diff --git a/ZR.Admin.WebApi/Controllers/mes/mm/MaterialInputController.cs b/ZR.Admin.WebApi/Controllers/mes/mm/MaterialInputController.cs
index 7d6e9ce1..8e7f8bbe 100644
--- a/ZR.Admin.WebApi/Controllers/mes/mm/MaterialInputController.cs
+++ b/ZR.Admin.WebApi/Controllers/mes/mm/MaterialInputController.cs
@@ -1,6 +1,8 @@
 using Microsoft.AspNetCore.Http;
 using Microsoft.AspNetCore.Mvc;
 using ZR.Admin.WebApi.Extensions;
+using ZR.Model;
+using ZR.Model.MES.mm;
 using ZR.Model.MES.mm.Dto;
 using ZR.Service.mes.mm;
 using ZR.Service.mes.mm.IService;
@@ -50,9 +52,9 @@ namespace ZR.Admin.WebApi.Controllers.mes.mm
         /// </summary>
         /// <returns></returns>
         [HttpPost("getworkorderlist")]
-        public IActionResult Getworkorderlist([FromBody] WorkorderqueryDto  query)
+        public IActionResult Getworkorderlist([FromBody] WorkorderqueryDto query)
         {
-            if(query == null|| query.datetimespan==null)
+            if (query == null || query.datetimespan == null)
             {
                 SUCCESS(null);
             }
@@ -66,14 +68,106 @@ namespace ZR.Admin.WebApi.Controllers.mes.mm
         /// </summary>
         /// <returns></returns>
         [HttpPost("generatetask")]
-        public  IActionResult   Generatetask([FromBody] IngredientTaskDto  task)
+        public IActionResult Generatetask([FromBody] IngredientTaskDto task)
         {
-            if(task==null||task.workorders==null|| task.workorders.Count==0)
+            if (task == null || task.workorders == null || task.workorders.Count == 0)
             {
                 return SUCCESS(null);
             }
             int res = materialInputService.Generatetask(task, HttpContext.GetName());
             return SUCCESS(res);
         }
+
+        /// <summary>
+        /// 分页查询 配料任务
+        /// </summary>
+        /// <param name="queryParams"></param>
+        /// <returns></returns>
+        [HttpPost("getIngredientTask")]
+        public IActionResult GetIngredientTask([FromBody] IngredientTaskQueryDto queryTask)
+        {
+            if (queryTask == null)
+            {
+                return SUCCESS(null);
+            }
+
+            List<MmIngredientTask> response = materialInputService.GetIngredientTask(queryTask);
+
+            return SUCCESS(response);
+        }
+
+
+        /// <summary>
+        /// 获取配料任务详情
+        /// </summary>
+        /// <param name="taskId"></param>
+        /// <returns></returns>
+        [HttpGet("getIngredientTask_son")]
+        public IActionResult GetIngredientTaskSon(string taskId)
+        {
+            if (string.IsNullOrEmpty(taskId))
+            {
+                return SUCCESS(null);
+            }
+            List<MmIngredientTask> response = materialInputService.GetIngredientTaskSon(taskId);
+            return SUCCESS(response);
+        }
+
+        /// <summary>
+        /// 获取车间上料终点
+        /// </summary>
+        /// <returns></returns>
+        [HttpGet("getfabgopoints")]
+        public IActionResult Getfabgopoints()
+        {
+            string[] response = materialInputService.Getfabgopoints();
+
+            return SUCCESS(response);
+        }
+
+        /// <summary>
+        ///   agv从仓库到车间 进料
+        /// </summary>
+        /// <param name="start_point"></param>
+        /// <param name="end_point"></param>
+        /// <returns></returns>
+        [HttpGet("go_workshop")]
+        public IActionResult GoWorkshop(string start_point, string end_point)
+        {
+            if (string.IsNullOrEmpty(start_point) || string.IsNullOrEmpty(end_point))
+            {
+                SUCCESS(null);
+            }
+            var response = materialInputService.AGV_schedule(start_point, end_point);
+
+            return SUCCESS(response);
+        }
+        /// <summary>
+        /// 紧急停止agv
+        /// </summary>
+        /// <param name="reqCode"></param>
+        /// <returns></returns>
+        [HttpGet("emergency_stop_agv")]
+        public  IActionResult EmergencyStopAgv(string reqCode)
+        {
+            if(string.IsNullOrEmpty(reqCode))
+            {
+                SUCCESS(null);
+            }
+
+            var response = materialInputService.EmergencyStopAgv(reqCode);
+            return SUCCESS(response);
+        }
+
+        /// <summary>
+        /// 
+        /// </summary>
+        /// <returns></returns>
+        [HttpPost("agv_final_task")]
+        public  IActionResult AgvFinalTask()
+        {
+            return null;
+        }
+
     }
 }
\ No newline at end of file
diff --git a/ZR.Model/MES/mm/Dto/IngredientTaskDto.cs b/ZR.Model/MES/mm/Dto/IngredientTaskDto.cs
index f400cb67..72c04664 100644
--- a/ZR.Model/MES/mm/Dto/IngredientTaskDto.cs
+++ b/ZR.Model/MES/mm/Dto/IngredientTaskDto.cs
@@ -21,4 +21,8 @@ namespace ZR.Model.MES.mm.Dto
         public int previousNumber { set; get; }
         public int previousNumbered { set; get; }
     }
+    public  class IngredientTaskQueryDto : PagerInfo
+    {
+        public DateTime datetimespan { set; get; }
+    }
 }
diff --git a/ZR.Service/mes/mm/MmFkWorkorderIngredient.cs b/ZR.Model/MES/mm/MmFkWorkorderIngredient.cs
similarity index 100%
rename from ZR.Service/mes/mm/MmFkWorkorderIngredient.cs
rename to ZR.Model/MES/mm/MmFkWorkorderIngredient.cs
diff --git a/ZR.Model/MES/mm/MmIngredientTask.cs b/ZR.Model/MES/mm/MmIngredientTask.cs
index af056847..bf9f0f26 100644
--- a/ZR.Model/MES/mm/MmIngredientTask.cs
+++ b/ZR.Model/MES/mm/MmIngredientTask.cs
@@ -28,7 +28,7 @@ namespace ZR.Model.MES.mm
         /// 配料任务id 
         /// </summary>
         [SugarColumn(IsPrimaryKey = true, IsIdentity = false, ColumnName = "task_id")]
-        public long TaskId { get; set; }
+        public string TaskId { get; set; }
 
         /// <summary>
         /// 工单id 
diff --git a/ZR.Model/MES/wms/AGVtask_third.cs b/ZR.Model/MES/wms/AGVtask_third.cs
index 7f3e97c9..79892b1a 100644
--- a/ZR.Model/MES/wms/AGVtask_third.cs
+++ b/ZR.Model/MES/wms/AGVtask_third.cs
@@ -16,6 +16,8 @@ namespace ZR.Model.MES.wms
         public  string taskTyp { get; set; }
 
         public List<AGV_location_third> positionCodePath { get; set; }
+        public  string podDir { get; set; }
+        public  string priority { get; set; }
     }
     public  class AGV_location_third
     {
diff --git a/ZR.Service/mes/mm/IService/IMaterialInputService.cs b/ZR.Service/mes/mm/IService/IMaterialInputService.cs
index aec9c747..649e114b 100644
--- a/ZR.Service/mes/mm/IService/IMaterialInputService.cs
+++ b/ZR.Service/mes/mm/IService/IMaterialInputService.cs
@@ -4,6 +4,8 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using ZR.Model;
+using ZR.Model.MES.mm;
 using ZR.Model.MES.mm.Dto;
 using ZR.Model.MES.pro;
 
@@ -17,5 +19,15 @@ namespace ZR.Service.mes.mm.IService
         List<ProWorkorder_v2> Getworkorderlist(DateTime datetimespan);
         int Generatetask(IngredientTaskDto task,string name);
 
+
+        List<MmIngredientTask> GetIngredientTask(IngredientTaskQueryDto queryParams);
+
+        List<MmIngredientTask> GetIngredientTaskSon(string taskId);
+
+        string[] Getfabgopoints();
+
+        string AGV_schedule(string start_point, string end_point);
+        string EmergencyStopAgv(string reqCode);
+
     }
 }
diff --git a/ZR.Service/mes/mm/MaterialInputService.cs b/ZR.Service/mes/mm/MaterialInputService.cs
index 2d63b86e..6b7ff3f8 100644
--- a/ZR.Service/mes/mm/MaterialInputService.cs
+++ b/ZR.Service/mes/mm/MaterialInputService.cs
@@ -17,6 +17,10 @@ using static System.Runtime.InteropServices.JavaScript.JSType;
 using ZR.Model.MES.mm.Dto;
 using SqlSugar;
 using Microsoft.Extensions.Hosting;
+using ZR.Model;
+using ZR.Model.MES.wms;
+using System.Text.Json;
+using Infrastructure;
 
 namespace ZR.Service.mes.mm
 {
@@ -153,7 +157,7 @@ namespace ZR.Service.mes.mm
 
                 MmIngredientTask ingredientTask = new MmIngredientTask();
                 ingredientTask.AgvPosition = task.agv_position;
-                ingredientTask.TaskId = taskid;
+                ingredientTask.TaskId = taskid.ToString();
                 ingredientTask.Workorder = item.workorder;
                 ingredientTask.Partnumber = item.partnumber;
                 ingredientTask.PreviousNumber = item.previousNumber;
@@ -171,6 +175,116 @@ namespace ZR.Service.mes.mm
 
         }
 
+
+        /// <summary>
+        /// 获取配料任务
+        /// </summary>
+        /// <param name="queryParams"></param>
+        /// <returns></returns>
+        public List<MmIngredientTask> GetIngredientTask(IngredientTaskQueryDto queryParams)
+        {
+            // 获取当天的开始时间
+            DateTime startOfDay = queryParams.datetimespan.Date;
+            // 获取当天的结束时间
+            DateTime endOfDay = startOfDay.AddDays(1).AddTicks(-1);
+            return Context.Queryable<MmIngredientTask>()
+                 .Where(it => it.CreatedTime > startOfDay && it.CreatedTime < endOfDay)
+                 .GroupBy(it => it.TaskId)
+                 .Select(it => new MmIngredientTask()
+                 {
+                     TaskId = it.TaskId,
+                     AgvPosition = SqlFunc.AggregateMax(it.AgvPosition),
+                     CreatedTime = SqlFunc.AggregateMax(it.CreatedTime)
+                 })
+                 .ToList();
+
+
+        }
+
+        /// <summary>
+        /// 获取配料任务(son)  详细情况
+        /// </summary>
+        /// <param name="taskId"></param>
+        /// <returns></returns>
+        public List<MmIngredientTask> GetIngredientTaskSon(string taskId)
+        {
+            return Context.Queryable<MmIngredientTask>().Where(it => it.TaskId == taskId).ToList();
+        }
+
+        /// <summary>
+        /// 获取车间上料终点
+        /// </summary>
+        /// <returns></returns>
+        public string[] Getfabgopoints()
+        {
+          return  Context.Queryable<MmAgvLocation>().Where(it => it.AreaCode == 3).Where(it => it.Status == 0)
+                .Select(it => it.Coordinate).ToArray();
+
+        }
+
+
+
+        /// <summary>
+        ///   agv从仓库到车间 进料
+        /// </summary>
+        /// <param name="start_point"></param>
+        /// <param name="end_point"></param>
+        /// <returns></returns>
+        public string  AGV_schedule(string start_point, string end_point)
+        {
+            string url = "https://192.168.60.1:443/rcms/services/rest/hikRpcService/genAgvSchedulingTask";
+            AGVtask_third task = new AGVtask_third();
+            task.reqCode = SnowFlakeSingle.Instance.NextId().ToString();
+            task.taskTyp = "F01";
+            task.positionCodePath = new List<AGV_location_third>
+            {
+                new AGV_location_third()
+                {
+                    positionCode=start_point,
+                    type="00"
+
+                },
+                new AGV_location_third()
+                {
+                    positionCode=end_point,
+                    type="00"
+
+                }
+            };
+            task.podDir = "0";
+            task.priority = "1";
+
+            string postData = JsonSerializer.Serialize(task);
+            string response = HttpHelper.HttpPost(url, postData);
+            
+
+            return response;
+
+        }
+
+
+        /// <summary>
+        /// 紧急终止AGV
+        /// </summary>
+        /// <param name="reqCode"></param>
+        public string EmergencyStopAgv(string reqCode)
+        {
+            string url = "https://192.168.60.1:443/rcms/services/rest/hikRpcService/cancelTask";
+            AGVtask_cancel_third req = new AGVtask_cancel_third();
+            req.reqCode = SnowFlakeSingle.Instance.NextId().ToString();
+            req.forceCancel = "0";
+            req.taskCode = reqCode;
+            string postData = JsonSerializer.Serialize(req);
+
+
+
+
+            string response = HttpHelper.HttpPost(url, postData);
+
+            return response;
+
+
+        }
     }
 }