初始创建

gavel/pom.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+	xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+
+	<modelVersion>4.0.0</modelVersion>
+	<groupId>com.gavel.manufacturing</groupId>
+	<artifactId>hcgd</artifactId>
+	<version>1.0.0</version>
+	<packaging>war</packaging>
+	<name>mcs</name>
+	<description>华灿光电</description>
+
+	<parent>
+		<groupId>org.springframework.boot</groupId>
+		<artifactId>spring-boot-starter-parent</artifactId>
+		<version>2.1.3.RELEASE</version>
+		<relativePath/> <!-- lookup parent from repository -->
+	</parent>
+
+	<properties>
+		<project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
+		<project.reporting.outputEncoding>UTF-8</project.reporting.outputEncoding>
+		<java.version>1.8</java.version>
+		<mysql.version>8.0.24</mysql.version>
+		<t-io.version>3.6.0.v20200315-RELEASE</t-io.version>
+		<pom.package>war</pom.package>
+		<pom.packageName>mcs</pom.packageName>
+	</properties>
+
+	<dependencies>
+		<dependency>
+			<groupId>org.springframework.boot</groupId>
+			<artifactId>spring-boot-starter-web</artifactId>
+			<exclusions>
+			  	<exclusion>
+			    	<groupId>org.springframework.boot</groupId>
+			    	<artifactId>spring-boot-starter-tomcat</artifactId>
+			  	</exclusion>
+            </exclusions>
+		</dependency>
+
+		<dependency>
+			<groupId>org.springframework.boot</groupId>
+			<artifactId>spring-boot-starter-jdbc</artifactId>
+		</dependency>
+		<dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-cache</artifactId>
+		</dependency>
+
+		<dependency>
+	        <groupId>org.webjars</groupId>
+	        <artifactId>webjars-locator</artifactId>
+	        <version>0.32-1</version>
+	    </dependency>
+
+		<dependency>
+			<groupId>org.springframework.boot</groupId>
+			<artifactId>spring-boot-starter-test</artifactId>
+			<scope>test</scope>
+		</dependency>
+		<dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-data-redis</artifactId>
+        </dependency>
+
+        <dependency>
+		    <groupId>javax.servlet</groupId>
+		    <artifactId>javax.servlet-api</artifactId>
+		</dependency>
+
+		<dependency>
+			<groupId>mysql</groupId>
+			<artifactId>mysql-connector-java</artifactId>
+		</dependency>
+
+		<dependency>
+			<groupId>com.gavel.platform</groupId>
+			<artifactId>gavel-persistence</artifactId>
+			<version>1.0.0</version>
+		</dependency>
+
+		<dependency>
+			<groupId>com.gavel.platform</groupId>
+			<artifactId>gavel-common</artifactId>
+			<version>1.0.0</version>
+		</dependency>
+
+		<dependency>
+			<groupId>com.gavel.platform</groupId>
+			<artifactId>gavel-kzzx</artifactId>
+			<version>1.0.0</version>
+		</dependency>
+	<dependency>
+      <groupId>org.zeromq</groupId>
+      <artifactId>jeromq</artifactId>
+      <version>0.5.2</version>
+    </dependency>
+
+		<dependency>
+			<groupId>com.gavel.platform</groupId>
+			<artifactId>gavel-framework</artifactId>
+			<version>1.0.0</version>
+		</dependency>
+
+		<dependency>
+			<groupId>com.gavel.platform</groupId>
+			<artifactId>gavel-timer</artifactId>
+			<version>1.0.0</version>
+		</dependency>
+
+		<dependency>
+			<groupId>com.gavel.platform</groupId>
+			<artifactId>gavel-monitor</artifactId>
+			<version>1.0.0</version>
+		</dependency>
+
+		<dependency>
+			<groupId>com.gavel.webjars</groupId>
+			<artifactId>gavel-webjars</artifactId>
+			<version>1.0.0</version>
+		</dependency>
+		
+		<dependency>
+			<groupId>commons-fileupload</groupId>
+            <artifactId>commons-fileupload</artifactId>
+            <version>1.3.1</version>
+		</dependency>
+
+		<dependency>
+			<groupId>org.springframework.boot</groupId>
+			<artifactId>spring-boot-starter-websocket</artifactId>
+		</dependency>
+
+
+		<dependency>
+			<groupId>com.netflix.feign</groupId>
+			<artifactId>feign-core</artifactId>
+			<version>8.18.0</version>
+		</dependency>
+
+		<dependency>
+			<groupId>com.netflix.feign</groupId>
+			<artifactId>feign-gson</artifactId>
+			<version>8.18.0</version>
+		</dependency>
+		<!-- rabbitmq dependencies -->
+		<dependency>
+			<groupId>org.springframework.boot</groupId>
+			<artifactId>spring-boot-starter-amqp</artifactId>
+		</dependency>
+
+		<dependency>
+			<groupId>org.springframework.amqp</groupId>
+			<artifactId>spring-amqp</artifactId>
+		</dependency>
+		
+		<dependency>
+			<groupId>org.t-io</groupId>
+			<artifactId>tio-websocket-spring-boot-starter</artifactId>
+			<version>${t-io.version}</version>
+		</dependency>
+	</dependencies>
+
+	<profiles>
+		<profile>
+			<!-- 开发环境 -->
+			<id>jar</id>
+			<activation>
+				<activeByDefault>true</activeByDefault>
+			</activation>
+			<properties>
+				<pom.package>jar</pom.package>
+				<pom.packageName>${project.artifactId}-${project.version}</pom.packageName>
+				<pom.profiles.active>dev</pom.profiles.active>
+			</properties>
+			<dependencies>
+				<dependency>
+					<groupId>org.springframework.boot</groupId>
+					<artifactId>spring-boot-starter-tomcat</artifactId>
+				</dependency>
+			</dependencies>
+		</profile>
+		<profile>
+			<id>war</id>
+			<properties>
+				<pom.package>war</pom.package>
+				<pom.packageName>${project.artifactId}</pom.packageName>
+				<pom.profiles.active>linux</pom.profiles.active>
+			</properties>
+			<dependencies>
+				<dependency>
+					<groupId>org.springframework.boot</groupId>
+					<artifactId>spring-boot-starter-tomcat</artifactId>
+					<scope>provided</scope>
+				</dependency>
+			</dependencies>
+		</profile>
+	</profiles>
+
+	<build>
+
+		<finalName>mcs</finalName>
+		<resources>
+			<resource>
+				<directory>src/main/java</directory>
+				<includes>
+					<include>**/*.xml</include>
+				</includes>
+				<filtering>false</filtering>
+			</resource>
+			<resource>
+				<directory>src/main/resources</directory>
+				<includes>
+					<include>**/*</include>
+				</includes>
+				<filtering>false</filtering>
+			</resource>
+		</resources>
+		<plugins>
+			<plugin>
+				<groupId>org.apache.maven.plugins</groupId>
+				<artifactId>maven-compiler-plugin</artifactId>
+				<configuration>
+					<source>1.8</source>
+					<target>1.8</target>
+					<encoding>utf-8</encoding>
+				</configuration>
+			</plugin>
+
+		</plugins>
+	</build>
+
+
+</project>

gavel/src/main/java/com/gavel/hcgd/GavelApplication.java

+package com.gavel.hcgd;
+
+import org.springframework.boot.SpringApplication;
+import org.springframework.boot.autoconfigure.SpringBootApplication;
+import org.springframework.boot.builder.SpringApplicationBuilder;
+import org.springframework.boot.web.servlet.support.SpringBootServletInitializer;
+import org.springframework.context.annotation.ComponentScan;
+import org.springframework.context.annotation.Profile;
+
+@SpringBootApplication
+@ComponentScan("com.gavel.*")
+public class GavelApplication extends SpringBootServletInitializer {
+
+	public static void main(String[] args) {
+		SpringApplication.run(GavelApplication.class, args);
+	}
+
+	@Profile(value = { "war" })
+	@Override
+	protected SpringApplicationBuilder configure(SpringApplicationBuilder application) {
+		return application.sources(GavelApplication.class);
+	}
+
+}

gavel/src/main/java/com/gavel/hcgd/LogFilter.java

+package com.gavel.hcgd;
+
+import org.springframework.stereotype.Service;
+
+import ch.qos.logback.classic.spi.ILoggingEvent;
+import ch.qos.logback.classic.spi.IThrowableProxy;
+import ch.qos.logback.core.filter.Filter;
+import ch.qos.logback.core.spi.FilterReply;
+
+
+@Service
+public class LogFilter extends Filter<ILoggingEvent> {
+ 
+    @Override
+    public FilterReply decide(ILoggingEvent event) {
+        String exception = "";
+        IThrowableProxy iThrowableProxy1 = event.getThrowableProxy();
+        if(iThrowableProxy1!=null){
+                exception = "<span class='excehtext'>"+iThrowableProxy1.getClassName()+" "+iThrowableProxy1.getMessage()+"</span></br>";
+            for(int i=0; i<iThrowableProxy1.getStackTraceElementProxyArray().length;i++){
+                exception += "<span class='excetext'>"+iThrowableProxy1.getStackTraceElementProxyArray()[i].toString()+"</span></br>";
+            }
+        }
+        /*LoggerMessage loggerMessage = new LoggerMessage(
+                event.getMessage()
+                , DateFormat.getDateTimeInstance().format(new Date(event.getTimeStamp())),
+                event.getThreadName(),
+                event.getLoggerName(),
+                event.getLevel().levelStr,
+                exception,
+                ""
+        );
+        LoggerQueue.getInstance().push(loggerMessage);*/
+        return FilterReply.ACCEPT;
+    }
+
+}
\ No newline at end of file

gavel/src/main/java/com/gavel/hcgd/agv/controller/AgvController.java

+package com.gavel.hcgd.agv.controller;
+
+import com.gavel.common.BaseURL;
+import com.gavel.common.base.BaseEditJSON;
+import com.gavel.common.base.controller.BaseController;
+import com.gavel.common.converter.DataConvert;
+import com.gavel.common.utils.StringUtils;
+import com.gavel.hcgd.agv.persistent.Agv;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Controller;
+import org.springframework.web.bind.annotation.*;
+import com.gavel.persistence.sql.RecordSet;
+import com.gavel.common.annotation.ResourcePermissions;
+import com.gavel.common.SystemOperation;
+
+import com.alibaba.fastjson.JSONObject;
+import com.gavel.common.utils.ThreadContext;
+import com.gavel.hcgd.agv.service.AgvService;
+import com.gavel.hcgd.agv.vo.AgvCondition;
+import com.gavel.hcgd.agv.vo.AgvVO;
+
+import javax.servlet.http.HttpServletRequest;
+import javax.servlet.http.HttpServletResponse;
+import java.util.ArrayList;
+import java.util.List;
+
+@Controller
+@RequestMapping("agv/agv")
+public class AgvController extends BaseController {
+
+    @Autowired
+    private AgvService agvService;
+
+    @ResourcePermissions()
+    @RequestMapping("/index")
+    public String index() {
+        return "agv/agv/index";
+    }
+
+    @ResourcePermissions({SystemOperation.BottonResource.ADD})
+    @RequestMapping("/add")
+    public String add() {
+        return "agv/agv/edit";
+    }
+
+    @ResourcePermissions({SystemOperation.BottonResource.EDIT})
+    @RequestMapping("/edit")
+    public String edit() {
+        return "agv/agv/edit";
+    }
+
+    @RequestMapping(value = BaseURL.GET, method = RequestMethod.POST)
+    @ResponseBody
+    public Object get(@RequestBody JSONObject param) {
+        AgvCondition condition = DataConvert.getCondition(param, AgvCondition.class);
+        RecordSet<AgvVO> records = agvService.query(condition);
+        if ( records.getRecords()!=null && records.getRecords().size()>=1 ){
+            return buildReturnData(AgvVO.class, records.getRecords().get(0));
+        }
+        return buildReturnData(AgvVO.class, null);
+    }
+	
+    @RequestMapping(value = BaseURL.QUERY, method = RequestMethod.POST)
+    @ResponseBody
+    public Object query(@RequestBody JSONObject param) {
+        AgvCondition condition = DataConvert.getCondition(param, AgvCondition.class);
+        RecordSet<AgvVO> records = agvService.query(condition);
+        return buildReturnData(records, AgvVO.class);
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.ADD)
+    @RequestMapping(value = BaseURL.ADD, method = RequestMethod.POST)
+    @ResponseBody
+    public Object insert(@RequestBody JSONObject param) {
+        BaseEditJSON editJson = BaseEditJSON.parseJSON(param);
+        agvService.insert(editJson);
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.EDIT)
+    @RequestMapping(value = BaseURL.UPDATE, method = RequestMethod.POST)
+    @ResponseBody
+    public Object update(@RequestBody JSONObject param) {
+        BaseEditJSON editJson = BaseEditJSON.parseJSON(param);
+        agvService.update(editJson);
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.DELETE)
+    @RequestMapping(value = BaseURL.DELETE, method = RequestMethod.POST)
+    @ResponseBody
+    public Object delete(@RequestBody JSONObject param) {
+        BaseEditJSON editJson = BaseEditJSON.parseJSON(param);
+        agvService.delete(editJson);
+        return ThreadContext.getReturnData();
+    }
+
+
+    @ResourcePermissions(SystemOperation.BottonResource.EDIT)
+    @RequestMapping(value = BaseURL.SETQT, method = RequestMethod.POST)
+    @ResponseBody
+    public Object recordSetQT(@RequestBody JSONObject param) {
+        agvService.recordSetQT(DataConvert.getData(param, Agv.class));
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.EXPORT)
+    @RequestMapping(value = BaseURL.EXPORT, method = RequestMethod.POST)
+    @ResponseBody
+    public void export(HttpServletRequest request,HttpServletResponse response, @RequestBody JSONObject param) throws Exception {
+        AgvCondition condition = DataConvert.getCondition(param, AgvCondition.class);
+        RecordSet<AgvVO> records = agvService.query(condition);
+        doExport(request, response, param, records.getRecords());
+    }
+
+    /**
+     * 停止AGV
+     *
+     * @param param
+     * @return
+     */
+    @PostMapping(value = "/stopRobot")
+    public Object stopRobot(@RequestBody JSONObject param) {
+        String agvCode = param.getString("agvCode");
+        if (StringUtils.isEmpty(agvCode)) {
+            ThreadContext.getReturnData().setSuccess(false);
+            ThreadContext.getReturnData().setMessage("不存在AGV运行");
+        }
+        try {
+            agvService.pauseAgv(agvCode);
+        } catch (Exception e) {
+            ThreadContext.getReturnData().setSuccess(false);
+            ThreadContext.getReturnData().setMessage(e.getMessage());
+        }
+        return ThreadContext.getReturnData();
+    }
+
+    /**
+     * 恢复AGV
+     *
+     * @param param
+     * @return
+     */
+    @PostMapping(value = "/resumeRobot")
+    public Object resumeRobot(@RequestBody JSONObject param) {
+        String agvCode = param.getString("agvCode");
+        if (StringUtils.isEmpty(agvCode)) {
+            ThreadContext.getReturnData().setSuccess(false);
+            ThreadContext.getReturnData().setMessage("不存在AGV运行");
+        }
+        try {
+            agvService.recoverAgv(agvCode);
+        } catch (Exception e) {
+            ThreadContext.getReturnData().setSuccess(false);
+            ThreadContext.getReturnData().setMessage(e.getMessage());
+        }
+        return ThreadContext.getReturnData();
+    }
+
+
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/controller/AgvtaskController.java

+package com.gavel.hcgd.agv.controller;
+
+import com.gavel.common.BaseURL;
+import com.gavel.common.base.BaseEditJSON;
+import com.gavel.common.base.controller.BaseController;
+import com.gavel.common.converter.DataConvert;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Controller;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestMethod;
+import org.springframework.web.bind.annotation.ResponseBody;
+import com.gavel.persistence.sql.RecordSet;
+import com.gavel.common.annotation.ResourcePermissions;
+import com.gavel.common.SystemOperation;
+
+import com.alibaba.fastjson.JSONObject;
+import com.gavel.common.utils.ThreadContext;
+import com.gavel.hcgd.agv.service.AgvtaskService;
+import com.gavel.hcgd.agv.vo.AgvtaskCondition;
+import com.gavel.hcgd.agv.vo.AgvtaskInfo;
+import com.gavel.hcgd.agv.vo.AgvtaskVO;
+
+import javax.servlet.http.HttpServletRequest;
+import javax.servlet.http.HttpServletResponse;
+import java.util.List;
+
+@Controller
+@RequestMapping("agv/agvtask")
+public class AgvtaskController extends BaseController {
+
+    @Autowired
+    private AgvtaskService agvtaskService;
+
+    @ResourcePermissions()
+    @RequestMapping("/index")
+    public String index() {
+        return "agv/agvtask/index";
+    }
+
+    @ResourcePermissions({SystemOperation.BottonResource.ADD})
+    @RequestMapping("/add")
+    public String add() {
+        return "agv/agvtask/edit";
+    }
+
+    @ResourcePermissions({SystemOperation.BottonResource.EDIT})
+    @RequestMapping("/edit")
+    public String edit() {
+        return "agv/agvtask/edit";
+    }
+
+    @RequestMapping(value = BaseURL.GET, method = RequestMethod.POST)
+    @ResponseBody
+    public Object get(@RequestBody JSONObject param) {
+        AgvtaskCondition condition = DataConvert.getCondition(param, AgvtaskCondition.class);
+        RecordSet<AgvtaskVO> records = agvtaskService.query(condition);
+        if ( records.getRecords()!=null && records.getRecords().size()>=1 ){
+            return buildReturnData(AgvtaskVO.class, records.getRecords().get(0));
+        }
+        return buildReturnData(AgvtaskVO.class, null);
+    }
+	
+    @RequestMapping(value = BaseURL.QUERY, method = RequestMethod.POST)
+    @ResponseBody
+    public Object query(@RequestBody JSONObject param) {
+        AgvtaskCondition condition = DataConvert.getCondition(param, AgvtaskCondition.class);
+        RecordSet<AgvtaskVO> records = agvtaskService.query(condition);
+        return buildReturnData(records, AgvtaskVO.class);
+    }
+
+    @RequestMapping(value = "queryAgvTasks", method = RequestMethod.POST)
+    @ResponseBody
+    public Object queryTasks(@RequestBody JSONObject param) {
+        AgvtaskCondition condition = DataConvert.getCondition(param, AgvtaskCondition.class);
+        AgvtaskInfo records = agvtaskService.queryAgvTasks(condition);
+        return buildReturnData(AgvtaskInfo.class,records);
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.ADD)
+    @RequestMapping(value = BaseURL.ADD, method = RequestMethod.POST)
+    @ResponseBody
+    public Object insert(@RequestBody JSONObject param) {
+        BaseEditJSON editJson = BaseEditJSON.parseJSON(param);
+        agvtaskService.insert(editJson);
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.EDIT)
+    @RequestMapping(value = BaseURL.UPDATE, method = RequestMethod.POST)
+    @ResponseBody
+    public Object update(@RequestBody JSONObject param) {
+        BaseEditJSON editJson = BaseEditJSON.parseJSON(param);
+        agvtaskService.update(editJson);
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.DELETE)
+    @RequestMapping(value = BaseURL.DELETE, method = RequestMethod.POST)
+    @ResponseBody
+    public Object delete(@RequestBody JSONObject param) {
+        BaseEditJSON editJson = BaseEditJSON.parseJSON(param);
+        agvtaskService.delete(editJson);
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.EXPORT)
+    @RequestMapping(value = BaseURL.EXPORT, method = RequestMethod.POST)
+    @ResponseBody
+    public void export(HttpServletRequest request,HttpServletResponse response, @RequestBody JSONObject param) throws Exception {
+        AgvtaskCondition condition = DataConvert.getCondition(param, AgvtaskCondition.class);
+        RecordSet<AgvtaskVO> records = agvtaskService.query(condition);
+        doExport(request, response, param, records.getRecords());
+    }
+
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/controller/AgvtaskqueueController.java

+package com.gavel.hcgd.agv.controller;
+
+import javax.servlet.http.HttpServletRequest;
+import javax.servlet.http.HttpServletResponse;
+
+import com.gavel.common.Constants;
+import com.gavel.common.exception.ParamNullException;
+import com.gavel.common.utils.StringUtils;
+import com.gavel.hcgd.agv.persistent.Agvtaskqueue;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Controller;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestMethod;
+import org.springframework.web.bind.annotation.ResponseBody;
+
+import com.alibaba.fastjson.JSONObject;
+import com.gavel.common.BaseURL;
+import com.gavel.common.SystemOperation;
+import com.gavel.common.annotation.ResourcePermissions;
+import com.gavel.common.base.BaseEditJSON;
+import com.gavel.common.base.controller.BaseController;
+import com.gavel.common.converter.DataConvert;
+import com.gavel.common.utils.ThreadContext;
+import com.gavel.hcgd.agv.service.AgvtaskqueueService;
+import com.gavel.hcgd.agv.utils.AgvQueueStatusEnum;
+import com.gavel.hcgd.agv.vo.AgvtaskqueueCondition;
+import com.gavel.hcgd.agv.vo.AgvtaskqueueVO;
+import com.gavel.persistence.sql.RecordSet;
+
+@Controller
+@RequestMapping("agv/agvtaskqueue")
+public class AgvtaskqueueController extends BaseController {
+
+    @Autowired
+    private AgvtaskqueueService agvtaskqueueService;
+
+    @ResourcePermissions()
+    @RequestMapping("/index")
+    public String index() {
+        return "agv/agvtaskqueue/index";
+    }
+
+    @RequestMapping(value = BaseURL.GET, method = RequestMethod.POST)
+    @ResponseBody
+    public Object get(@RequestBody JSONObject param) {
+        AgvtaskqueueCondition condition = DataConvert.getCondition(param, AgvtaskqueueCondition.class);
+        RecordSet<AgvtaskqueueVO> records = agvtaskqueueService.query(condition);
+        if ( records.getRecords()!=null && records.getRecords().size()>=1 ){
+            return buildReturnData(AgvtaskqueueVO.class, records.getRecords().get(0));
+        }
+        return buildReturnData(AgvtaskqueueVO.class, null);
+    }
+	
+    @RequestMapping(value = BaseURL.QUERY, method = RequestMethod.POST)
+    @ResponseBody
+    public Object query(@RequestBody JSONObject param) {
+        AgvtaskqueueCondition condition = DataConvert.getCondition(param, AgvtaskqueueCondition.class);
+        RecordSet<AgvtaskqueueVO> records = agvtaskqueueService.query(condition);
+        return buildReturnData(records, AgvtaskqueueVO.class);
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.ADD)
+    @RequestMapping(value = BaseURL.ADD, method = RequestMethod.POST)
+    @ResponseBody
+    public Object insert(@RequestBody JSONObject param) {
+        BaseEditJSON editJson = BaseEditJSON.parseJSON(param);
+        agvtaskqueueService.insert(editJson);
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.EDIT)
+    @RequestMapping(value = BaseURL.UPDATE, method = RequestMethod.POST)
+    @ResponseBody
+    public Object update(@RequestBody JSONObject param) {
+        try {
+            String id = param.getString(Constants.ID);
+            if(StringUtils.isEmpty(id)){
+                throw  new ParamNullException("参数ID不能为空");
+            }
+            agvtaskqueueService.updateById(id);
+        }catch (Exception e){
+            ThreadContext.getReturnData().setSuccess(false);
+            ThreadContext.getReturnData().setMessage(e.getMessage());
+        }
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.DELETE)
+    @RequestMapping(value = BaseURL.DELETE, method = RequestMethod.POST)
+    @ResponseBody
+    public Object delete(@RequestBody JSONObject param) {
+        BaseEditJSON editJson = BaseEditJSON.parseJSON(param);
+        agvtaskqueueService.delete(editJson);
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.EXPORT)
+    @RequestMapping(value = BaseURL.EXPORT, method = RequestMethod.POST)
+    @ResponseBody
+    public void export(HttpServletRequest request,HttpServletResponse response, @RequestBody JSONObject param) throws Exception {
+        AgvtaskqueueCondition condition = DataConvert.getCondition(param, AgvtaskqueueCondition.class);
+        RecordSet<AgvtaskqueueVO> records = agvtaskqueueService.query(condition);
+        doExport(request, response, param, records.getRecords());
+    }
+    
+    @RequestMapping(value = "init/zt", method = RequestMethod.POST)
+    @ResponseBody
+    public Object initZt(@RequestBody JSONObject param) throws Exception {
+        return buildReturnData(AgvQueueStatusEnum.toList());
+    }
+
+
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/controller/AgvwarnController.java

+package com.gavel.hcgd.agv.controller;
+
+import com.gavel.common.BaseURL;
+import com.gavel.common.base.BaseEditJSON;
+import com.gavel.common.base.controller.BaseController;
+import com.gavel.common.converter.DataConvert;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Controller;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestMethod;
+import org.springframework.web.bind.annotation.ResponseBody;
+import com.gavel.persistence.sql.RecordSet;
+import com.gavel.common.annotation.ResourcePermissions;
+import com.gavel.common.SystemOperation;
+
+import com.alibaba.fastjson.JSONObject;
+import com.gavel.common.utils.ThreadContext;
+import com.gavel.hcgd.agv.service.AgvwarnService;
+import com.gavel.hcgd.agv.vo.AgvwarnCondition;
+import com.gavel.hcgd.agv.vo.AgvwarnVO;
+
+import javax.servlet.http.HttpServletRequest;
+import javax.servlet.http.HttpServletResponse;
+
+@Controller
+@RequestMapping("agv/agvwarn")
+public class AgvwarnController extends BaseController {
+
+    @Autowired
+    private AgvwarnService agvwarnService;
+
+    @ResourcePermissions()
+    @RequestMapping("/index")
+    public String index() {
+        return "agv/agvwarn/index";
+    }
+
+    @ResourcePermissions({SystemOperation.BottonResource.ADD})
+    @RequestMapping("/add")
+    public String add() {
+        return "agv/agvwarn/edit";
+    }
+
+    @ResourcePermissions({SystemOperation.BottonResource.EDIT})
+    @RequestMapping("/edit")
+    public String edit() {
+        return "agv/agvwarn/edit";
+    }
+
+    @RequestMapping(value = BaseURL.GET, method = RequestMethod.POST)
+    @ResponseBody
+    public Object get(@RequestBody JSONObject param) {
+        AgvwarnCondition condition = DataConvert.getCondition(param, AgvwarnCondition.class);
+        RecordSet<AgvwarnVO> records = agvwarnService.query(condition);
+        if ( records.getRecords()!=null && records.getRecords().size()>=1 ){
+            return buildReturnData(AgvwarnVO.class, records.getRecords().get(0));
+        }
+        return buildReturnData(AgvwarnVO.class, null);
+    }
+	
+    @RequestMapping(value = BaseURL.QUERY, method = RequestMethod.POST)
+    @ResponseBody
+    public Object query(@RequestBody JSONObject param) {
+        AgvwarnCondition condition = DataConvert.getCondition(param, AgvwarnCondition.class);
+        RecordSet<AgvwarnVO> records = agvwarnService.query(condition);
+        return buildReturnData(records, AgvwarnVO.class);
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.ADD)
+    @RequestMapping(value = BaseURL.ADD, method = RequestMethod.POST)
+    @ResponseBody
+    public Object insert(@RequestBody JSONObject param) {
+        BaseEditJSON editJson = BaseEditJSON.parseJSON(param);
+        agvwarnService.insert(editJson);
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.EDIT)
+    @RequestMapping(value = BaseURL.UPDATE, method = RequestMethod.POST)
+    @ResponseBody
+    public Object update(@RequestBody JSONObject param) {
+        BaseEditJSON editJson = BaseEditJSON.parseJSON(param);
+        agvwarnService.update(editJson);
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.DELETE)
+    @RequestMapping(value = BaseURL.DELETE, method = RequestMethod.POST)
+    @ResponseBody
+    public Object delete(@RequestBody JSONObject param) {
+        BaseEditJSON editJson = BaseEditJSON.parseJSON(param);
+        agvwarnService.delete(editJson);
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.EXPORT)
+    @RequestMapping(value = BaseURL.EXPORT, method = RequestMethod.POST)
+    @ResponseBody
+    public void export(HttpServletRequest request,HttpServletResponse response, @RequestBody JSONObject param) throws Exception {
+        AgvwarnCondition condition = DataConvert.getCondition(param, AgvwarnCondition.class);
+        RecordSet<AgvwarnVO> records = agvwarnService.query(condition);
+        doExport(request, response, param, records.getRecords());
+    }
+
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/controller/EptaskController.java

+package com.gavel.hcgd.agv.controller;
+
+import com.alibaba.fastjson.JSONObject;
+import com.gavel.common.BaseURL;
+import com.gavel.common.SystemOperation;
+import com.gavel.common.annotation.ResourcePermissions;
+import com.gavel.common.base.BaseEditJSON;
+import com.gavel.common.base.controller.BaseController;
+import com.gavel.common.converter.DataConvert;
+import com.gavel.common.utils.ThreadContext;
+import com.gavel.hcgd.agv.service.EptaskService;
+import com.gavel.hcgd.agv.utils.TaskModelEnum;
+import com.gavel.hcgd.agv.vo.EptaskCondition;
+import com.gavel.hcgd.agv.vo.EptaskVO;
+import com.gavel.hcgd.mcs.utils.EpTask2Enum;
+import com.gavel.persistence.sql.RecordSet;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Controller;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestMethod;
+import org.springframework.web.bind.annotation.ResponseBody;
+
+import javax.servlet.http.HttpServletRequest;
+import javax.servlet.http.HttpServletResponse;
+
+@Controller
+@RequestMapping("agv/eptask")
+public class EptaskController extends BaseController {
+
+    @Autowired
+    private EptaskService eptaskService;
+
+    @ResourcePermissions()
+    @RequestMapping("/index")
+    public String index() {
+        return "agv/eptask/index";
+    }
+
+    @ResourcePermissions({SystemOperation.BottonResource.ADD})
+    @RequestMapping("/add")
+    public String add() {
+        return "agv/eptask/edit";
+    }
+
+    @ResourcePermissions({SystemOperation.BottonResource.EDIT})
+    @RequestMapping("/edit")
+    public String edit() {
+        return "agv/eptask/edit";
+    }
+
+    @RequestMapping(value = BaseURL.GET, method = RequestMethod.POST)
+    @ResponseBody
+    public Object get(@RequestBody JSONObject param) {
+        EptaskCondition condition = DataConvert.getCondition(param, EptaskCondition.class);
+        RecordSet<EptaskVO> records = eptaskService.query(condition);
+        if ( records.getRecords()!=null && records.getRecords().size()>=1 ){
+            return buildReturnData(EptaskVO.class, records.getRecords().get(0));
+        }
+        return buildReturnData(EptaskVO.class, null);
+    }
+	
+    @RequestMapping(value = BaseURL.QUERY, method = RequestMethod.POST)
+    @ResponseBody
+    public Object query(@RequestBody JSONObject param) {
+        EptaskCondition condition = DataConvert.getCondition(param, EptaskCondition.class);
+        RecordSet<EptaskVO> records = eptaskService.query(condition);
+        return buildReturnData(records, EptaskVO.class);
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.ADD)
+    @RequestMapping(value = BaseURL.ADD, method = RequestMethod.POST)
+    @ResponseBody
+    public Object insert(@RequestBody JSONObject param) {
+        BaseEditJSON editJson = BaseEditJSON.parseJSON(param);
+        eptaskService.insert(editJson);
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.EDIT)
+    @RequestMapping(value = BaseURL.UPDATE, method = RequestMethod.POST)
+    @ResponseBody
+    public Object update(@RequestBody JSONObject param) {
+        BaseEditJSON editJson = BaseEditJSON.parseJSON(param);
+        eptaskService.update(editJson);
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.DELETE)
+    @RequestMapping(value = BaseURL.DELETE, method = RequestMethod.POST)
+    @ResponseBody
+    public Object delete(@RequestBody JSONObject param) {
+        BaseEditJSON editJson = BaseEditJSON.parseJSON(param);
+        eptaskService.delete(editJson);
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.EXPORT)
+    @RequestMapping(value = BaseURL.EXPORT, method = RequestMethod.POST)
+    @ResponseBody
+    public void export(HttpServletRequest request,HttpServletResponse response, @RequestBody JSONObject param) throws Exception {
+        EptaskCondition condition = DataConvert.getCondition(param, EptaskCondition.class);
+        RecordSet<EptaskVO> records = eptaskService.query(condition);
+        doExport(request, response, param, records.getRecords());
+    }
+    @RequestMapping(value = "/init/type", method = RequestMethod.POST)
+    @ResponseBody
+    public Object initType() {
+        return buildReturnData(EpTask2Enum.toList());
+    }
+
+
+    @RequestMapping(value = "/init/taskType", method = RequestMethod.POST)
+    @ResponseBody
+    public Object initTaskType() {
+        return buildReturnData(TaskModelEnum.toList());
+    }
+}

gavel/src/main/java/com/gavel/hcgd/agv/controller/HcMsglogController.java

+package com.gavel.hcgd.agv.controller;
+
+import com.gavel.common.BaseURL;
+import com.gavel.common.base.BaseEditJSON;
+import com.gavel.common.base.controller.BaseController;
+import com.gavel.common.converter.DataConvert;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Controller;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestMethod;
+import org.springframework.web.bind.annotation.ResponseBody;
+import com.gavel.persistence.sql.RecordSet;
+import com.gavel.common.annotation.ResourcePermissions;
+import com.gavel.common.SystemOperation;
+
+import com.alibaba.fastjson.JSONObject;
+import com.gavel.common.utils.ThreadContext;
+
+import com.gavel.hcgd.agv.service.HcMsglogService;
+import com.gavel.hcgd.agv.vo.HcMsglogCondition;
+import com.gavel.hcgd.agv.vo.HcMsglogVO;
+
+import javax.servlet.http.HttpServletRequest;
+import javax.servlet.http.HttpServletResponse;
+
+@Controller
+@RequestMapping("agv/msglog")
+public class HcMsglogController extends BaseController {
+
+    @Autowired
+    private HcMsglogService hcMsglogService;
+
+    @ResourcePermissions()
+    @RequestMapping("/index")
+    public String index() {
+        return "agv/msglog/index";
+    }
+
+    @ResourcePermissions({SystemOperation.BottonResource.ADD})
+    @RequestMapping("/add")
+    public String add() {
+        return "agv/msglog/edit";
+    }
+
+    @ResourcePermissions({SystemOperation.BottonResource.EDIT})
+    @RequestMapping("/edit")
+    public String edit() {
+        return "agv/msglog/edit";
+    }
+
+    @RequestMapping(value = BaseURL.GET, method = RequestMethod.POST)
+    @ResponseBody
+    public Object get(@RequestBody JSONObject param) {
+        HcMsglogCondition condition = DataConvert.getCondition(param, HcMsglogCondition.class);
+        RecordSet<HcMsglogVO> records = hcMsglogService.query(condition);
+        if ( records.getRecords()!=null && records.getRecords().size()>=1 ){
+            return buildReturnData(HcMsglogVO.class, records.getRecords().get(0));
+        }
+        return buildReturnData(HcMsglogVO.class, null);
+    }
+	
+    @RequestMapping(value = BaseURL.QUERY, method = RequestMethod.POST)
+    @ResponseBody
+    public Object query(@RequestBody JSONObject param) {
+        HcMsglogCondition condition = DataConvert.getCondition(param, HcMsglogCondition.class);
+        RecordSet<HcMsglogVO> records = hcMsglogService.query(condition);
+        return buildReturnData(records, HcMsglogVO.class);
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.ADD)
+    @RequestMapping(value = BaseURL.ADD, method = RequestMethod.POST)
+    @ResponseBody
+    public Object insert(@RequestBody JSONObject param) {
+        BaseEditJSON editJson = BaseEditJSON.parseJSON(param);
+        hcMsglogService.insert(editJson);
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.EDIT)
+    @RequestMapping(value = BaseURL.UPDATE, method = RequestMethod.POST)
+    @ResponseBody
+    public Object update(@RequestBody JSONObject param) {
+        BaseEditJSON editJson = BaseEditJSON.parseJSON(param);
+        hcMsglogService.update(editJson);
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.DELETE)
+    @RequestMapping(value = BaseURL.DELETE, method = RequestMethod.POST)
+    @ResponseBody
+    public Object delete(@RequestBody JSONObject param) {
+        BaseEditJSON editJson = BaseEditJSON.parseJSON(param);
+        hcMsglogService.delete(editJson);
+        return ThreadContext.getReturnData();
+    }
+
+    @ResourcePermissions(SystemOperation.BottonResource.EXPORT)
+    @RequestMapping(value = BaseURL.EXPORT, method = RequestMethod.POST)
+    @ResponseBody
+    public void export(HttpServletRequest request,HttpServletResponse response, @RequestBody JSONObject param) throws Exception {
+        HcMsglogCondition condition = DataConvert.getCondition(param, HcMsglogCondition.class);
+        RecordSet<HcMsglogVO> records = hcMsglogService.query(condition);
+        doExport(request, response, param, records.getRecords());
+    }
+
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/dao/AgvDao.java

+package com.gavel.hcgd.agv.dao;
+
+import com.gavel.common.base.dao.BaseDao;
+import com.gavel.hcgd.agv.vo.AgvCondition;
+import com.gavel.hcgd.agv.vo.AgvVO;
+import com.gavel.persistence.sql.RecordSet;
+
+
+public interface AgvDao extends BaseDao {
+
+   public RecordSet<AgvVO> query(AgvCondition condition);
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/dao/AgvtaskDao.java

+package com.gavel.hcgd.agv.dao;
+
+import com.gavel.common.base.dao.BaseDao;
+import com.gavel.hcgd.agv.persistent.Agvtask;
+import com.gavel.hcgd.agv.vo.AgvtaskCondition;
+import com.gavel.hcgd.agv.vo.AgvtaskVO;
+import com.gavel.persistence.sql.RecordSet;
+
+import java.util.List;
+
+
+public interface AgvtaskDao extends BaseDao {
+
+   public RecordSet<AgvtaskVO> query(AgvtaskCondition condition);
+
+   public AgvtaskVO working(AgvtaskCondition condition);
+
+   public Agvtask loadTask(String taskCode);
+
+   public AgvtaskVO queryByWbcode(String usercallcode);
+
+   public List<AgvtaskVO> queryAgvTasks(AgvtaskCondition condition);
+}

gavel/src/main/java/com/gavel/hcgd/agv/dao/AgvtaskqueueDao.java

+package com.gavel.hcgd.agv.dao;
+
+import com.gavel.common.base.dao.BaseDao;
+import com.gavel.hcgd.agv.persistent.Agvtaskqueue;
+import com.gavel.hcgd.agv.vo.AgvtaskqueueCondition;
+import com.gavel.hcgd.agv.vo.AgvtaskqueueVO;
+import com.gavel.persistence.sql.RecordSet;
+
+
+public interface AgvtaskqueueDao extends BaseDao {
+
+   public RecordSet<AgvtaskqueueVO> query(AgvtaskqueueCondition condition);
+
+   public Agvtaskqueue selectPop(String msgType);
+
+   public Agvtaskqueue queryAgvtask(String GUID,String msgType);
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/dao/AgvwarnDao.java

+package com.gavel.hcgd.agv.dao;
+
+import com.gavel.common.base.dao.BaseDao;
+import com.gavel.hcgd.agv.vo.AgvwarnCondition;
+import com.gavel.hcgd.agv.vo.AgvwarnVO;
+import com.gavel.persistence.sql.RecordSet;
+
+
+public interface AgvwarnDao extends BaseDao {
+
+   public RecordSet<AgvwarnVO> query(AgvwarnCondition condition);
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/dao/EptaskDao.java

+package com.gavel.hcgd.agv.dao;
+
+import com.gavel.common.base.dao.BaseDao;
+import com.gavel.hcgd.agv.persistent.Eptask;
+import com.gavel.hcgd.agv.vo.EptaskCondition;
+import com.gavel.hcgd.agv.vo.EptaskVO;
+import com.gavel.persistence.sql.RecordSet;
+
+import java.util.List;
+
+
+public interface EptaskDao extends BaseDao {
+
+   public RecordSet<EptaskVO> query(EptaskCondition condition);
+
+   public Eptask findExecutingTask(String wbCode, String type);
+
+   public Eptask findExecutingHcTask(String robotCode);
+
+   public int countExecutingHcTask(String s);
+}

gavel/src/main/java/com/gavel/hcgd/agv/dao/HcMsglogDao.java

+package com.gavel.hcgd.agv.dao;
+
+import com.gavel.common.base.dao.BaseDao;
+import com.gavel.persistence.sql.RecordSet;
+import com.gavel.hcgd.agv.vo.HcMsglogCondition;
+import com.gavel.hcgd.agv.vo.HcMsglogVO;
+
+
+public interface HcMsglogDao extends BaseDao {
+
+   public RecordSet<HcMsglogVO> query(HcMsglogCondition condition);
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/dao/impl/AgvDaoImpl.java

+package com.gavel.hcgd.agv.dao.impl;
+
+import com.gavel.common.base.dao.impl.BaseDaoImpl;
+import com.gavel.common.utils.StringUtils;
+import com.gavel.hcgd.agv.dao.AgvDao;
+import com.gavel.hcgd.agv.vo.AgvCondition;
+import com.gavel.hcgd.agv.vo.AgvVO;
+import com.gavel.persistence.sql.RecordSet;
+import com.gavel.persistence.sql.SqlMap;
+import com.gavel.persistence.sql.SqlUtil;
+import org.springframework.stereotype.Repository;
+
+
+@Repository("agvDao")
+public class AgvDaoImpl extends BaseDaoImpl implements AgvDao {
+
+    public RecordSet<AgvVO> query(AgvCondition condition) {
+        SqlMap sqlMap = new SqlMap();
+        sqlMap.setPageNo(condition.getPageNo());
+        sqlMap.setRowCount(condition.getPageSize());
+        sqlMap.append("select AGV_ID, AGV_ROBOTCODE, AGV_ROBOTDIR, AGV_ROBOTIP, AGV_BATTERY, ");
+        sqlMap.append("   AGV_POSX, AGV_POSY, AGV_MAPCODE, AGV_SPEED, AGV_STATUS, ");
+        sqlMap.append("   AGV_EXCLTYPE, AGV_STOP, AGV_PODCODE, AGV_PODDIR, AGV_PATH, ");
+        sqlMap.append("   AGV_WARNCONTENT, AGVSTATUS_CODE, AGVSTATUS_CHINESE, AGVSTATUS_ENGLISH,AGV_TYBZ,AGV_TYRQ ");
+        sqlMap.append("from AGV ");
+        sqlMap.append("     left join AGVSTATUS on AGVSTATUS_CODE = AGV_STATUS ");
+        sqlMap.append("where 1 = 1 ");
+        if (StringUtils.isNotEmpty(condition.getId())) {
+            sqlMap.append("  and " + SqlUtil.getWhereSql("AGV_ID", condition.getId()));
+            sqlMap.setParamValue("AGV_ID", condition.getId());
+
+        }
+        if (StringUtils.isNotEmpty(condition.getRobotcode())) {
+            sqlMap.append("  and " + SqlUtil.getWhereSql("AGV_ROBOTCODE", condition.getRobotcode()));
+            sqlMap.setParamValue("AGV_ROBOTCODE", condition.getRobotcode());
+        }
+        sqlMap.query(AgvVO.class);
+        return sqlMap.getRecordSet();
+
+    }
+}

gavel/src/main/java/com/gavel/hcgd/agv/dao/impl/AgvtaskqueueDaoImpl.java

+package com.gavel.hcgd.agv.dao.impl;
+
+import com.gavel.common.base.dao.impl.BaseDaoImpl;
+import com.gavel.common.utils.DateUtils;
+import com.gavel.common.utils.StringUtils;
+import com.gavel.hcgd.agv.dao.AgvtaskqueueDao;
+import com.gavel.hcgd.agv.persistent.Agvtaskqueue;
+import com.gavel.hcgd.agv.vo.AgvtaskqueueCondition;
+import com.gavel.hcgd.agv.vo.AgvtaskqueueVO;
+import com.gavel.hcgd.rabbitmq.handler.MessageHandler;
+import com.gavel.persistence.sql.RecordSet;
+import com.gavel.persistence.sql.SqlMap;
+import com.gavel.persistence.sql.SqlUtil;
+import org.springframework.stereotype.Repository;
+
+
+@Repository("agvtaskqueueDao")
+public class AgvtaskqueueDaoImpl extends BaseDaoImpl implements AgvtaskqueueDao {
+
+	public RecordSet<AgvtaskqueueVO> query(AgvtaskqueueCondition condition){
+		SqlMap sqlMap = new SqlMap();
+        sqlMap.setPageNo(condition.getPageNo());
+        sqlMap.setRowCount(condition.getPageSize());
+        sqlMap.append("select AGVTASKQUEUE_ID, AGVTASKQUEUE_MSGTYPE, AGVTASKQUEUE_GUID, AGVTASKQUEUE_TASKTYPE, AGVTASKQUEUE_DESTTASK, ");
+        sqlMap.append("   AGVTASKQUEUE_NEXTTIME, AGVTASKQUEUE_ZT, AGVTASKQUEUE_WHSJ, AGVTASKQUEUE_CJSJ, AGVTASKQUEUE_SYSVERSION ");
+        sqlMap.append("from AGVTASKQUEUE ");
+        sqlMap.append("where 1 = 1 ");
+        if (StringUtils.isNotEmpty(condition.getId())){
+            sqlMap.append("  and " + SqlUtil.getWhereSql("AGVTASKQUEUE_ID", condition.getId()));
+            sqlMap.setParamValue("AGVTASKQUEUE_ID", condition.getId());
+        }
+        sqlMap.append("order by AGVTASKQUEUE_CJSJ ");
+        return sqlMap.queryRecordset(AgvtaskqueueVO.class);
+
+	}
+
+	@Override
+	public Agvtaskqueue selectPop(String msgType) {
+		SqlMap sqlMap = new SqlMap();
+        sqlMap.append("select top 1 AGVTASKQUEUE_ID, AGVTASKQUEUE_MSGTYPE, AGVTASKQUEUE_GUID, AGVTASKQUEUE_TASKTYPE, AGVTASKQUEUE_DESTTASK, ");
+        sqlMap.append("   AGVTASKQUEUE_NEXTTIME, AGVTASKQUEUE_ZT,  AGVTASKQUEUE_WHSJ, AGVTASKQUEUE_CJSJ, AGVTASKQUEUE_SYSVERSION,  ");
+        sqlMap.append("  AGVTASKQUEUE_BODY");
+        sqlMap.append("from AGVTASKQUEUE ");
+        sqlMap.append("where AGVTASKQUEUE_ZT ='I' and AGVTASKQUEUE_NEXTTIME <= :AGVTASKQUEUE_NEXTTIME");
+        sqlMap.setParamValue("AGVTASKQUEUE_NEXTTIME", DateUtils.getDateTime());
+        if (StringUtils.equalsIgnoreCase(msgType, MessageHandler.TASK_CANCEL) ){
+            sqlMap.append("  and AGVTASKQUEUE_MSGTYPE = :AGVTASKQUEUE_MSGTYPE");
+            sqlMap.setParamValue("AGVTASKQUEUE_MSGTYPE", msgType);
+        }else if (StringUtils.equalsIgnoreCase(msgType, MessageHandler.TASK_PAUSE)){
+            sqlMap.append("  and (AGVTASKQUEUE_MSGTYPE = :PAUSE or AGVTASKQUEUE_MSGTYPE = :RECORVER)");
+            sqlMap.setParamValue("PAUSE", MessageHandler.TASK_PAUSE);
+            sqlMap.setParamValue("RECORVER", MessageHandler.TASK_RECORVER);
+        } else if (StringUtils.equalsIgnoreCase(msgType, MessageHandler.TASK_START)) {
+            sqlMap.append("  and AGVTASKQUEUE_MSGTYPE = :AGVTASKQUEUE_MSGTYPE");
+            sqlMap.setParamValue("AGVTASKQUEUE_MSGTYPE", MessageHandler.TASK_START);
+        } else {
+            sqlMap.append(" and 1<>1");
+        }
+        sqlMap.append("order by AGVTASKQUEUE_NEXTTIME ");
+        return sqlMap.queryEntity(Agvtaskqueue.class);
+	}
+
+	public Agvtaskqueue queryAgvtask(String GUID,String msgType) {
+        SqlMap sqlMap = new SqlMap();
+        sqlMap.append("select top 1 AGVTASKQUEUE_ID, AGVTASKQUEUE_MSGTYPE, AGVTASKQUEUE_GUID, AGVTASKQUEUE_TASKTYPE, AGVTASKQUEUE_DESTTASK, ");
+        sqlMap.append("   AGVTASKQUEUE_NEXTTIME, AGVTASKQUEUE_ZT,  AGVTASKQUEUE_WHSJ, AGVTASKQUEUE_CJSJ, AGVTASKQUEUE_SYSVERSION  ");
+        sqlMap.append("from AGVTASKQUEUE ");
+        sqlMap.append("where AGVTASKQUEUE_NEXTTIME <= :AGVTASKQUEUE_NEXTTIME");
+        sqlMap.setParamValue("AGVTASKQUEUE_NEXTTIME", DateUtils.getDateTime());
+        sqlMap.append("AND AGVTASKQUEUE_GUID=:AGVTASKQUEUE_GUID");
+        sqlMap.setParamValue("AGVTASKQUEUE_GUID", GUID);
+        if (StringUtils.equalsIgnoreCase(msgType, MessageHandler.TASK_CANCEL) ){
+            sqlMap.append("  and AGVTASKQUEUE_MSGTYPE = :AGVTASKQUEUE_MSGTYPE");
+            sqlMap.setParamValue("AGVTASKQUEUE_MSGTYPE", msgType);
+        }else if (StringUtils.equalsIgnoreCase(msgType, MessageHandler.TASK_PAUSE)){
+            sqlMap.append("  and (AGVTASKQUEUE_MSGTYPE = :PAUSE or AGVTASKQUEUE_MSGTYPE = :RECORVER)");
+            sqlMap.setParamValue("PAUSE", MessageHandler.TASK_PAUSE);
+            sqlMap.setParamValue("RECORVER", MessageHandler.TASK_RECORVER);
+        }else{
+            sqlMap.append("  and AGVTASKQUEUE_MSGTYPE = :AGVTASKQUEUE_MSGTYPE");
+            sqlMap.setParamValue("AGVTASKQUEUE_MSGTYPE", MessageHandler.TASK_START);
+        }
+        sqlMap.append("order by AGVTASKQUEUE_NEXTTIME ");
+        return sqlMap.queryEntity(Agvtaskqueue.class);
+
+    }
+}

gavel/src/main/java/com/gavel/hcgd/agv/dao/impl/AgvwarnDaoImpl.java

+package com.gavel.hcgd.agv.dao.impl;
+
+import com.gavel.common.base.dao.impl.BaseDaoImpl;
+import com.gavel.common.utils.StringUtils;
+import com.gavel.hcgd.agv.dao.AgvwarnDao;
+import com.gavel.hcgd.agv.vo.AgvwarnCondition;
+import com.gavel.hcgd.agv.vo.AgvwarnVO;
+import com.gavel.persistence.sql.RecordSet;
+import com.gavel.persistence.sql.SqlMap;
+import com.gavel.persistence.sql.SqlUtil;
+import org.springframework.stereotype.Repository;
+
+
+@Repository("agvwarnDao")
+public class AgvwarnDaoImpl extends BaseDaoImpl implements AgvwarnDao {
+	
+	public RecordSet<AgvwarnVO> query(AgvwarnCondition condition){
+		 SqlMap sqlMap = new SqlMap();
+        sqlMap.setPageNo(condition.getPageNo());
+        sqlMap.setRowCount(condition.getPageSize());
+        sqlMap.append("select AGVWARN_ID, AGVWARN_REQCODE, AGVWARN_REQTIME, AGVWARN_CLIENTCODE, AGVWARN_TOKENCODE, ");
+        sqlMap.append("   AGVWARN_ROBOTCODE, AGVWARN_BEGINTIME, AGVWARN_WARNCONTENT, AGVWARN_TASKCODE ");
+        sqlMap.append("from AGVWARN ");
+        sqlMap.append("where 1 = 1 ");
+        if (StringUtils.isNotEmpty(condition.getId())){
+            sqlMap.append("  and " + SqlUtil.getWhereSql("AGVWARN_ID", condition.getId()));
+            sqlMap.setParamValue("AGVWARN_ID", condition.getId());
+            
+        }
+        if (StringUtils.isNotEmpty(condition.getTaskcode())) {
+            sqlMap.append("  and " + SqlUtil.getWhereSql("AGVWARN_TASKCODE", condition.getTaskcode()));
+            sqlMap.setParamValue("AGVWARN_TASKCODE", condition.getTaskcode());
+        }
+
+        if (StringUtils.isNotEmpty(condition.getRobotcode())) {
+            sqlMap.append("  and " + SqlUtil.getWhereSql("AGVWARN_ROBOTCODE", condition.getRobotcode()));
+            sqlMap.setParamValue("AGVWARN_ROBOTCODE", condition.getRobotcode());
+        }
+        sqlMap.query(AgvwarnVO.class);
+        return sqlMap.getRecordSet();
+
+	}
+}

gavel/src/main/java/com/gavel/hcgd/agv/dao/impl/EptaskDaoImpl.java

+package com.gavel.hcgd.agv.dao.impl;
+
+import com.gavel.common.base.dao.impl.BaseDaoImpl;
+import com.gavel.common.utils.StringUtils;
+import com.gavel.hcgd.agv.dao.EptaskDao;
+import com.gavel.hcgd.agv.persistent.Eptask;
+import com.gavel.hcgd.agv.vo.EptaskCondition;
+import com.gavel.hcgd.agv.vo.EptaskVO;
+import com.gavel.persistence.sql.RecordSet;
+import com.gavel.persistence.sql.SqlMap;
+import com.gavel.persistence.sql.SqlUtil;
+import org.springframework.stereotype.Repository;
+
+
+@Repository("eptaskDao")
+public class EptaskDaoImpl extends BaseDaoImpl implements EptaskDao {
+
+    public RecordSet<EptaskVO> query(EptaskCondition condition) {
+        SqlMap sqlMap = new SqlMap();
+        sqlMap.setPageNo(condition.getPageNo());
+        sqlMap.setRowCount(condition.getPageSize());
+        sqlMap.append("select EPTASK_ID, EPTASK_TASKCODE, EPTASK_TASKTYP, EPTASK_SCENETYP, EPTASK_WBCODE, ");
+        sqlMap.append("   EPTASK_PODCODE, EPTASK_SRCMAPDATA, EPTASK_MATERIAL, EPTASK_PRIORITY, EPTASK_AGVCODE, ");
+        sqlMap.append("   EPTASK_CREATE_DATE, EPTASK_TASKSTATUS, EPTASK_CXID, EPTASK_CALLERID, EPTASK_CALLDATE, ");
+        sqlMap.append("   EPTASK_SENDERID, EPTASK_SENDDATE, EPTASK_START_DATE, EPTASK_GETTO_DATE, EPTASK_END_DATE, ");
+        sqlMap.append("   EPTASK_CANCEL_DATE, EPTASK_DATA, TASKSTATUS_DESCZH, EPTASK_CKID, EPTASK_TYPE, CK_CODE, CK_NAME,");
+        sqlMap.append("   GW_NAME,POD_BERTHCODE, EPTASK_ORDERNUM,EPTASK_WAYS,EPTASK_DESTMAPDATA ");
+        sqlMap.append("from EPTASK ");
+        sqlMap.append("   left join TASKSTATUS on TASKSTATUS_CODE = EPTASK_TASKSTATUS ");
+        sqlMap.append("   left join CK on CK_CODE = EPTASK_CKID ");
+        sqlMap.append("   left join GW on GW_MAPDATACODE = EPTASK_WBCODE ");
+        sqlMap.append("   left join POD on POD_PODCODE = EPTASK_PODCODE ");
+
+        sqlMap.append("where 1 = 1 ");
+        if (StringUtils.isNotEmpty(condition.getId())) {
+            sqlMap.append("  and " + SqlUtil.getWhereSql("EPTASK_ID", condition.getId()));
+            sqlMap.setParamValue("EPTASK_ID", condition.getId());
+        }
+        if (StringUtils.isNotEmpty(condition.getTaskCode())) {
+            sqlMap.append("  and " + SqlUtil.getWhereSql("EPTASK_TASKCODE", condition.getTaskCode()));
+            sqlMap.setParamValue("EPTASK_TASKCODE", condition.getTaskCode());
+        }
+
+        if (StringUtils.isNotEmpty(condition.getWbCode())) {
+            sqlMap.append("  and " + SqlUtil.getWhereSql("EPTASK_WBCODE", condition.getWbCode()));
+            sqlMap.setParamValue("EPTASK_WBCODE", condition.getWbCode());
+        }
+
+        if (StringUtils.isNotEmpty(condition.getTaskStatus())) {
+            sqlMap.append("  and " + SqlUtil.getWhereSql("EPTASK_TASKSTATUS", condition.getTaskStatus()));
+            sqlMap.setParamValue("EPTASK_TASKSTATUS", condition.getTaskStatus());
+        }
+
+        if (StringUtils.isNotEmpty(condition.getType())) {
+            sqlMap.append("  and " + SqlUtil.getWhereSql("EPTASK_TYPE", condition.getType()));
+            sqlMap.setParamValue("EPTASK_TYPE", condition.getType());
+        }
+
+        if(condition.getTaskStatusList() !=null && condition.getTaskStatusList().length>0){
+            sqlMap.append("  and " + SqlUtil.getWhereEqualSql("EPTASK_TASKSTATUS", condition.getTaskStatusList()));
+        }
+        sqlMap.append("order by EPTASK_TASKCODE desc");
+        sqlMap.query(EptaskVO.class);
+        return sqlMap.getRecordSet();
+
+    }
+
+    @Override
+    public Eptask findExecutingTask(String wbCode, String type) {
+        SqlMap sqlMap = new SqlMap();
+        sqlMap.append("select EPTASK_ID, EPTASK_TASKCODE, EPTASK_TASKTYP, EPTASK_SCENETYP, EPTASK_WBCODE, ");
+        sqlMap.append("   EPTASK_PODCODE, EPTASK_SRCMAPDATA, EPTASK_MATERIAL, EPTASK_PRIORITY, EPTASK_AGVCODE, ");
+        sqlMap.append("   EPTASK_CREATE_DATE, EPTASK_TASKSTATUS, EPTASK_CXID, EPTASK_CALLERID, EPTASK_CALLDATE, ");
+        sqlMap.append("   EPTASK_SENDERID, EPTASK_SENDDATE, EPTASK_START_DATE, EPTASK_GETTO_DATE, EPTASK_END_DATE, ");
+        sqlMap.append("   EPTASK_CANCEL_DATE, EPTASK_DATA, EPTASK_CKID, EPTASK_TYPE, EPTASK_ORDERNUM,EPTASK_WAYS ");
+        sqlMap.append("from EPTASK ");
+        sqlMap.append("where EPTASK_TASKSTATUS not in ('5', '9') and EPTASK_TYPE = :EPTASK_TYPE and  EPTASK_WBCODE = :EPTASK_WBCODE  ");
+        sqlMap.setParamValue("EPTASK_TYPE", type);
+        sqlMap.setParamValue("EPTASK_WBCODE", wbCode);
+        return  sqlMap.queryEntity(Eptask.class);
+    }
+
+    @Override
+    public Eptask findExecutingHcTask(String taskCode) {
+        SqlMap sqlMap = new SqlMap();
+        sqlMap.append("select EPTASK_ID, EPTASK_TASKCODE, EPTASK_TASKTYP, EPTASK_SCENETYP, EPTASK_WBCODE, ");
+        sqlMap.append("   EPTASK_PODCODE, EPTASK_SRCMAPDATA, EPTASK_MATERIAL, EPTASK_PRIORITY, EPTASK_AGVCODE, ");
+        sqlMap.append("   EPTASK_CREATE_DATE, EPTASK_TASKSTATUS, EPTASK_CXID, EPTASK_CALLERID, EPTASK_CALLDATE, ");
+        sqlMap.append("   EPTASK_SENDERID, EPTASK_SENDDATE, EPTASK_START_DATE, EPTASK_GETTO_DATE, EPTASK_END_DATE, ");
+        sqlMap.append("   EPTASK_CANCEL_DATE, EPTASK_DATA, EPTASK_CKID, EPTASK_TYPE, EPTASK_ORDERNUM,EPTASK_WAYS ");
+        sqlMap.append("from EPTASK ");
+        sqlMap.append("where EPTASK_TASKSTATUS not in ('5', '9') and EPTASK_TASKCODE = :EPTASK_TASKCODE  ");
+        sqlMap.setParamValue("EPTASK_TASKCODE", taskCode);
+        return  sqlMap.queryEntity(Eptask.class);
+    }
+
+    @Override
+    public int countExecutingHcTask(String agvCode) {
+        SqlMap sqlMap = new SqlMap();
+        sqlMap.append("select  count(*) from EPTASK ");
+        sqlMap.append("where EPTASK_TASKSTATUS not in ('5', '9') and EPTASK_AGVCODE = :EPTASK_AGVCODE  ");
+        sqlMap.setParamValue("EPTASK_AGVCODE", agvCode);
+        return  sqlMap.queryInt();
+    }
+}

gavel/src/main/java/com/gavel/hcgd/agv/dao/impl/HcMsglogDaoImpl.java

+package com.gavel.hcgd.agv.dao.impl;
+
+import com.gavel.common.base.dao.impl.BaseDaoImpl;
+import com.gavel.common.utils.StringUtils;
+import com.gavel.persistence.sql.RecordSet;
+import com.gavel.persistence.sql.SqlMap;
+import com.gavel.persistence.sql.SqlUtil;
+import org.springframework.stereotype.Repository;
+
+import com.gavel.hcgd.agv.dao.HcMsglogDao;
+import com.gavel.hcgd.agv.vo.HcMsglogCondition;
+import com.gavel.hcgd.agv.vo.HcMsglogVO;
+
+
+@Repository("hcMsglogDao")
+public class HcMsglogDaoImpl extends BaseDaoImpl implements HcMsglogDao {
+	
+	public RecordSet<HcMsglogVO> query(HcMsglogCondition condition){
+        SqlMap sqlMap = new SqlMap();
+        sqlMap.setPageNo(condition.getPageNo());
+        sqlMap.setRowCount(condition.getPageSize());
+        sqlMap.append("select HCMSGLOG_ID, HCMSGLOG_GUID, HCMSGLOG_TASKTYPE, HCMSGLOG_DESTTASK, HCMSGLOG_MSGCODE, ");
+        sqlMap.append("   HCMSGLOG_MESSAGE, HCMSGLOG_WHSJ, HCMSGLOG_CJSJ, HCMSGLOG_SYSVERSION,HCMSGLOG_REVTIME  ");
+        sqlMap.append("from HCMSGLOG ");
+        sqlMap.append("where 1 = 1 ");
+        if (StringUtils.isNotEmpty(condition.getId())){
+                sqlMap.append("  and " + SqlUtil.getWhereSql("HCMSGLOG_ID", condition.getId()));
+                sqlMap.setParamValue("HCMSGLOG_ID", condition.getId());
+
+        }
+        sqlMap.append("order by  HCMSGLOG_REVTIME desc ");
+        sqlMap.query(HcMsglogVO.class);
+        return sqlMap.getRecordSet();
+
+	}
+}

gavel/src/main/java/com/gavel/hcgd/agv/persistent/Agv.java

+package com.gavel.hcgd.agv.persistent;
+
+import com.gavel.common.base.entity.BaseEntity;
+import com.gavel.common.utils.CodeStrategy;
+import com.gavel.persistence.annotation.FieldMeta;
+import com.gavel.persistence.annotation.TableMeta;
+
+import java.util.Date;
+
+
+@TableMeta(id = "AGV", name = "AGV")
+public class Agv extends BaseEntity {
+
+	private static final long serialVersionUID = 1L;
+
+   	@FieldMeta(fieldName = "AGV_ID", caption = "ID", primaryKey = true, notEmpty = true, codeStrategy = CodeStrategy.UUID)
+	private String id;
+	@FieldMeta(fieldName = "AGV_ROBOTCODE", caption = "机器人编号")
+	private String robotcode;
+	@FieldMeta(fieldName = "AGV_ROBOTDIR", caption = "机器人方向")
+	private String robotdir;
+	@FieldMeta(fieldName = "AGV_ROBOTIP", caption = "机器人 IP")
+	private String robotip;
+	@FieldMeta(fieldName = "AGV_BATTERY", caption = "机器人电量, 范围: 0-100")
+	private String battery;
+	@FieldMeta(fieldName = "AGV_POSX", caption = "机器人 x 坐标,单位:毫米")
+	private String posx;
+	@FieldMeta(fieldName = "AGV_POSY", caption = "机器人 y 坐标,单位:毫米")
+	private String posy;
+	@FieldMeta(fieldName = "AGV_MAPCODE", caption = "机器人所在地图")
+	private String mapcode;
+	@FieldMeta(fieldName = "AGV_SPEED", caption = "机器人当前速度")
+	private String speed;
+	@FieldMeta(fieldName = "AGV_STATUS", caption = "机器人状态")
+	private String status;
+	@FieldMeta(fieldName = "AGV_EXCLTYPE", caption = "是否已被排除")
+	private String excltype;
+	@FieldMeta(fieldName = "AGV_STOP", caption = "是否暂停 0-否 1-是")
+	private String stop;
+	@FieldMeta(fieldName = "AGV_PODCODE", caption = "背货架的编号")
+	private String podcode;
+	@FieldMeta(fieldName = "AGV_PODDIR", caption = "背货架的方向")
+	private String poddir;
+	@FieldMeta(fieldName = "AGV_PATH", caption = "执行路径")
+	private String path;
+	@FieldMeta(fieldName = "AGV_WARNCONTENT", caption = "告警信息")
+	private String warncontent;
+
+	@FieldMeta(fieldName = "AGV_TYBZ", caption = "停用标志")
+	private String tybz;
+	@FieldMeta(fieldName = "AGV_TYRQ", caption = "停用日期")
+	private Date tyrq;
+
+	public String getId() {
+		return id;
+	}
+
+	public void setId(String id) {
+		this.id = id;
+	}
+
+	public String getRobotcode() {
+		return robotcode;
+	}
+
+	public void setRobotcode(String robotcode) {
+		this.robotcode = robotcode;
+	}
+
+	public String getRobotdir() {
+		return robotdir;
+	}
+
+	public void setRobotdir(String robotdir) {
+		this.robotdir = robotdir;
+	}
+
+	public String getRobotip() {
+		return robotip;
+	}
+
+	public void setRobotip(String robotip) {
+		this.robotip = robotip;
+	}
+
+	public String getBattery() {
+		return battery;
+	}
+
+	public void setBattery(String battery) {
+		this.battery = battery;
+	}
+
+	public String getPosx() {
+		return posx;
+	}
+
+	public void setPosx(String posx) {
+		this.posx = posx;
+	}
+
+	public String getPosy() {
+		return posy;
+	}
+
+	public void setPosy(String posy) {
+		this.posy = posy;
+	}
+
+	public String getMapcode() {
+		return mapcode;
+	}
+
+	public void setMapcode(String mapcode) {
+		this.mapcode = mapcode;
+	}
+
+	public String getSpeed() {
+		return speed;
+	}
+
+	public void setSpeed(String speed) {
+		this.speed = speed;
+	}
+
+	public String getStatus() {
+		return status;
+	}
+
+	public void setStatus(String status) {
+		this.status = status;
+	}
+
+	public String getExcltype() {
+		return excltype;
+	}
+
+	public void setExcltype(String excltype) {
+		this.excltype = excltype;
+	}
+
+	public String getStop() {
+		return stop;
+	}
+
+	public void setStop(String stop) {
+		this.stop = stop;
+	}
+
+	public String getPodcode() {
+		return podcode;
+	}
+
+	public void setPodcode(String podcode) {
+		this.podcode = podcode;
+	}
+
+	public String getPoddir() {
+		return poddir;
+	}
+
+	public void setPoddir(String poddir) {
+		this.poddir = poddir;
+	}
+
+	public String getPath() {
+		return path;
+	}
+
+	public void setPath(String path) {
+		this.path = path;
+	}
+
+	public String getWarncontent() {
+		return warncontent;
+	}
+
+	public void setWarncontent(String warncontent) {
+		this.warncontent = warncontent;
+	}
+
+	public String getTybz() {
+		return tybz;
+	}
+
+	public void setTybz(String tybz) {
+		this.tybz = tybz;
+	}
+
+	public Date getTyrq() {
+		return tyrq;
+	}
+
+	public void setTyrq(Date tyrq) {
+		this.tyrq = tyrq;
+	}
+}
+
+
+
+
+
+

gavel/src/main/java/com/gavel/hcgd/agv/persistent/Agvtask.java

+package com.gavel.hcgd.agv.persistent;
+
+import com.gavel.common.base.entity.BaseEntity;
+import com.gavel.common.utils.CodeStrategy;
+import com.gavel.persistence.annotation.FieldMeta;
+import com.gavel.persistence.annotation.TableMeta;
+
+import java.util.Date;
+
+@TableMeta(id = "AGVTASK", name = "AGVTASK")
+public class Agvtask extends BaseEntity {
+
+	private static final long serialVersionUID = 1L;
+
+   	@FieldMeta(fieldName = "AGVTASK_ID", caption = "ID", primaryKey = true, notEmpty = true, codeStrategy = CodeStrategy.UUID)
+	private String id;
+	@FieldMeta(fieldName = "AGVTASK_TASKTYP", caption = "任务类型")
+	private String tasktyp;
+	@FieldMeta(fieldName = "AGVTASK_SCENETYP", caption = "任务场景类型")
+	private String scenetyp;
+	@FieldMeta(fieldName = "AGVTASK_CTNRTYP", caption = "容器类型（叉车专用）")
+	private String ctnrtyp;
+	@FieldMeta(fieldName = "AGVTASK_CTNRCODE", caption = "容器编号（叉车专用）")
+	private String ctnrcode;
+	@FieldMeta(fieldName = "AGVTASK_WBCODE", caption = "工作位，一般为机台或工作台位置")
+	private String wbcode;
+	@FieldMeta(fieldName = "AGVTASK_POSITIONCODEPATH", caption = "列表长度 小于 50")
+	private String positionCodePath;
+	@FieldMeta(fieldName = "AGVTASK_PODCODE", caption = "货架编号，不指定货架可以为空")
+	private String podcode;
+	@FieldMeta(fieldName = "AGVTASK_PODDIR", caption = "指定方向")
+	private String poddir;
+	@FieldMeta(fieldName = "AGVTASK_PODTYP", caption = "货架类型")
+	private String podtyp;
+	@FieldMeta(fieldName = "AGVTASK_MATERIALLOT", caption = "物料批次或货架上的物料唯一编码")
+	private String materiallot;
+	@FieldMeta(fieldName = "AGVTASK_PRIORITY", caption = "优先级，从（1~127）级，最大优先级最高")
+	private String priority;
+	@FieldMeta(fieldName = "AGVTASK_TASKCODE", caption = "任务单号")
+	private String taskCode;
+	@FieldMeta(fieldName = "AGVTASK_AGVCODE", caption = "AGV 编号")
+	private String agvCode;
+	@FieldMeta(fieldName = "AGVTASK_CREATE_DATE", caption = "创建时间")
+	private Date createDate;
+	@FieldMeta(fieldName = "AGVTASK_TASKSTATUS", caption = "任务状态：1-已创建，2-正在执行，5-取消完成，9-已结束")
+	private String taskStatus;
+	@FieldMeta(fieldName = "AGVTASK_CJID", caption = "车间ID")
+	private String cjid;
+	@FieldMeta(fieldName = "AGVTASK_CXID", caption = "产线ID")
+	private String cxid;
+	@FieldMeta(fieldName = "AGVTASK_ZDID", caption = "站点ID")
+	private String zdid;
+	@FieldMeta(fieldName = "AGVTASK_GWID", caption = "工位ID")
+	private String gwid;
+	@FieldMeta(fieldName = "AGVTASK_CALLERID", caption = "叫料人ID")
+	private String callerId;
+	@FieldMeta(fieldName = "AGVTASK_CALLDATE", caption = "叫料时间")
+	private Date callDate;
+	@FieldMeta(fieldName = "AGVTASK_SENDERID", caption = "发料人ID")
+	private String senderId;
+	@FieldMeta(fieldName = "AGVTASK_SENDDATE", caption = "发料时间")
+	private Date sendDate;
+	@FieldMeta(fieldName = "AGVTASK_START_POINT", caption = "起点")
+	private String startPoint;
+	@FieldMeta(fieldName = "AGVTASK_END_POINT", caption = "终点")
+	private String endPoint;
+	@FieldMeta(fieldName = "AGVTASK_GETTO_DATE", caption = "到达工位时间")
+	private Date gettoDate;
+	@FieldMeta(fieldName = "AGVTASK_END_DATE", caption = "任务结束时间")
+	private Date endDate;
+	@FieldMeta(fieldName = "AGVTASK_START_DATE", caption = "任务开始时间")
+	private Date startDate;
+	@FieldMeta(fieldName = "AGVTASK_CANCEL_DATE", caption = "任务取消时间")
+	private Date cancelDate;
+	@FieldMeta(fieldName = "AGVTASK_DATA", caption = "自定义字段，不超过 2000 个字符")
+	private String data;
+
+	@FieldMeta(fieldName = "AGVTASK_WAYS", caption = "来源方式")
+	private String ways;
+
+
+
+	public String getId() {
+		return id;
+	}
+
+	public void setId(String id) {
+		this.id = id;
+	}
+
+	public String getTasktyp() {
+		return tasktyp;
+	}
+
+	public void setTasktyp(String tasktyp) {
+		this.tasktyp = tasktyp;
+	}
+
+	public String getScenetyp() {
+		return scenetyp;
+	}
+
+	public void setScenetyp(String scenetyp) {
+		this.scenetyp = scenetyp;
+	}
+
+	public String getCtnrtyp() {
+		return ctnrtyp;
+	}
+
+	public void setCtnrtyp(String ctnrtyp) {
+		this.ctnrtyp = ctnrtyp;
+	}
+
+	public String getCtnrcode() {
+		return ctnrcode;
+	}
+
+	public void setCtnrcode(String ctnrcode) {
+		this.ctnrcode = ctnrcode;
+	}
+
+	public String getWbcode() {
+		return wbcode;
+	}
+
+	public void setWbcode(String wbcode) {
+		this.wbcode = wbcode;
+	}
+
+	public String getPositionCodePath() {
+		return positionCodePath;
+	}
+
+	public void setPositionCodePath(String positionCodePath) {
+		this.positionCodePath = positionCodePath;
+	}
+
+	public String getPodcode() {
+		return podcode;
+	}
+
+	public void setPodcode(String podcode) {
+		this.podcode = podcode;
+	}
+
+	public String getPoddir() {
+		return poddir;
+	}
+
+	public void setPoddir(String poddir) {
+		this.poddir = poddir;
+	}
+
+	public String getPodtyp() {
+		return podtyp;
+	}
+
+	public void setPodtyp(String podtyp) {
+		this.podtyp = podtyp;
+	}
+
+	public String getMateriallot() {
+		return materiallot;
+	}
+
+	public void setMateriallot(String materiallot) {
+		this.materiallot = materiallot;
+	}
+
+	public String getPriority() {
+		return priority;
+	}
+
+	public void setPriority(String priority) {
+		this.priority = priority;
+	}
+
+	public String getTaskCode() {
+		return taskCode;
+	}
+
+	public void setTaskCode(String taskCode) {
+		this.taskCode = taskCode;
+	}
+
+	public String getAgvCode() {
+		return agvCode;
+	}
+
+	public void setAgvCode(String agvCode) {
+		this.agvCode = agvCode;
+	}
+
+	public Date getCreateDate() {
+		return createDate;
+	}
+
+	public void setCreateDate(Date createDate) {
+		this.createDate = createDate;
+	}
+
+	public String getTaskStatus() {
+		return taskStatus;
+	}
+
+	public void setTaskStatus(String taskStatus) {
+		this.taskStatus = taskStatus;
+	}
+
+	public String getCjid() {
+		return cjid;
+	}
+
+	public void setCjid(String cjid) {
+		this.cjid = cjid;
+	}
+
+	public String getCxid() {
+		return cxid;
+	}
+
+	public void setCxid(String cxid) {
+		this.cxid = cxid;
+	}
+
+	public String getZdid() {
+		return zdid;
+	}
+
+	public void setZdid(String zdid) {
+		this.zdid = zdid;
+	}
+
+	public String getCallerId() {
+		return callerId;
+	}
+
+	public void setCallerId(String callerId) {
+		this.callerId = callerId;
+	}
+
+	public Date getCallDate() {
+		return callDate;
+	}
+
+	public void setCallDate(Date callDate) {
+		this.callDate = callDate;
+	}
+
+	public String getSenderId() {
+		return senderId;
+	}
+
+	public void setSenderId(String senderId) {
+		this.senderId = senderId;
+	}
+
+	public Date getSendDate() {
+		return sendDate;
+	}
+
+	public void setSendDate(Date sendDate) {
+		this.sendDate = sendDate;
+	}
+
+	public String getStartPoint() {
+		return startPoint;
+	}
+
+	public void setStartPoint(String startPoint) {
+		this.startPoint = startPoint;
+	}
+
+	public String getEndPoint() {
+		return endPoint;
+	}
+
+	public void setEndPoint(String endPoint) {
+		this.endPoint = endPoint;
+	}
+
+	public Date getGettoDate() {
+		return gettoDate;
+	}
+
+	public void setGettoDate(Date gettoDate) {
+		this.gettoDate = gettoDate;
+	}
+
+	public Date getEndDate() {
+		return endDate;
+	}
+
+	public void setEndDate(Date endDate) {
+		this.endDate = endDate;
+	}
+
+	public Date getStartDate() {
+		return startDate;
+	}
+
+	public void setStartDate(Date startDate) {
+		this.startDate = startDate;
+	}
+
+	public Date getCancelDate() {
+		return cancelDate;
+	}
+
+	public void setCancelDate(Date cancelDate) {
+		this.cancelDate = cancelDate;
+	}
+
+	public String getData() {
+		return data;
+	}
+
+	public void setData(String data) {
+		this.data = data;
+	}
+
+	public String getGwid() {
+		return gwid;
+	}
+
+	public void setGwid(String gwid) {
+		this.gwid = gwid;
+	}
+
+	public String getWays() {
+		return ways;
+	}
+
+	public void setWays(String ways) {
+		this.ways = ways;
+	}
+}
+
+
+
+
+
+

gavel/src/main/java/com/gavel/hcgd/agv/persistent/Agvtaskqueue.java

+package com.gavel.hcgd.agv.persistent;
+
+import java.util.Date;
+
+import com.gavel.common.base.entity.BaseEntity;
+import com.gavel.common.utils.CodeStrategy;
+import com.gavel.persistence.annotation.FieldMeta;
+import com.gavel.persistence.annotation.TableMeta;
+
+
+@TableMeta(id = "AGVTASKQUEUE", name = "AGVTASKQUEUE")
+public class Agvtaskqueue extends BaseEntity {
+
+	private static final long serialVersionUID = 1L;
+
+   	@FieldMeta(fieldName = "AGVTASKQUEUE_ID", caption = "ID", primaryKey = true, codeStrategy = CodeStrategy.UUID)
+	private String id;
+	@FieldMeta(fieldName = "AGVTASKQUEUE_MSGTYPE", caption = "消息类型")
+	private String msgtype;
+	@FieldMeta(fieldName = "AGVTASKQUEUE_GUID", caption = "GUID")
+	private String guid;
+	@FieldMeta(fieldName = "AGVTASKQUEUE_TASKTYPE", caption = "任务类型")
+	private String tasktype;
+	@FieldMeta(fieldName = "AGVTASKQUEUE_DESTTASK", caption = "目标任务")
+	private String desttask;
+	@FieldMeta(fieldName = "AGVTASKQUEUE_ZT", caption = "状态")
+	private String zt;
+	@FieldMeta(fieldName = "AGVTASKQUEUE_NEXTTIME", caption = "下次执行时间")
+	private Date nexttime;
+	@FieldMeta(fieldName = "AGVTASKQUEUE_WHSJ", caption = "维护时间", autoDateTime = true)
+	private Date whsj;
+	@FieldMeta(fieldName = "AGVTASKQUEUE_CJSJ", caption = "创建时间", autoDateTime = true, initial = true)
+	private Date cjsj;
+	@FieldMeta(fieldName = "AGVTASKQUEUE_SYSVERSION", caption = "系统版本")
+	private Integer sysversion;
+	@FieldMeta(fieldName = "AGVTASKQUEUE_BODY", caption = "请求参数")
+	private String body;
+
+	public String getId() {
+		return id;
+	}
+
+	public void setId(String id) {
+		this.id = id;
+	}
+
+	public String getMsgtype() {
+		return msgtype;
+	}
+
+	public void setMsgtype(String msgtype) {
+		this.msgtype = msgtype;
+	}
+
+	public String getGuid() {
+		return guid;
+	}
+
+	public void setGuid(String guid) {
+		this.guid = guid;
+	}
+
+	public String getTasktype() {
+		return tasktype;
+	}
+
+	public void setTasktype(String tasktype) {
+		this.tasktype = tasktype;
+	}
+
+	public String getDesttask() {
+		return desttask;
+	}
+
+	public void setDesttask(String desttask) {
+		this.desttask = desttask;
+	}
+
+	public String getZt() {
+		return zt;
+	}
+
+	public void setZt(String zt) {
+		this.zt = zt;
+	}
+
+	public Date getNexttime() {
+		return nexttime;
+	}
+
+	public void setNexttime(Date nexttime) {
+		this.nexttime = nexttime;
+	}
+
+	public Date getWhsj() {
+		return whsj;
+	}
+
+	public void setWhsj(Date whsj) {
+		this.whsj = whsj;
+	}
+
+	public Date getCjsj() {
+		return cjsj;
+	}
+
+	public void setCjsj(Date cjsj) {
+		this.cjsj = cjsj;
+	}
+
+	public Integer getSysversion() {
+		return sysversion;
+	}
+
+	public void setSysversion(Integer sysversion) {
+		this.sysversion = sysversion;
+	}
+
+	public String getBody() {
+		return body;
+	}
+
+	public void setBody(String body) {
+		this.body = body;
+	}
+}
+
+
+
+
+
+

gavel/src/main/java/com/gavel/hcgd/agv/persistent/Agvwarn.java

+package com.gavel.hcgd.agv.persistent;
+
+import com.gavel.common.base.entity.BaseEntity;
+import com.gavel.common.utils.CodeStrategy;
+import com.gavel.persistence.annotation.FieldMeta;
+import com.gavel.persistence.annotation.TableMeta;
+
+
+@TableMeta(id = "AGVWARN", name = "AGVWARN")
+public class Agvwarn extends BaseEntity {
+
+	private static final long serialVersionUID = 1L;
+
+   	@FieldMeta(fieldName = "AGVWARN_ID", caption = "ID", primaryKey = true, notEmpty = true, codeStrategy = CodeStrategy.UUID)
+	private String id;
+	@FieldMeta(fieldName = "AGVWARN_REQCODE", caption = "请求编号")
+	private String reqcode;
+	@FieldMeta(fieldName = "AGVWARN_REQTIME", caption = "请求时间戳")
+	private String reqtime;
+	@FieldMeta(fieldName = "AGVWARN_CLIENTCODE", caption = "客户端编号")
+	private String clientcode;
+	@FieldMeta(fieldName = "AGVWARN_TOKENCODE", caption = "令牌号")
+	private String tokencode;
+	@FieldMeta(fieldName = "AGVWARN_ROBOTCODE", caption = "车号")
+	private String robotcode;
+	@FieldMeta(fieldName = "AGVWARN_BEGINTIME", caption = "告警开始时间")
+	private String begintime;
+	@FieldMeta(fieldName = "AGVWARN_WARNCONTENT", caption = "告警内容")
+	private String warncontent;
+	@FieldMeta(fieldName = "AGVWARN_TASKCODE", caption = "任务号")
+	private String taskcode;
+
+	public String getId() {
+		return id;
+	}	
+	public void setId(String id) {
+		this.id = id;
+	}
+	public String getReqcode() {
+		return reqcode;
+	}	
+	public void setReqcode(String reqcode) {
+		this.reqcode = reqcode;
+	}
+	public String getReqtime() {
+		return reqtime;
+	}	
+	public void setReqtime(String reqtime) {
+		this.reqtime = reqtime;
+	}
+	public String getClientcode() {
+		return clientcode;
+	}	
+	public void setClientcode(String clientcode) {
+		this.clientcode = clientcode;
+	}
+	public String getTokencode() {
+		return tokencode;
+	}	
+	public void setTokencode(String tokencode) {
+		this.tokencode = tokencode;
+	}
+	public String getRobotcode() {
+		return robotcode;
+	}	
+	public void setRobotcode(String robotcode) {
+		this.robotcode = robotcode;
+	}
+	public String getBegintime() {
+		return begintime;
+	}	
+	public void setBegintime(String begintime) {
+		this.begintime = begintime;
+	}
+	public String getWarncontent() {
+		return warncontent;
+	}	
+	public void setWarncontent(String warncontent) {
+		this.warncontent = warncontent;
+	}
+	public String getTaskcode() {
+		return taskcode;
+	}	
+	public void setTaskcode(String taskcode) {
+		this.taskcode = taskcode;
+	}
+
+}
+
+
+
+
+
+

gavel/src/main/java/com/gavel/hcgd/agv/persistent/Eptask.java

+package com.gavel.hcgd.agv.persistent;
+
+import java.util.Date;
+
+import com.gavel.common.base.entity.BaseEntity;
+import com.gavel.common.utils.CodeStrategy;
+import com.gavel.persistence.annotation.FieldMeta;
+import com.gavel.persistence.annotation.TableMeta;
+
+
+@TableMeta(id = "EPTASK", name = "EPTASK")
+public class Eptask extends BaseEntity {
+
+	private static final long serialVersionUID = 1L;
+
+   	@FieldMeta(fieldName = "EPTASK_ID", caption = "ID", primaryKey = true, notEmpty = true, codeStrategy = CodeStrategy.UUID)
+	private String id;
+	@FieldMeta(fieldName = "EPTASK_TASKCODE", caption = "任务单号")
+	private String taskCode;
+	@FieldMeta(fieldName = "EPTASK_TASKTYP", caption = "任务类型")
+	private String taskTyp;
+	@FieldMeta(fieldName = "EPTASK_SCENETYP", caption = "任务场景类型")
+	private String sceneTyp;
+	@FieldMeta(fieldName = "EPTASK_WBCODE", caption = "工作位，一般为机台或工作台位置")
+	private String wbCode;
+	@FieldMeta(fieldName = "EPTASK_PODCODE", caption = "货架编号")
+	private String podCode;
+	@FieldMeta(fieldName = "EPTASK_SRCMAPDATA", caption = "货架来源地码")
+	private String srcMapdata;
+
+	@FieldMeta(fieldName = "EPTASK_DESTMAPDATA", caption = "货架目标地码")
+	private String destMapdata;
+
+	@FieldMeta(fieldName = "EPTASK_MATERIAL", caption = "物料")
+	private String material;
+
+	@FieldMeta(fieldName = "EPTASK_PRIORITY", caption = "优先级，从（1~127）级，最大优先级最高")
+	private String priority;
+	@FieldMeta(fieldName = "EPTASK_AGVCODE", caption = "AGV编号")
+	private String agvCode;
+	@FieldMeta(fieldName = "EPTASK_CREATE_DATE", caption = "创建时间")
+	private Date createDate;
+	@FieldMeta(fieldName = "EPTASK_TASKSTATUS", caption = "任务状态：1-已创建，2-正在执行，5-取消完成，9-已结束")
+	private String taskStatus;
+	@FieldMeta(fieldName = "EPTASK_CXID", caption = "产线ID")
+	private String cxId;
+	@FieldMeta(fieldName = "EPTASK_CALLERID", caption = "叫料人ID")
+	private String callerId;
+	@FieldMeta(fieldName = "EPTASK_CALLDATE", caption = "叫料时间")
+	private Date callDate;
+	@FieldMeta(fieldName = "EPTASK_SENDERID", caption = "发料人ID")
+	private String senderId;
+	@FieldMeta(fieldName = "EPTASK_SENDDATE", caption = "发料时间")
+	private Date sendDate;
+	@FieldMeta(fieldName = "EPTASK_START_DATE", caption = "任务开始时间")
+	private Date startDate;
+	@FieldMeta(fieldName = "EPTASK_GETTO_DATE", caption = "到达工位时间")
+	private Date gettoDate;
+	@FieldMeta(fieldName = "EPTASK_END_DATE", caption = "任务结束时间")
+	private Date endDate;
+	@FieldMeta(fieldName = "EPTASK_CANCEL_DATE", caption = "任务取消时间")
+	private Date cancelDate;
+	@FieldMeta(fieldName = "EPTASK_DATA", caption = "自定义字段，不超过 2000 个字符")
+	private String data;
+	@FieldMeta(fieldName = "EPTASK_CKID", caption = "目标区域")
+	private String ckId;
+	@FieldMeta(fieldName = "EPTASK_TYPE", caption = "任务分类")
+	private String type;
+	@FieldMeta(fieldName = "EPTASK_ORDERNUM", caption = "步号")
+	private Integer orderNum;
+	@FieldMeta(fieldName = "EPTASK_WAYS", caption = "来源方式")
+	private String ways;
+
+	public String getId() {
+		return id;
+	}
+
+	public void setId(String id) {
+		this.id = id;
+	}
+
+	public String getTaskCode() {
+		return taskCode;
+	}
+
+	public void setTaskCode(String taskCode) {
+		this.taskCode = taskCode;
+	}
+
+	public String getTaskTyp() {
+		return taskTyp;
+	}
+
+	public void setTaskTyp(String taskTyp) {
+		this.taskTyp = taskTyp;
+	}
+
+	public String getSceneTyp() {
+		return sceneTyp;
+	}
+
+	public void setSceneTyp(String sceneTyp) {
+		this.sceneTyp = sceneTyp;
+	}
+
+	public String getWbCode() {
+		return wbCode;
+	}
+
+	public void setWbCode(String wbCode) {
+		this.wbCode = wbCode;
+	}
+
+	public String getPodCode() {
+		return podCode;
+	}
+
+	public void setPodCode(String podCode) {
+		this.podCode = podCode;
+	}
+
+	public String getSrcMapdata() {
+		return srcMapdata;
+	}
+
+	public void setSrcMapdata(String srcMapdata) {
+		this.srcMapdata = srcMapdata;
+	}
+
+	public String getDestMapdata() {
+		return destMapdata;
+	}
+
+	public void setDestMapdata(String destMapdata) {
+		this.destMapdata = destMapdata;
+	}
+
+	public String getMaterial() {
+		return material;
+	}
+
+	public void setMaterial(String material) {
+		this.material = material;
+	}
+
+	public String getPriority() {
+		return priority;
+	}
+
+	public void setPriority(String priority) {
+		this.priority = priority;
+	}
+
+	public String getAgvCode() {
+		return agvCode;
+	}
+
+	public void setAgvCode(String agvCode) {
+		this.agvCode = agvCode;
+	}
+
+	public Date getCreateDate() {
+		return createDate;
+	}
+
+	public void setCreateDate(Date createDate) {
+		this.createDate = createDate;
+	}
+
+	public String getTaskStatus() {
+		return taskStatus;
+	}
+
+	public void setTaskStatus(String taskStatus) {
+		this.taskStatus = taskStatus;
+	}
+
+	public String getCxId() {
+		return cxId;
+	}
+
+	public void setCxId(String cxId) {
+		this.cxId = cxId;
+	}
+
+	public String getCallerId() {
+		return callerId;
+	}
+
+	public void setCallerId(String callerId) {
+		this.callerId = callerId;
+	}
+
+	public Date getCallDate() {
+		return callDate;
+	}
+
+	public void setCallDate(Date callDate) {
+		this.callDate = callDate;
+	}
+
+	public String getSenderId() {
+		return senderId;
+	}
+
+	public void setSenderId(String senderId) {
+		this.senderId = senderId;
+	}
+
+	public Date getSendDate() {
+		return sendDate;
+	}
+
+	public void setSendDate(Date sendDate) {
+		this.sendDate = sendDate;
+	}
+
+	public Date getStartDate() {
+		return startDate;
+	}
+
+	public void setStartDate(Date startDate) {
+		this.startDate = startDate;
+	}
+
+	public Date getGettoDate() {
+		return gettoDate;
+	}
+
+	public void setGettoDate(Date gettoDate) {
+		this.gettoDate = gettoDate;
+	}
+
+	public Date getEndDate() {
+		return endDate;
+	}
+
+	public void setEndDate(Date endDate) {
+		this.endDate = endDate;
+	}
+
+	public Date getCancelDate() {
+		return cancelDate;
+	}
+
+	public void setCancelDate(Date cancelDate) {
+		this.cancelDate = cancelDate;
+	}
+
+	public String getData() {
+		return data;
+	}
+
+	public void setData(String data) {
+		this.data = data;
+	}
+
+	public String getCkId() {
+		return ckId;
+	}
+
+	public void setCkId(String ckId) {
+		this.ckId = ckId;
+	}
+
+	public String getType() {
+		return type;
+	}
+
+	public void setType(String type) {
+		this.type = type;
+	}
+
+	public Integer getOrderNum() {
+		return orderNum;
+	}
+
+	public void setOrderNum(Integer orderNum) {
+		this.orderNum = orderNum;
+	}
+
+	public String getWays() {
+		return ways;
+	}
+
+	public void setWays(String ways) {
+		this.ways = ways;
+	}
+}
+
+
+
+
+
+

gavel/src/main/java/com/gavel/hcgd/agv/persistent/HcMsglog.java

+package com.gavel.hcgd.agv.persistent;
+
+import java.util.Date;
+
+import com.gavel.common.base.entity.BaseEntity;
+import com.gavel.common.utils.CodeStrategy;
+import com.gavel.persistence.annotation.FieldMeta;
+import com.gavel.persistence.annotation.TableMeta;
+
+
+@TableMeta(id = "HCMSGLOG", name = "HCMSGLOG")
+public class HcMsglog extends BaseEntity {
+
+	private static final long serialVersionUID = 1L;
+
+   	@FieldMeta(fieldName = "HCMSGLOG_ID", caption = "ID", primaryKey = true,codeStrategy = CodeStrategy.UUID,notEmpty = true)
+	private String id;
+	@FieldMeta(fieldName = "HCMSGLOG_GUID", caption = "GUID")
+	private String guid;
+	@FieldMeta(fieldName = "HCMSGLOG_TASKTYPE", caption = "任务类型")
+	private String tasktype;
+	@FieldMeta(fieldName = "HCMSGLOG_DESTTASK", caption = "目标任务")
+	private String desttask;
+	@FieldMeta(fieldName = "HCMSGLOG_MSGCODE", caption = "返回代码")
+	private String msgcode;
+	@FieldMeta(fieldName = "HCMSGLOG_MESSAGE", caption = "反馈信息")
+	private String message;
+	@FieldMeta(fieldName = "HCMSGLOG_REVTIME", caption = "接收时间")
+	private Date revtime;
+	@FieldMeta(fieldName = "HCMSGLOG_WHSJ", caption = "维护时间")
+	private Date whsj;
+	@FieldMeta(fieldName = "HCMSGLOG_CJSJ", caption = "创建时间")
+	private Date cjsj;
+	@FieldMeta(fieldName = "HCMSGLOG_SYSVERSION", caption = "系统版本")
+	private Integer sysversion;
+
+	public String getId() {
+		return id;
+	}
+
+	public void setId(String id) {
+		this.id = id;
+	}
+
+	public String getGuid() {
+		return guid;
+	}
+
+	public void setGuid(String guid) {
+		this.guid = guid;
+	}
+
+	public String getTasktype() {
+		return tasktype;
+	}
+
+	public void setTasktype(String tasktype) {
+		this.tasktype = tasktype;
+	}
+
+	public String getDesttask() {
+		return desttask;
+	}
+
+	public void setDesttask(String desttask) {
+		this.desttask = desttask;
+	}
+
+	public String getMsgcode() {
+		return msgcode;
+	}
+
+	public void setMsgcode(String msgcode) {
+		this.msgcode = msgcode;
+	}
+
+	public String getMessage() {
+		return message;
+	}
+
+	public void setMessage(String message) {
+		this.message = message;
+	}
+
+	public Date getRevtime() {
+		return revtime;
+	}
+
+	public void setRevtime(Date revtime) {
+		this.revtime = revtime;
+	}
+
+	public Date getWhsj() {
+		return whsj;
+	}
+
+	public void setWhsj(Date whsj) {
+		this.whsj = whsj;
+	}
+
+	public Date getCjsj() {
+		return cjsj;
+	}
+
+	public void setCjsj(Date cjsj) {
+		this.cjsj = cjsj;
+	}
+
+	public Integer getSysversion() {
+		return sysversion;
+	}
+
+	public void setSysversion(Integer sysversion) {
+		this.sysversion = sysversion;
+	}
+}
+
+
+
+
+
+

gavel/src/main/java/com/gavel/hcgd/agv/process/AgvStatusHandler.java

+package com.gavel.hcgd.agv.process;
+
+import com.gavel.common.utils.DateUtils;
+import com.gavel.common.utils.SpringUtils;
+import com.gavel.common.utils.StringUtils;
+import com.gavel.hcgd.mcs.service.RcmsService;
+import com.gavel.hcgd.rabbitmq.handler.RabbitMqSendMessage;
+import com.gavel.hcgd.rabbitmq.model.AgvStatusModel;
+import com.gavel.hcgd.rabbitmq.model.AgvStatusFeedback;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+public class AgvStatusHandler implements Runnable {
+
+	private static Logger logger = LoggerFactory.getLogger(AgvStatusHandler.class);
+	//任务单号
+	private AgvStatusModel agvStatus;
+
+	private RcmsService rcmsService;
+
+	public AgvStatusHandler(AgvStatusModel agvStatus) {
+		this.agvStatus = agvStatus;
+	}
+
+
+	private RcmsService rcmsService() {
+		if (rcmsService == null)
+			rcmsService = SpringUtils.getBean(RcmsService.class);
+		return rcmsService;
+	}
+
+
+	@Override
+	public void run() {
+		AgvStatusFeedback agvStatusFeedback = new AgvStatusFeedback();
+		try {
+			agvStatusFeedback.setMsgtype("反馈AGV状态");
+			agvStatusFeedback.setAgvCode(agvStatus.getAgvCode());
+			if(agvStatus == null){
+				return;
+			}
+			//获取状态
+			String status = rcmsService().serchAgvStatus(agvStatus.getAgvCode());
+			if(StringUtils.isEmpty(status)){
+				status ="未找到";
+			}
+			agvStatusFeedback.setStatus(status);
+		}catch (Exception ex) {
+			//执行失败，设置返回数据
+			logger.error("错误信息",ex);
+		}finally {
+			agvStatusFeedback.setTime(DateUtils.formatDate(DateUtils.getDateTime(),DateUtils.MillISECONDS_DATE_FORMAT));
+			SpringUtils.getBean(RabbitMqSendMessage.class).sendMessageStatus(agvStatusFeedback);
+		}
+	}
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/process/AgvTaskHandler.java

+package com.gavel.hcgd.agv.process;
+
+import com.gavel.common.utils.DateUtils;
+import com.gavel.common.utils.SpringUtils;
+import com.gavel.hcgd.agv.service.HcMsglogService;
+import com.gavel.hcgd.mcs.service.RcmsService;
+import com.gavel.hcgd.rabbitmq.handler.RabbitMqSendMessage;
+import com.gavel.hcgd.rabbitmq.model.AgvTask;
+import com.gavel.hcgd.rabbitmq.model.TaskFeedback;
+
+public class AgvTaskHandler implements Runnable {
+
+
+
+	//任务单号
+	private AgvTask agvTask;
+
+	private RcmsService rcmsService;
+
+	private HcMsglogService hcMsglogService;
+
+
+	public AgvTaskHandler(AgvTask agvTask) {
+		 this.agvTask = agvTask;
+	}
+
+	private RcmsService rcmsService() {
+		if (rcmsService == null)
+			rcmsService = SpringUtils.getBean(RcmsService.class);
+		return rcmsService;
+	}
+
+	private HcMsglogService hcMsglogService() {
+		if (hcMsglogService == null)
+			hcMsglogService = SpringUtils.getBean(HcMsglogService.class);
+		return hcMsglogService;
+	}
+
+
+	@Override
+	public void run() {
+		TaskFeedback feedback = new TaskFeedback();
+		boolean needWriteQueue = false;
+		try {
+			feedback.setGuid(agvTask.getGuid());
+			if(agvTask == null){
+				needWriteQueue = true;
+				feedback.setMsgcode("2");
+				feedback.setMessage("任务队列为空");
+				return;
+			}
+			if("任务下发".equals(agvTask.getMsgtype())){
+				needWriteQueue = true;
+				feedback.setMsgtype("接收任务反馈");
+				rcmsService().genHcTask(agvTask);
+				feedback.setMsgcode("1");
+				feedback.setMessage("任务下发成功,agvCode:"+agvTask.getTask().getAgvCode());
+			}else if("触发".equals(agvTask.getMsgtype())){
+				feedback.setMsgtype("任务触发反馈");
+				rcmsService().continueHcTask(agvTask);
+				feedback.setMsgcode("1");
+				feedback.setMessage("任务触发成功,任务单号:"+agvTask.getGuid());
+			}
+		}catch (Exception e) {
+			feedback.setMsgcode("2");
+			feedback.setMessage("任务失败："+e.getMessage());
+			if (needWriteQueue)
+				rcmsService().delEptask(agvTask.getGuid());
+		}finally {
+			feedback.setTime(DateUtils.formatDate(DateUtils.getDateTime(),DateUtils.DATETIME_FORMAT));
+			//记录日志
+			hcMsglogService().addMsgLog(feedback,agvTask);
+			if (needWriteQueue)
+				SpringUtils.getBean(RabbitMqSendMessage.class).sendMessageAgvTask(feedback);
+
+		}
+	}
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/service/AgvService.java

+package com.gavel.hcgd.agv.service;
+
+import com.gavel.common.base.service.BaseEditService;
+import com.gavel.hcgd.agv.vo.AgvCondition;
+import com.gavel.hcgd.agv.vo.AgvVO;
+import com.gavel.hcgd.mcs.model.QueryAgvStatusResp;
+import com.gavel.hcgd.rabbitmq.model.AgvTask;
+import com.gavel.persistence.sql.RecordSet;
+
+import java.util.List;
+
+
+public interface AgvService extends BaseEditService {
+
+  public RecordSet<AgvVO> query(AgvCondition condition);
+
+  public void update(List<QueryAgvStatusResp.AgvStatus> datas, String mapCode);
+
+  public String findEmptyAgv(AgvTask agvTask);
+
+  public boolean pauseAgv(String agvCode);
+
+  public boolean recoverAgv(String agvCode);
+}

gavel/src/main/java/com/gavel/hcgd/agv/service/AgvtaskService.java

+package com.gavel.hcgd.agv.service;
+
+import com.gavel.common.base.service.BaseEditService;
+import com.gavel.hcgd.agv.vo.AgvtaskCondition;
+import com.gavel.hcgd.agv.vo.AgvtaskInfo;
+import com.gavel.hcgd.agv.vo.AgvtaskVO;
+import com.gavel.persistence.sql.RecordSet;
+
+
+public interface AgvtaskService extends BaseEditService {
+	
+  public RecordSet<AgvtaskVO> query(AgvtaskCondition condition);
+
+  public AgvtaskVO working(AgvtaskCondition condition);
+
+  public AgvtaskInfo queryAgvTasks(AgvtaskCondition condition);
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/service/AgvtaskqueueService.java

+package com.gavel.hcgd.agv.service;
+
+import com.gavel.common.base.service.BaseEditService;
+import com.gavel.hcgd.agv.persistent.Agvtaskqueue;
+import com.gavel.hcgd.agv.vo.AgvtaskqueueCondition;
+import com.gavel.hcgd.agv.vo.AgvtaskqueueVO;
+import com.gavel.persistence.sql.RecordSet;
+
+
+public interface AgvtaskqueueService extends BaseEditService {
+
+  public RecordSet<AgvtaskqueueVO> query(AgvtaskqueueCondition condition);
+
+  public void writeMessage(String message);
+
+  /**
+   * 出队锁定
+   * @return
+   */
+  public Agvtaskqueue popQueue(String msgType);
+
+  /**
+   * 确认出队
+   * @param id
+   * @return
+   */
+  public boolean ackPopQueue(String id);
+
+  public boolean unAckPopQueue(String id);
+
+  public Agvtaskqueue query(String guid,String msgType);
+
+  public void updateById(String id);
+}

gavel/src/main/java/com/gavel/hcgd/agv/service/AgvwarnService.java

+package com.gavel.hcgd.agv.service;
+
+import com.gavel.common.base.service.BaseEditService;
+import com.gavel.hcgd.agv.vo.AgvwarnCondition;
+import com.gavel.hcgd.agv.vo.AgvwarnVO;
+import com.gavel.hcgd.mcs.model.AGVWarns;
+import com.gavel.hcgd.mcs.model.AgvTaskStatus;
+import com.gavel.persistence.sql.RecordSet;
+
+
+public interface AgvwarnService extends BaseEditService {
+	
+  public RecordSet<AgvwarnVO> query(AgvwarnCondition condition);
+
+  public void warnCallback(AGVWarns warnCallback);
+
+  public void agvCallback(AgvTaskStatus agvTaskStatus);
+}

gavel/src/main/java/com/gavel/hcgd/agv/service/EptaskService.java

+package com.gavel.hcgd.agv.service;
+
+import com.gavel.common.base.service.BaseEditService;
+import com.gavel.hcgd.agv.persistent.Agvtaskqueue;
+import com.gavel.hcgd.agv.persistent.Eptask;
+import com.gavel.hcgd.agv.vo.EptaskCondition;
+import com.gavel.hcgd.agv.vo.EptaskVO;
+import com.gavel.hcgd.rabbitmq.model.AgvTask;
+import com.gavel.hcgd.rabbitmq.model.TaskFeedback;
+import com.gavel.persistence.sql.RecordSet;
+
+
+public interface EptaskService extends BaseEditService {
+
+  public RecordSet<EptaskVO> query(EptaskCondition condition);
+
+  public Eptask loadTask(String taskCode);
+
+  public Eptask loadOneTask(String wbCode);
+
+  public Eptask loadTwoTask(String wbCode);
+
+  public Eptask findExecutingTwoTask(String wbCode);
+
+  public Eptask loadExecutingOneTask(String wbCode);
+
+  public Eptask loadExecutingSixTask(String fullPoint);
+
+  public Eptask loadExecutingSevenTask(String wbcode);
+
+  public Eptask findExecutingTask(String wbCode, String type);
+
+  public void genTask(String message);
+
+  /**
+   * 生成任务
+   * @param agvTask
+   * @return
+   */
+  public Eptask genAgvTask(AgvTask agvTask);
+
+  public boolean cancelAgvTask(Agvtaskqueue agvtaskqueue);
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/service/HcMsglogService.java

+package com.gavel.hcgd.agv.service;
+
+import com.gavel.common.base.service.BaseEditService;
+import com.gavel.hcgd.agv.persistent.Agvtaskqueue;
+import com.gavel.hcgd.rabbitmq.model.AgvTask;
+import com.gavel.hcgd.rabbitmq.model.StepFeedback;
+import com.gavel.hcgd.rabbitmq.model.TaskFeedback;
+import com.gavel.persistence.sql.RecordSet;
+
+import com.gavel.hcgd.agv.vo.HcMsglogCondition;
+import com.gavel.hcgd.agv.vo.HcMsglogVO;
+
+
+public interface HcMsglogService extends BaseEditService {
+
+  public RecordSet<HcMsglogVO> query(HcMsglogCondition condition);
+
+  public void addMsgLog(TaskFeedback feedback, AgvTask agvTask);
+
+  public void addMsgStepFeedbackLog(StepFeedback stepFeedback);
+
+  public void addWarnMsglog(Agvtaskqueue agvtaskQueue, String message);
+
+  public void addCacelMsgLog(TaskFeedback taskFeedback);
+
+  public void addMsgLog(TaskFeedback feedback, Agvtaskqueue agvtaskqueue);
+}

gavel/src/main/java/com/gavel/hcgd/agv/service/impl/AgvServiceImpl.java

+package com.gavel.hcgd.agv.service.impl;
+
+import com.gavel.common.base.service.impl.BaseEditServiceImpl;
+import com.gavel.common.business.service.CommonService;
+import com.gavel.common.lock.LockUtils;
+import com.gavel.common.utils.BooleanEnum;
+import com.gavel.common.utils.NumberUtils;
+import com.gavel.common.utils.StringUtils;
+import com.gavel.hcgd.agv.dao.AgvDao;
+import com.gavel.hcgd.agv.dao.EptaskDao;
+import com.gavel.hcgd.agv.persistent.Agv;
+import com.gavel.hcgd.agv.service.AgvService;
+import com.gavel.hcgd.agv.vo.AgvCondition;
+import com.gavel.hcgd.agv.vo.AgvVO;
+import com.gavel.hcgd.jcsj.persistent.Template;
+import com.gavel.hcgd.jcsj.service.TemplateService;
+import com.gavel.hcgd.jcsj.utils.JcsjParamEnum;
+import com.gavel.hcgd.mcs.model.GenAgvTaskResp;
+import com.gavel.hcgd.mcs.model.QueryAgvStatusResp;
+import com.gavel.hcgd.mcs.service.RcmsService;
+import com.gavel.hcgd.rabbitmq.model.AgvTask;
+import com.gavel.persistence.sql.RecordSet;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+
+@Service("agvService")
+@Transactional
+public class AgvServiceImpl extends BaseEditServiceImpl implements AgvService {
+
+    private Logger logger = LoggerFactory.getLogger(this.getClass());
+
+    @Autowired
+    private AgvDao agvDao;
+
+    @Autowired
+    private RcmsService rcmsService;
+
+    @Autowired
+    private TemplateService templateService;
+
+    @Autowired
+    private CommonService commonService;
+
+    @Autowired
+    private EptaskDao eptaskDao;
+
+
+
+    @Override
+    public void initService() {
+        addMaster( Agv.class);
+    }
+
+    @Override
+	public RecordSet<AgvVO> query(AgvCondition condition) {
+	    return agvDao.query(condition);
+	}
+
+    @Override
+    public void update(List<QueryAgvStatusResp.AgvStatus> datas, String mapCode) {
+
+    	Agv conditon = new Agv();
+        conditon.setMapcode(mapCode);
+        List<Agv> exists = agvDao.queryListByEntity(conditon);
+
+        List<Agv> offlineList = new ArrayList<>();
+
+        Map<String, Agv> existAgvs = new HashMap<>();
+        if ( exists!=null ) {
+            for (Agv agv : exists) {
+                existAgvs.put(agv.getRobotcode(), agv);
+                offlineList.add(agv);
+            }
+        }
+
+
+        for (QueryAgvStatusResp.AgvStatus item : datas) {
+
+            Agv agv = existAgvs.get(item.getRobotCode());
+            if ( agv==null ) {
+                agv = new Agv();
+            }
+
+            agv.setRobotcode(item.getRobotCode());
+            agv.setRobotdir(item.getRobotDir());
+            agv.setRobotip(item.getRobotIp());
+
+            agv.setBattery(item.getBattery());
+            agv.setPosx(item.getPosX());
+            agv.setPosy(item.getPosY());
+
+            agv.setMapcode(item.getMapCode());
+            agv.setSpeed(item.getSpeed());
+            agv.setStatus(item.getStatus());
+
+            agv.setExcltype(item.getExclType());
+            agv.setStop(item.getStop());
+
+            agv.setPodcode(item.getPodCode());
+            agv.setPoddir(item.getPodDir());
+
+            if (StringUtils.isBlank(agv.getId()) ) {
+                agvDao.insert(agv);
+            } else {
+                agvDao.update(agv);
+                offlineList.remove(agv);
+            }
+        }
+
+        List<Agv> offlineUpdList = new ArrayList<>();
+        for (Agv agv : offlineList) {
+        	Agv updAgv = new Agv();
+        	updAgv.setId(agv.getId());
+        	updAgv.setStatus("9999");
+        	offlineUpdList.add(updAgv);
+        }
+        agvDao.batchUpdate(offlineUpdList);
+    }
+
+    @Override
+    public String findEmptyAgv(AgvTask agvTask) {
+
+        Template template = templateService.queryByCode(agvTask.getTasktype());//模板类型
+        if(template ==null){
+            logger.warn("模板类型{}未能找到, 生成任务失败！", agvTask.getTasktype());
+            return "";
+        }
+
+        String mapName =  commonService.getStringOptionValue(JcsjParamEnum.MapDataSync.id());
+        if(StringUtils.isEmpty(mapName) ){
+            logger.warn("未配置地图编号,请联系管理员！");
+            return "";
+        }
+
+        //小车状态 2.任务执行 3.任务异常4.任务空闲状态,246,247,248
+        List<QueryAgvStatusResp.AgvStatus> agvStatusList = rcmsService.queryAgvStatus(mapName).getData();//地图简称，与地码类型一致
+        //如果小车空闲
+        for (QueryAgvStatusResp.AgvStatus agvStatus :agvStatusList) {
+
+            if (validStatusData(agvStatus.getStatus()) ) {
+                //检验小车
+                Agv agv = new Agv();
+                agv.setRobotcode(agvStatus.getRobotCode());
+                Agv agvExsit = agvDao.queryByEntity(agv);
+                if(agvExsit !=null && BooleanEnum.equalsYes(agvExsit.getTybz())){
+                    continue;
+                }
+                //是否启用充电阈值设置
+                String isEnable =  commonService.getStringOptionValue(JcsjParamEnum.AgvBatteryEnable.id());
+                //充电状态，阈值比较
+                if(StringUtils.equals(isEnable,"Y")){
+                    if(StringUtils.equals("7",agvStatus.getStatus())) {
+                        String agvdl =  commonService.getStringOptionValue(JcsjParamEnum.AgvBatterySetting.id());
+                        Integer yz = Integer.valueOf(agvdl);//设置值
+                        Integer curValue = Integer.valueOf(agvStatus.getBattery());//获取小车值
+                        if(NumberUtils.less(curValue , yz)){
+                            continue;
+                        }
+                    }
+                }
+                //查询Eptask中是否已存在小车，如果存在，返回空，生成任务失败
+                if (eptaskDao.countExecutingHcTask(agvStatus.getRobotCode()) > 0) {
+                   logger.error("小车"+agvStatus.getRobotCode()+"已存在执行任务,生成任务失败！");
+                   continue;
+                }
+
+                if(StringUtils.isNotEmpty(template.getAgv())){
+                    if(StringUtils.contains(template.getAgv(),agvStatus.getRobotCode())){
+                        String lockKey = "AgvTask";
+                        if(!LockUtils.lock(lockKey,agvStatus.getRobotCode())) {
+                            continue;
+                        }
+                        LockUtils.releaseLock(lockKey,agvStatus.getRobotCode());
+                        return agvStatus.getRobotCode();
+                    }
+                }else {
+                    String lockKey = "AgvTask";
+                    if(!LockUtils.lock(lockKey,agvStatus.getRobotCode())) {
+                        continue;
+                    }
+                    LockUtils.releaseLock(lockKey,agvStatus.getRobotCode());
+                    return agvStatus.getRobotCode();
+                }
+            }
+        }
+        return "";
+    }
+
+    @Override
+    public boolean pauseAgv(String agvCode) {
+        List<String> agvs = new ArrayList<>();
+        agvs.add(agvCode);
+        GenAgvTaskResp genAgvTaskResp = rcmsService.stopRobot(agvs);
+        if ( genAgvTaskResp==null ) {
+            throw new RuntimeException("Rcs服务请求失败.");
+        }
+
+        if ( !"0".equalsIgnoreCase(genAgvTaskResp.getCode()) ) {
+            throw new RuntimeException(genAgvTaskResp.getMessage());
+        }
+        return true;
+    }
+
+
+    public boolean recoverAgv(String agvCode) {
+        List<String> agvs = new ArrayList<>();
+        agvs.add(agvCode);
+        GenAgvTaskResp genAgvTaskResp = rcmsService.continueRobot(agvs);
+        if ( genAgvTaskResp==null ) {
+            throw new RuntimeException("Rcs服务请求失败.");
+        }
+
+        if ( !"0".equalsIgnoreCase(genAgvTaskResp.getCode()) ) {
+            throw new RuntimeException(genAgvTaskResp.getMessage());
+        }
+        return true;
+    }
+
+    private static  Map<String,String> statusMap = new HashMap<>();
+
+    static {
+        statusMap.put("4","小车空闲");
+        statusMap.put("246","待机模式中");
+        statusMap.put("247","低功耗模式中");
+        statusMap.put("248","休眠模式中");
+        statusMap.put("7","充电状态");
+    }
+
+    private boolean validStatusData(String status) {
+      return statusMap.containsKey(status);
+    }
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/service/impl/AgvtaskServiceImpl.java

+package com.gavel.hcgd.agv.service.impl;
+
+import com.gavel.common.Constants;
+import com.gavel.common.base.service.impl.BaseEditServiceImpl;
+import com.gavel.common.business.service.CommonService;
+import com.gavel.common.utils.StringUtils;
+import com.gavel.hcgd.agv.dao.AgvtaskDao;
+import com.gavel.hcgd.agv.persistent.Agvtask;
+import com.gavel.hcgd.agv.service.AgvtaskService;
+import com.gavel.hcgd.agv.vo.AgvtaskCondition;
+import com.gavel.hcgd.agv.vo.AgvtaskInfo;
+import com.gavel.hcgd.agv.vo.AgvtaskVO;
+import com.gavel.hcgd.jcsj.utils.JcsjParamEnum;
+import com.gavel.persistence.sql.RecordSet;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.util.List;
+
+
+@Service("agvtaskService")
+@Transactional
+public class AgvtaskServiceImpl extends BaseEditServiceImpl implements AgvtaskService {
+
+    @Autowired
+    private AgvtaskDao agvtaskDao;
+
+    @Autowired
+    private CommonService commonService;
+
+
+    @Override
+    public void initService() {
+        addMaster( Agvtask.class);
+    }
+
+    @Override
+	public RecordSet<AgvtaskVO> query(AgvtaskCondition condition) {
+        if (condition.getCxids() == null || condition.getCxids().length == 0) {
+            String[] cxidsArray = StringUtils.str2Array(commonService.getStringOptionValue(JcsjParamEnum.MCSU002.id()), Constants.StringSplit.IDSPLIT);
+            if (cxidsArray.length > 0)
+                condition.setCxids(cxidsArray);
+        }
+        if (condition.getZdids() == null || condition.getZdids().length == 0) {
+            String[] zdidsArray = StringUtils.str2Array(commonService.getStringOptionValue(JcsjParamEnum.MCSU003.id()), Constants.StringSplit.IDSPLIT);
+            if (zdidsArray.length > 0)
+                condition.setZdids(zdidsArray);
+        }
+	    return agvtaskDao.query(condition);
+	}
+
+    @Override
+    public AgvtaskVO working(AgvtaskCondition condition) {
+        return agvtaskDao.working(condition);
+    }
+
+    @Override
+    public AgvtaskInfo queryAgvTasks(AgvtaskCondition condition) {
+        AgvtaskInfo agvtaskInfo = new AgvtaskInfo();
+        if (condition.getCxids() == null || condition.getCxids().length == 0) {
+            String[] cxidsArray = StringUtils.str2Array(commonService.getStringOptionValue(JcsjParamEnum.MCSU002.id()), Constants.StringSplit.IDSPLIT);
+            if (cxidsArray.length > 0)
+                condition.setCxids(cxidsArray);
+        }
+        if (condition.getZdids() == null || condition.getZdids().length == 0) {
+            String[] zdidsArray = StringUtils.str2Array(commonService.getStringOptionValue(JcsjParamEnum.MCSU003.id()), Constants.StringSplit.IDSPLIT);
+            if (zdidsArray.length > 0)
+                condition.setZdids(zdidsArray);
+        }
+        List<AgvtaskVO> listnew =  agvtaskDao.queryAgvTasks(condition);
+        if(condition.getIds().length == listnew.size()){
+            agvtaskInfo.setSign("false");
+        }else {
+            agvtaskInfo.setSign("true");
+            agvtaskInfo.setAgvtasks(listnew);
+        }
+
+        return agvtaskInfo;
+    }
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/service/impl/AgvtaskqueueServiceImpl.java

+package com.gavel.hcgd.agv.service.impl;
+
+import com.alibaba.fastjson.JSONArray;
+import com.gavel.common.utils.CodeStrategy;
+import com.gavel.common.utils.StringUtils;
+import com.gavel.hcgd.agv.utils.AgvQueueStatusEnum;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import com.alibaba.fastjson.JSONObject;
+import com.gavel.common.base.service.impl.BaseEditServiceImpl;
+import com.gavel.common.utils.DateUtils;
+import com.gavel.hcgd.agv.dao.AgvtaskqueueDao;
+import com.gavel.hcgd.agv.persistent.Agvtaskqueue;
+import com.gavel.hcgd.agv.service.AgvtaskqueueService;
+import com.gavel.hcgd.agv.vo.AgvtaskqueueCondition;
+import com.gavel.hcgd.agv.vo.AgvtaskqueueVO;
+import com.gavel.persistence.sql.RecordSet;
+import com.ibm.icu.util.Calendar;
+
+
+@Service("agvtaskqueueService")
+@Transactional
+public class AgvtaskqueueServiceImpl extends BaseEditServiceImpl implements AgvtaskqueueService {
+
+    @Autowired
+    private AgvtaskqueueDao agvtaskqueueDao;
+
+
+
+    @Override
+    public void initService() {
+        addMaster( Agvtaskqueue.class);
+    }
+
+    @Override
+	public RecordSet<AgvtaskqueueVO> query(AgvtaskqueueCondition condition) {
+	    return agvtaskqueueDao.query(condition);
+	}
+
+	@Override
+	public void writeMessage(String message) {
+		Agvtaskqueue agvtaskqueue = JSONObject.parseObject(message, Agvtaskqueue.class);
+		Agvtaskqueue agvtaskqueueExsit = agvtaskqueueDao.queryAgvtask(agvtaskqueue.getGuid(),agvtaskqueue.getMsgtype());
+		if(agvtaskqueueExsit !=null){
+			throwReturnMessage("任务队列已存在这个单号：【"+agvtaskqueueExsit.getGuid()+"】");
+		}
+		if (StringUtils.isEmpty(agvtaskqueue.getDesttask())){
+			JSONArray jsonArray = new JSONArray();
+			agvtaskqueue.setDesttask(jsonArray.toJSONString());
+		}
+		agvtaskqueue.setId(CodeStrategy.getUUID());
+		agvtaskqueue.setNexttime(DateUtils.getDateTime());
+		agvtaskqueue.setBody(message);
+		agvtaskqueue.setZt(AgvQueueStatusEnum.H.getId());
+		agvtaskqueueDao.insert(agvtaskqueue);
+	}
+
+	@Override
+	public Agvtaskqueue popQueue(String msgType) {
+		Agvtaskqueue agvtaskqueue = agvtaskqueueDao.selectPop(msgType);
+		if (agvtaskqueue != null) {
+			//更新状态，如果更新失败，则递归调用
+			Agvtaskqueue updAgvTaskQueue = new Agvtaskqueue();
+			updAgvTaskQueue.setId(agvtaskqueue.getId());
+			updAgvTaskQueue.setSysversion(updAgvTaskQueue.getSysversion());
+			updAgvTaskQueue.setZt("F");
+			int rowAffected = agvtaskqueueDao.update(updAgvTaskQueue);
+			if (rowAffected != 1)
+				return popQueue(msgType);
+		}
+		return agvtaskqueue;
+	}
+
+	@Override
+	public boolean ackPopQueue(String id) {
+		Agvtaskqueue updAgvTaskQueue = new Agvtaskqueue();
+		updAgvTaskQueue.setId(id);
+		return agvtaskqueueDao.delete(updAgvTaskQueue) == 1;
+	}
+
+	@Override
+	public boolean unAckPopQueue(String id) {
+		Agvtaskqueue updAgvTaskQueue = new Agvtaskqueue();
+		updAgvTaskQueue.setId(id);
+		updAgvTaskQueue.setNexttime(DateUtils.plus(DateUtils.getDateTime(), Calendar.SECOND, 10));
+		updAgvTaskQueue.setZt("I");
+		return agvtaskqueueDao.update(updAgvTaskQueue) == 1;
+	}
+
+	@Override
+	public Agvtaskqueue query(String guid, String msgType) {
+		return agvtaskqueueDao.queryAgvtask(guid, msgType);
+	}
+
+	@Override
+	public void updateById(String id) {
+    	Agvtaskqueue agvtaskqueue = agvtaskqueueDao.queryById(Agvtaskqueue.class,id);
+    	if(agvtaskqueue !=null && StringUtils.equals("F",agvtaskqueue.getZt())){
+    		agvtaskqueue.setZt("I");
+			agvtaskqueueDao.update(agvtaskqueue);
+		}
+
+	}
+}

gavel/src/main/java/com/gavel/hcgd/agv/service/impl/HcMsglogServiceImpl.java

+package com.gavel.hcgd.agv.service.impl;
+
+import com.alibaba.fastjson.JSONObject;
+import com.gavel.common.base.service.impl.BaseEditServiceImpl;
+import com.gavel.common.converter.DataConvert;
+import com.gavel.common.utils.DateUtils;
+import com.gavel.hcgd.agv.persistent.Agvtaskqueue;
+import com.gavel.hcgd.agv.utils.MsgCodeEnum;
+import com.gavel.hcgd.rabbitmq.model.AgvTask;
+import com.gavel.hcgd.rabbitmq.model.StepFeedback;
+import com.gavel.hcgd.rabbitmq.model.TaskFeedback;
+import com.gavel.persistence.sql.RecordSet;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import com.gavel.hcgd.agv.dao.HcMsglogDao;
+import com.gavel.hcgd.agv.persistent.HcMsglog;
+import com.gavel.hcgd.agv.service.HcMsglogService;
+import com.gavel.hcgd.agv.vo.HcMsglogCondition;
+import com.gavel.hcgd.agv.vo.HcMsglogVO;
+
+
+@Service("hcMsglogService")
+@Transactional
+public class HcMsglogServiceImpl extends BaseEditServiceImpl implements HcMsglogService {
+
+    @Autowired
+    private HcMsglogDao hcMsglogDao;
+
+    @Override
+    public void initService() {
+        addMaster( HcMsglog.class);
+    }
+
+    @Override
+	public RecordSet<HcMsglogVO> query(HcMsglogCondition condition) {
+	    return hcMsglogDao.query(condition);
+	}
+
+    @Override
+    public void addMsgLog(TaskFeedback feedback, AgvTask agvTask) {
+        HcMsglog hcMsglog = new HcMsglog();
+        hcMsglog.setGuid(agvTask.getGuid());
+        hcMsglog.setTasktype(agvTask.getTasktype());
+        hcMsglog.setRevtime(DateUtils.parseDate(feedback.getTime()));
+        hcMsglog.setDesttask(DataConvert.list2JSONString(agvTask.getDesttask()));
+        hcMsglog.setMsgcode(feedback.getMsgcode());
+        hcMsglog.setMessage(JSONObject.toJSONString(feedback));
+        hcMsglogDao.insert(hcMsglog);
+    }
+
+    @Override
+    public void addMsgLog(TaskFeedback feedback, Agvtaskqueue agvtaskqueue) {
+        HcMsglog hcMsglog = new HcMsglog();
+        hcMsglog.setGuid(agvtaskqueue.getGuid());
+        hcMsglog.setTasktype(agvtaskqueue.getTasktype());
+        hcMsglog.setRevtime(DateUtils.parseDate(feedback.getTime()));
+        hcMsglog.setDesttask(agvtaskqueue.getDesttask());
+        hcMsglog.setMsgcode(feedback.getMsgcode());
+        hcMsglog.setMessage(JSONObject.toJSONString(feedback));
+        hcMsglogDao.insert(hcMsglog);
+    }
+
+
+
+    @Override
+    public void addMsgStepFeedbackLog(StepFeedback stepFeedback) {
+        HcMsglog hcMsglog = new HcMsglog();
+        hcMsglog.setGuid(stepFeedback.getGuid());
+        hcMsglog.setTasktype(stepFeedback.getMsgtype());
+        hcMsglog.setRevtime(DateUtils.parseDate(stepFeedback.getTime()));
+        hcMsglog.setMsgcode(MsgCodeEnum.THREE.getId());//3代表步骤触发
+        hcMsglog.setMessage(JSONObject.toJSONString(stepFeedback));
+        hcMsglogDao.insert(hcMsglog);
+    }
+
+    @Override
+    public void addWarnMsglog(Agvtaskqueue agvtaskQueue, String message) {
+        HcMsglog hcMsglog = new HcMsglog();
+        hcMsglog.setGuid(agvtaskQueue.getGuid());
+        hcMsglog.setTasktype(agvtaskQueue.getMsgtype());
+        hcMsglog.setRevtime(DateUtils.getDateTime());
+        hcMsglog.setMsgcode(MsgCodeEnum.FOUR.getId());//4代表报错信息
+        hcMsglog.setMessage(message);
+        hcMsglogDao.insert(hcMsglog);
+    }
+
+    @Override
+    public void addCacelMsgLog(TaskFeedback taskFeedback) {
+        HcMsglog hcMsglog = new HcMsglog();
+        hcMsglog.setGuid(taskFeedback.getGuid());
+        hcMsglog.setTasktype(taskFeedback.getMsgtype());
+        hcMsglog.setRevtime(DateUtils.getDateTime());
+        hcMsglog.setMsgcode(MsgCodeEnum.FIVE.getId());//5代表取消任务信息
+        hcMsglog.setMessage(JSONObject.toJSONString(taskFeedback));
+        hcMsglogDao.insert(hcMsglog);
+
+    }
+}

gavel/src/main/java/com/gavel/hcgd/agv/utils/AgvQueueStatusEnum.java

+package com.gavel.hcgd.agv.utils;
+
+
+import com.gavel.kzzx.model.GavelEnumModel;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public enum AgvQueueStatusEnum {
+
+	H("待处理", "I"),
+	Z("正在处理", "F");
+
+	private String id;
+	private String name;
+
+	AgvQueueStatusEnum(String name, String id){
+		this.id = id;
+		this.name = name;
+	}
+
+	public String getId() {
+		return id;
+	}
+
+	public void setId(String id) {
+		this.id = id;
+	}
+
+	public String getName() {
+		return name;
+	}
+
+	public void setName(String name) {
+		this.name = name;
+	}
+
+
+	public static List<GavelEnumModel> toList() {
+		List<GavelEnumModel> list = new ArrayList<>();
+		for (AgvQueueStatusEnum e : AgvQueueStatusEnum.values()) {
+			GavelEnumModel gavelEnumModel = new GavelEnumModel();
+			gavelEnumModel.setId(e.getId());
+			gavelEnumModel.setName(e.getName());
+			list.add(gavelEnumModel);
+		}
+		return list;
+	}
+}

gavel/src/main/java/com/gavel/hcgd/agv/utils/CacheManger.java

+package com.gavel.hcgd.agv.utils;
+
+import java.util.HashMap;
+import java.util.Map;
+import java.util.concurrent.*;
+
+/**
+ *
+ * @Description: 简单的内存缓存工具类
+ */
+public class CacheManger {
+    //键值对集合
+    private final static Map<String, Entity> map = new HashMap<>();
+    //定时器线程池，用于清除过期缓存
+    private final static ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
+
+    /**
+     * 添加缓存
+     *
+     * @param key  键
+     * @param data 值
+     */
+    public synchronized static void put(String key, Object data) {
+        CacheManger.put(key, data, 0);
+    }
+
+    /**
+     * 添加缓存
+     *
+     * @param key    键
+     * @param data   值
+     * @param expire 过期时间，单位：毫秒， 0表示无限长
+     */
+    public synchronized static void put(String key, Object data, long expire) {
+        //清除原键值对
+        CacheManger.remove(key);
+        //设置过期时间
+        if (expire > 0) {
+            Future future = executor.schedule(new Runnable() {
+                @Override
+                public void run() {
+                    //过期后清除该键值对
+                    synchronized (CacheManger.class) {
+                        map.remove(key);
+                    }
+                }
+            }, expire, TimeUnit.MILLISECONDS);
+            map.put(key, new Entity(data, future));
+        } else {
+            //不设置过期时间
+            map.put(key, new Entity(data, null));
+        }
+    }
+
+    /**
+     * 读取缓存
+     *
+     * @param key 键
+     * @return
+     */
+    public synchronized static Object get(String key) {
+        Entity entity = map.get(key);
+        return entity == null ? null : entity.getValue();
+    }
+
+    /**
+     * 读取缓存
+     *
+     * @param key 键
+     *            * @param clazz 值类型
+     * @return
+     */
+    public synchronized static <T> T get(String key, Class<T> clazz) {
+        return clazz.cast(CacheManger.get(key));
+    }
+
+    /**
+     * 清除缓存
+     *
+     * @param key
+     * @return
+     */
+    public synchronized static Object remove(String key) {
+        //清除原缓存数据
+        Entity entity = map.remove(key);
+        if (entity == null) return null;
+        //清除原键值对定时器
+        Future future = entity.getFuture();
+        if (future != null) future.cancel(true);
+        return entity.getValue();
+    }
+
+    /**
+     * 查询当前缓存的键值对数量
+     *
+     * @return
+     */
+    public synchronized static int size() {
+        return map.size();
+    }
+
+    /**
+     * 缓存实体类
+     */
+    private static class Entity {
+        //键值对的value
+        private Object value;
+        //定时器Future
+        private Future future;
+
+        public Entity(Object value, Future future) {
+            this.value = value;
+            this.future = future;
+        }
+
+        /**
+         * 获取值
+         *
+         * @return
+         */
+        public Object getValue() {
+            return value;
+        }
+
+        /**
+         * 获取Future对象
+         *
+         * @return
+         */
+        public Future getFuture() {
+            return future;
+        }
+    }
+
+
+    public static void main(String[] args) throws InterruptedException, ExecutionException {
+        String key = "id";
+        //不设置过期时间
+        System.out.println("***********不设置过期时间**********");
+        CacheManger.put(key, 123);
+        System.out.println("key:" + key + ", value:" + CacheManger.get(key));
+        System.out.println("key:" + key + ", value:" + CacheManger.remove(key));
+        System.out.println("key:" + key + ", value:" + CacheManger.get(key));
+
+        //设置过期时间
+        System.out.println("\n***********设置过期时间**********");
+        CacheManger.put(key, "123456", 1000);
+        System.out.println("key:" + key + ", value:" + CacheManger.get(key));
+        Thread.sleep(2000);
+        System.out.println("key:" + key + ", value:" + CacheManger.get(key));
+
+
+        /******************并发性能测试************/
+        System.out.println("\n***********并发性能测试************");
+        //创建有10个线程的线程池，将1000000次操作分10次添加到线程池
+        ExecutorService executorService = Executors.newFixedThreadPool(10);
+        Future[] futures = new Future[10];
+        /********添加********/
+        {
+            long start = System.currentTimeMillis();
+            for (int j = 0; j < 10; j++) {
+                futures[j] = executorService.submit(() -> {
+                    for (int i = 0; i < 100000; i++) {
+                        CacheManger.put(Thread.currentThread().getId() + key + i, i, 30000);
+                    }
+                });
+            }
+            //等待全部线程执行完成，打印执行时间
+            for (Future future : futures) {
+                future.get();
+            }
+            System.out.printf("添加耗时：%dms\n", System.currentTimeMillis() - start);
+        }
+
+        /********查询********/
+        {
+            long start = System.currentTimeMillis();
+            for (int j = 0; j < 10; j++) {
+                futures[j] = executorService.submit(() -> {
+                    for (int i = 0; i < 100000; i++) {
+                        CacheManger.get(Thread.currentThread().getId() + key + i);
+                    }
+                });
+            }
+            //等待全部线程执行完成，打印执行时间
+            for (Future future : futures) {
+                future.get();
+            }
+            System.out.printf("查询耗时：%dms\n", System.currentTimeMillis() - start);
+        }
+
+        System.out.println("当前缓存容量：" + CacheManger.size());
+    }
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/utils/MsgCodeEnum.java

+package com.gavel.hcgd.agv.utils;
+
+import com.gavel.common.utils.StringUtils;
+import com.gavel.kzzx.model.GavelEnumModel;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public enum MsgCodeEnum {
+    //任务类型
+    ONE("1", "任务成功"),
+    TWO("2","任务失败"),
+    THREE("3", "触发任务"),
+    FOUR("4","报错信息"),
+    FIVE("5","取消任务");
+
+
+    private String id;
+    private String name;
+
+    MsgCodeEnum(String id, String name) {
+        this.id = id;
+        this.name = name;
+    }
+
+    public String getId() {
+        return id;
+    }
+
+    public void setId(String id) {
+        this.id = id;
+    }
+
+    public String getName() {
+        return name;
+    }
+
+    public void setName(String name) {
+        this.name = name;
+    }
+
+    public static String getNameById(String id) {
+    	 for (MsgCodeEnum e : MsgCodeEnum.values()) {
+    		 if (StringUtils.equals(e.getId(), id))
+    			 return e.getName();
+    	 }
+    	 return "";
+    }
+    
+    public static List<GavelEnumModel> toList() {
+        List<GavelEnumModel> list = new ArrayList<>();
+        for (MsgCodeEnum e : MsgCodeEnum.values()) {
+        	GavelEnumModel gavelEnumModel = new GavelEnumModel();
+        	gavelEnumModel.setId(e.getId());
+        	gavelEnumModel.setName(e.getName());
+            list.add(gavelEnumModel);
+        }
+        return list;
+    }
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/utils/TaskModelEnum.java

+package com.gavel.hcgd.agv.utils;
+
+import com.gavel.common.utils.StringUtils;
+import com.gavel.kzzx.model.GavelEnumModel;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public enum TaskModelEnum {
+    //模板类型
+    MES("S13","MES模板"),
+    POINT("S14","点到储位"),
+    AREA("S15", "点到区域");
+
+
+    private String id;
+    private String name;
+
+    TaskModelEnum(String id, String name) {
+        this.id = id;
+        this.name = name;
+    }
+
+    public String getId() {
+        return id;
+    }
+
+    public void setId(String id) {
+        this.id = id;
+    }
+
+    public String getName() {
+        return name;
+    }
+
+    public void setName(String name) {
+        this.name = name;
+    }
+
+    public static String getNameById(String id) {
+    	 for (TaskModelEnum e : TaskModelEnum.values()) {
+    		 if (StringUtils.equals(e.getId(), id))
+    			 return e.getName();
+    	 }
+    	 return "";
+    }
+    
+    public static List<GavelEnumModel> toList() {
+        List<GavelEnumModel> list = new ArrayList<>();
+        for (TaskModelEnum e : TaskModelEnum.values()) {
+        	GavelEnumModel gavelEnumModel = new GavelEnumModel();
+        	gavelEnumModel.setId(e.getId());
+        	gavelEnumModel.setName(e.getName());
+            list.add(gavelEnumModel);
+        }
+        return list;
+    }
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/utils/TaskWaysEnum.java

+package com.gavel.hcgd.agv.utils;
+
+import com.gavel.common.utils.StringUtils;
+import com.gavel.kzzx.model.GavelEnumModel;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public enum TaskWaysEnum {
+    //任务类型
+    MES("MES", "MES叫料"),
+    PAD("PAD","PAD叫料");
+
+    private String id;
+    private String name;
+
+    TaskWaysEnum(String id, String name) {
+        this.id = id;
+        this.name = name;
+    }
+
+    public String getId() {
+        return id;
+    }
+
+    public void setId(String id) {
+        this.id = id;
+    }
+
+    public String getName() {
+        return name;
+    }
+
+    public void setName(String name) {
+        this.name = name;
+    }
+
+    public static String getNameById(String id) {
+    	 for (TaskWaysEnum e : TaskWaysEnum.values()) {
+    		 if (StringUtils.equals(e.getId(), id))
+    			 return e.getName();
+    	 }
+    	 return "";
+    }
+    
+    public static List<GavelEnumModel> toList() {
+        List<GavelEnumModel> list = new ArrayList<>();
+        for (TaskWaysEnum e : TaskWaysEnum.values()) {
+        	GavelEnumModel gavelEnumModel = new GavelEnumModel();
+        	gavelEnumModel.setId(e.getId());
+        	gavelEnumModel.setName(e.getName());
+            list.add(gavelEnumModel);
+        }
+        return list;
+    }
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/vo/AgvCondition.java

+package com.gavel.hcgd.agv.vo;
+
+import com.gavel.common.base.entity.BaseEntity;
+
+
+public class AgvCondition extends BaseEntity {
+
+	private static final long serialVersionUID = 1L;
+	
+    
+	private String id;
+
+	private String robotcode;
+
+
+	public String getId() {
+		return id;
+	}	
+	public void setId(String id) {
+		this.id = id;
+	}
+
+	public String getRobotcode() {
+		return robotcode;
+	}
+
+	public void setRobotcode(String robotcode) {
+		this.robotcode = robotcode;
+	}
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/vo/AgvVO.java

+package com.gavel.hcgd.agv.vo;
+
+import com.gavel.hcgd.agv.persistent.Agv;
+import com.gavel.persistence.annotation.FieldMeta;
+
+
+public class AgvVO extends Agv {
+
+	private static final long serialVersionUID = 1L;
+
+
+	@FieldMeta(fieldName = "AGVSTATUS_CODE", caption = "状态码", primaryKey = true, notEmpty = true)
+	private String code;
+	@FieldMeta(fieldName = "AGVSTATUS_CHINESE", caption = "中文描述")
+	private String chinese;
+	@FieldMeta(fieldName = "AGVSTATUS_ENGLISH", caption = "英文描述")
+	private String english;
+
+	public String getCode() {
+		return code;
+	}
+
+	public void setCode(String code) {
+		this.code = code;
+	}
+
+	public String getChinese() {
+		return chinese;
+	}
+
+	public void setChinese(String chinese) {
+		this.chinese = chinese;
+	}
+
+	public String getEnglish() {
+		return english;
+	}
+
+	public void setEnglish(String english) {
+		this.english = english;
+	}
+
+	/*---------AutoBegin-----------*/
+	/*---------AutoEnd-------------*/
+
+}

gavel/src/main/java/com/gavel/hcgd/agv/vo/AgvtaskCondition.java

+package com.gavel.hcgd.agv.vo;
+
+import com.gavel.common.base.entity.BaseEntity;
+
+
+public class AgvtaskCondition extends BaseEntity {
+
+	private static final long serialVersionUID = 1L;
+
+	private String id;
+
+	private String[] ids;
+
+	private String wbcode;
+
+	private String taskCode;
+
+	private String taskStatus;
+
+	private String cjid;
+
+	private String cxid;
+
+	private String zdid;
+
+	private String gwmc;
+
+	private String online;
+
+	private String[] cxids;
+
+	private String[] zdids;
+
+	public String getId() {
+		return id;
+	}
+
+	public void setId(String id) {
+		this.id = id;
+	}
+
+	public String[] getIds() {
+		return ids;
+	}
+
+	public void setIds(String[] ids) {
+		this.ids = ids;
+	}
+
+	public String getWbcode() {
+		return wbcode;
+	}
+
+	public void setWbcode(String wbcode) {
+		this.wbcode = wbcode;
+	}
+
+	public String getTaskCode() {
+		return taskCode;
+	}
+
+	public void setTaskCode(String taskCode) {
+		this.taskCode = taskCode;
+	}
+
+	public String getTaskStatus() {
+		return taskStatus;
+	}
+
+	public void setTaskStatus(String taskStatus) {
+		this.taskStatus = taskStatus;
+	}
+
+	public String getCjid() {
+		return cjid;
+	}
+
+	public void setCjid(String cjid) {
+		this.cjid = cjid;
+	}
+
+	public String getCxid() {
+		return cxid;
+	}
+
+	public void setCxid(String cxid) {
+		this.cxid = cxid;
+	}
+
+	public String getGwmc() {
+		return gwmc;
+	}
+
+	public void setGwmc(String gwmc) {
+		this.gwmc = gwmc;
+	}
+
+	public String getZdid() {
+		return zdid;
+	}
+
+	public void setZdid(String zdid) {
+		this.zdid = zdid;
+	}
+
+	public String getOnline() {
+		return online;
+	}
+
+	public void setOnline(String online) {
+		this.online = online;
+	}
+
+	public String[] getCxids() {
+		return cxids;
+	}
+
+	public void setCxids(String[] cxids) {
+		this.cxids = cxids;
+	}
+
+	public String[] getZdids() {
+		return zdids;
+	}
+
+	public void setZdids(String[] zdids) {
+		this.zdids = zdids;
+	}
+}

gavel/src/main/java/com/gavel/hcgd/agv/vo/AgvtaskInfo.java

+package com.gavel.hcgd.agv.vo;
+
+import com.gavel.common.base.entity.BaseEntity;
+
+import java.util.ArrayList;
+import java.util.List;
+
+
+public class AgvtaskInfo extends BaseEntity {
+
+	 private String sign;
+
+	 private List<AgvtaskVO> agvtasks = new ArrayList<AgvtaskVO>();
+
+
+	public String getSign() {
+		return sign;
+	}
+
+	public void setSign(String sign) {
+		this.sign = sign;
+	}
+
+	public List<AgvtaskVO> getAgvtasks() {
+		return agvtasks;
+	}
+
+	public void setAgvtasks(List<AgvtaskVO> agvtasks) {
+		this.agvtasks = agvtasks;
+	}
+}