测试过程问题修改

.trae/documents/Implement Collision Avoidance Logic for SRGVs.md

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+I will implement collision avoidance logic in `BaseSRgvThread.java` to handle scenarios where a path is blocked by another SRGV.
+
+**Implementation Plan:**
+1.  **Modify `sendPointToPointTask` method in `BaseSRgvThread.java`**:
+    *   Locate the block where `shortestPath` is null or empty (indicating a blocked path).
+    *   After the existing specific logic for "Floor 1", add a generic avoidance strategy.
+    *   **Avoidance Strategy**:
+        1.  Query `WcsSrgvMap` for all sites with `remark="cache"` (avoidance points) on the current floor.
+        2.  Filter out sites that are currently occupied by other SRGVs.
+        3.  Find the nearest reachable avoidance point to the current car.
+        4.  **Task Splitting (Yielding Logic)**:
+            *   **Create a new "Continuation" Queue**: Clone the current task but set its `StartSite` to the avoidance point and keep the original `EndSite`. Insert this as a new pending task.
+            *   **Update Current Queue**: Change the `EndSite` of the current blocked task to the **Avoidance Point**. This effectively converts the current task into a "Yielding" task.
+        5.  Return `false` to allow the scheduler to pick up the modified task in the next cycle.
+
+**Technical Details:**
+*   Use `wcsSrgvMapService` to fetch avoidance points.
+*   Use `PathFinder` to verify reachability of the avoidance point.
+*   Use `BeanUtil` (Hutool) or manual setters to clone the queue.
+*   Ensure the new logic does not interfere with the existing "Floor 1" logic (put it after or as an `else` condition).
+
+This approach ensures that when blocked, the car moves to a safe spot (Yielding Queue) and then resumes its original journey (Continuation Queue).