hutool.core.collection.CollUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.ArrayUtil;
+import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjUtil;
+import com.ruoyi.api.domain.RequestLog;
 import com.ruoyi.api.service.IApiService;
+import com.ruoyi.bas.cargospace.domain.BasCargoSpace;
+import com.ruoyi.bas.cargospace.service.IBasCargoSpaceService;
 import com.ruoyi.common.utils.spring.SpringUtils;
 import com.ruoyi.job.domain.MydoJob;
 import com.ruoyi.job.service.IMydoJobService;
 import com.ruoyi.queue.agv.service.IAgvQueueService;
 import com.ruoyi.device.ssj.domain.DeviceSsj;
+import com.ruoyi.queue.ddj.domain.DdjDeviceExecutionQueue;
+import com.ruoyi.queue.ddj.service.IDdjDeviceExecutionQueueService;
 import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
 import lombok.extern.slf4j.Slf4j;
 
-import java.util.ArrayList;
+import java.util.*;
-import java.util.HashMap;
+
-import java.util.List;
+import static com.ruoyi.common.TaskType.DDJ_RWLX_2;
-import java.util.Map;
 
 /**
  * 一楼单向出库线程  循环出库作业+巷道口空闲 生成堆垛机出库队列
@@ -22,28 +31,41 @@ import java.util.Map;
 public class Floor1SingleSsjThread implements Runnable {
 
     public HashMap<String, List<String>> ssjCodeList;
-
     private IApiService apiService;
-
     private IMydoJobService mydoJobService;
-
     public boolean isRun = true;
-
+    private final Map<String,String> exitRoadwayMap = new HashMap<>();
-    private Map<String,String> exitRoadwayMap = new HashMap<>();
+    private IDdjDeviceExecutionQueueService ddjDeviceExecutionQueueService;
+    private IBasCargoSpaceService basCargoSpaceService;
+    private Map<String,List<Integer>> roadwayMap = new HashMap<>();
 
 
     public void init() {
+        //设置要循环的输送机
         ssjCodeList = new HashMap<>();
-        ArrayList<String> ssjCodes = new ArrayList<>();
+        ArrayList<String> outRoadwaySsjList = new ArrayList<>();
-        ssjCodes.add("L2001");
+        outRoadwaySsjList.add("L2001");
-        ssjCodes.add("L2007");
+        outRoadwaySsjList.add("L2007");
-        ssjCodeList.put("outRoadwaySsj", ssjCodes);
+        ssjCodeList.put("outRoadwaySsj", outRoadwaySsjList);
+        ArrayList<String> outSsjList = new ArrayList<>();
+        outSsjList.add("L2002");
+        outSsjList.add("L2008");
+        ssjCodeList.put("outSsj", outSsjList);
+
+
+        //初始化服务
         apiService = SpringUtils.getBean(IApiService.class);
         mydoJobService = SpringUtils.getBean(IMydoJobService.class);
-        exitRoadwayMap.put("L2001","L2011");
+        ddjDeviceExecutionQueueService = SpringUtils.getBean(IDdjDeviceExecutionQueueService.class);
-        exitRoadwayMap.put("L2007","L2014");
+        basCargoSpaceService = SpringUtils.getBean(IBasCargoSpaceService.class);
-        log.info("初始化服务 {}，{}", apiService, mydoJobService);
 
+        //初始化出口和巷道口映射关系
+        exitRoadwayMap.put("L2001","L2002");
+        exitRoadwayMap.put("L2007","L2008");
+
+        //初始化巷道口 排 列 层
+        roadwayMap.put("L2001",Arrays.asList(1,1,1));
+        roadwayMap.put("L2007",Arrays.asList(1,1,1));
     }
 
     @Override
@@ -51,7 +73,7 @@ public class Floor1SingleSsjThread implements Runnable {
         init();
         while (isRun){
             for (String type : ssjCodeList.keySet()) {
-                //一楼单向出库口
+                //一楼单向巷道口
                 if ("outRoadwaySsj".equals(type)) {
                     for (String ssjCode : ssjCodeList.get(type)) {
                         try {
@@ -66,6 +88,19 @@ public class Floor1SingleSsjThread implements Runnable {
 
                     }
                 }
+                if ("outSsj".equals(type)){
+                    for (String ssjCode : ssjCodeList.get(type)) {
+                        try {
+                            if (PlcSsjRead.deviceSsjMap.containsKey(ssjCode)) {
+                                dispatch2(PlcSsjRead.deviceSsjMap.get(ssjCode));
+                            } else {
+                                log.error("设备不存在 ssjCode{}", ssjCode);
+                            }
+                        } catch (RuntimeException e) {
+                            log.error(e.getMessage(), e);
+                        }
+                    }
+                }
             }
             try {
                 Thread.sleep(1500);
@@ -76,14 +111,67 @@ public class Floor1SingleSsjThread implements Runnable {
 
     }
 
+    /**
+     * 一楼单向出库口调度
+     *
+     * @param ssj 输送机
+     */
+    private void dispatch2(DeviceSsj ssj) {
+        if (ssj.getDw()==1 && ssj.getTaskNo()>0){
+            MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(ssj.getTaskNo()));
+            if (ObjUtil.isNotNull(mydoJob)) {
+                HashMap<String,Object> param = new HashMap<>();
+                param.put("taskNo",mydoJob.getTaskNo());
+                param.put("jobId",mydoJob.getJobId());
+                RequestLog result = apiService.finishMydoJob(param);
+                if ("1".equals(result.getIsSuccessful())){
+                    log.info("完成任务 taskNo{} ",mydoJob.getTaskNo());
+                    mydoJobService.insertHistory(mydoJob.getJobId());
+                    mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId());
+                }
+            }
+        }
+    }
 
+    /**
+     * 一楼单向巷道口调度
+     * @param ssj 输送机
+     */
     public void dispatch(DeviceSsj ssj) {
         //如果入库请求1 并且 托盘码不为空
         if (ssj.getKx()==1){
             String exitId = exitRoadwayMap.get(ssj.getDeviceCode());
-            MydoJob mydoJob = mydoJobService.selectMydoJobByExitList(List.of(exitId));
+            List<String> exitList = new ArrayList<>();
+            exitList.add(exitId);
+            MydoJob mydoJob = mydoJobService.selectMydoJobByExitList(exitList);
             if (ObjUtil.isNotNull(mydoJob)){
-                //生成队列
+                BasCargoSpace basCargoSpace = basCargoSpaceService.selectBasCargoSpaceByWmsCargoSpaceId(mydoJob.getCargoSpaceId());
+                if (ObjUtil.isNull(basCargoSpace)){
+                    log.error("货位不存在 cargoSpaceId{}",mydoJob.getCargoSpaceId());
+                }else {
+                    //生成队列
+                    List<DdjDeviceExecutionQueue> list = ddjDeviceExecutionQueueService.selectDdjDeviceExecutionQueueListByRwlx(DDJ_RWLX_2);
+                    List<Integer> pclList = roadwayMap.get(ssj.getDeviceCode());
+                    if (CollUtil.isEmpty(list) && CollUtil.isNotEmpty(pclList)){
+                        DdjDeviceExecutionQueue ddjDeviceExecutionQueue = new DdjDeviceExecutionQueue();
+                        ddjDeviceExecutionQueue.setUuid(IdUtil.simpleUUID());
+                        ddjDeviceExecutionQueue.setRwh(Convert.toLong(mydoJob.getTaskNo()));
+                        ddjDeviceExecutionQueue.setDevName(mydoJob.getRoadwayId());
+                        ddjDeviceExecutionQueue.setDevId(Convert.toInt(mydoJob.getRoadwayId()));
+                        ddjDeviceExecutionQueue.setRwzt(0);
+                        ddjDeviceExecutionQueue.setYph(Convert.toInt(basCargoSpace.getThePlatoon()));
+                        ddjDeviceExecutionQueue.setYlh(Convert.toInt(basCargoSpace.getTheColumn()));
+                        ddjDeviceExecutionQueue.setYch(Convert.toInt(basCargoSpace.getTheFloor()));
+                        ddjDeviceExecutionQueue.setMbph(pclList.get(0));
+                        ddjDeviceExecutionQueue.setMblh(pclList.get(1));
+                        ddjDeviceExecutionQueue.setMbch(pclList.get(2));
+                        ddjDeviceExecutionQueue.setDdjxf("0");
+                        ddjDeviceExecutionQueue.setMlfs(5);
+                        ddjDeviceExecutionQueue.setScsj(DateUtil.formatDateTime(DateUtil.date()));
+                        ddjDeviceExecutionQueue.setRwlx(DDJ_RWLX_2);
+                        ddjDeviceExecutionQueueService.insertDdjDeviceExecutionQueue(ddjDeviceExecutionQueue);
+                    }
+                }
             }
         }
     }

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

@@ -3,7 +3,7 @@
 PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
 "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
 <mapper namespace="com.ruoyi.bas.cargospace.mapper.BasCargoSpaceMapper">
-    
+
     <resultMap type="BasCargoSpace" id="BasCargoSpaceResult">
         <result property="cargoSpaceId"    column="cargo_space_id"    />
         <result property="warehouseId"    column="warehouse_id"    />
@@ -33,7 +33,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
 
     <select id="selectBasCargoSpaceList" parameterType="BasCargoSpace" resultMap="BasCargoSpaceResult">
         <include refid="selectBasCargoSpaceVo"/>
-        <where>  
+        <where>
             <if test="warehouseId != null  and warehouseId != ''"> and warehouse_id = #{warehouseId}</if>
             <if test="roadwayId != null  and roadwayId != ''"> and roadway_id = #{roadwayId}</if>
             <if test="cargoAreaId != null  and cargoAreaId != ''"> and cargo_area_id = #{cargoAreaId}</if>
@@ -55,11 +55,16 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="wmsCargoSpaceId != null  and wmsCargoSpaceId != ''"> and wms_cargo_space_id = #{wmsCargoSpaceId}</if>
         </where>
     </select>
-    
+
     <select id="selectBasCargoSpaceByCargoSpaceId" parameterType="String" resultMap="BasCargoSpaceResult">
         <include refid="selectBasCargoSpaceVo"/>
         where cargo_space_id = #{cargoSpaceId}
     </select>
+    <select id="selectBasCargoSpaceByWmsCargoSpaceId"
+            resultMap="BasCargoSpaceResult">
+        <include refid="selectBasCargoSpaceVo"/>
+        where wms_cargo_space_id = #{wmsCargoSpaceId}
+    </select>
 
     <insert id="insertBasCargoSpace" parameterType="BasCargoSpace">
         insert into bas_cargo_space
@@ -140,9 +145,9 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     </delete>
 
     <delete id="deleteBasCargoSpaceByCargoSpaceIds" parameterType="String">
-        delete from bas_cargo_space where cargo_space_id in 
+        delete from bas_cargo_space where cargo_space_id in
         <foreach item="cargoSpaceId" collection="array" open="(" separator="," close=")">
             #{cargoSpaceId}
         </foreach>
     </delete>
-</mapper>
+</mapper>

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

@@ -120,6 +120,10 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="faultFlag != null">#{faultFlag},</if>
          </trim>
     </insert>
+    <insert id="insertHistory">
+        insert into mydo_job_wcs_history
+        select * from mydo_job_wcs where job_id = #{jobId}
+    </insert>
 
     <update id="updateMydoJob" parameterType="MydoJob">
         update mydo_job_wcs

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

@@ -61,6 +61,13 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <include refid="selectDdjDeviceExecutionQueueVo"/>
         where uuid = #{uuid}
     </select>
+    <select id="selectDdjDeviceExecutionQueueListByRwlx"
+            resultMap="DdjDeviceExecutionQueueResult">
+        <include refid="selectDdjDeviceExecutionQueueVo"/>
+        where rwlx = #{rwlx}
+
+    </select>
+
 
     <insert id="insertDdjDeviceExecutionQueue" parameterType="DdjDeviceExecutionQueue">
         insert into ddj_device_execution_queue