测试过程问题修改

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

@@ -0,0 +1,22 @@
+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).

.trae/documents/实现“调度阻挡车避让”的优化方案.md

@@ -0,0 +1,47 @@
+# 优化避让策略：优先调度阻挡车避让
+
+针对您提出的 "让B小车（障碍物）避让" 的合理建议，我设计了如下优化后的调度逻辑。新逻辑将优先尝试移开挡路车，只有在无法移开时才让当前车自己避让。
+
+## 核心逻辑流程
+
+当小车 A (当前调度车辆) 路径规划失败时，按以下步骤处理：
+
+1.  **识别阻挡者 (Find Blocker)**
+    *   构建一张**纯净的静态地图** (忽略所有小车位置)。
+    *   在静态地图上为 A 规划一条**理想路径**。
+    *   沿着理想路径检查，找到第一辆占据路径的小车 **B**。
+
+2.  **判断阻挡者状态 (Check Blocker Status)**
+    *   **如果 B 正在执行任务 (Busy)**：
+        *   说明 B 只是暂时路过或正在工作。
+        *   **策略**：A 小车暂时等待 (本次不生成指令)，等待 B 自行移开。
+    *   **如果 B 空闲 (Idle)**：
+        *   说明 B 停在路上挡住了 A。
+        *   **策略**：调度 B 去避让。
+
+3.  **执行避让调度 (Execute Avoidance)**
+    *   **场景 1：调度 B 避让 (优先)**
+        *   为 B 寻找一个最近的**避让点** (Cache Point)。
+        *   *关键条件*：避让点不能在 A 的理想路径上 (防止 B 躲到 A 的下一步去)。
+        *   生成一条给 B 的**移动任务** (点到点移动)。
+        *   A 小车保持等待，直到 B 移开。
+    *   **场景 2：A 自己避让 (兜底)**
+        *   如果 B 无法移动 (例如 B 也被堵死，或找不到合适的避让点)，则回退到原有的逻辑：**A 自己去避让点**，并在之后生成后续任务回来。
+
+## 代码实现计划
+
+将在 `BaseSRgvThread.java` 中现有的避让逻辑前插入新的判断块：
+
+1.  **新增 helper 方法**：
+    *   `getStaticMap()`: 获取不含动态障碍物的地图。
+    *   `isAgvIdle(String agvCode)`: 检查某小车是否空闲。
+2.  **修改 `sendPointToPointTask`**：
+    *   在路径规划失败后，先执行 "寻找阻挡车并调度其避让" 的逻辑。
+    *   如果成功调度了 B，则 `return false` (结束本次 A 的调度)。
+    *   如果未成功，则继续执行原有的 "A 去避让" 逻辑。
+
+## 预期效果
+
+*   **更智能**：不再傻傻地让正在干活的车去绕路，而是把闲置的挡路车移开。
+*   **防止死锁**：通过主动疏通路径，减少多车拥堵的概率。
+*   **兼容性**：保留了原有的 A 避让逻辑作为兜底方案，确保任何情况下都有路可走。

ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/RoadCacheService.java

@@ -23,6 +23,8 @@ public interface RoadCacheService {
      * @return
      */
     int[][] handleMap(Map<String, WcsSrgvMap> arrByRoadSite, DeviceSrgv deviceSrgv);
+
+    int[][] handleMap1(Map<String, WcsSrgvMap> arrByRoadSite, DeviceSrgv deviceSrgv);
     /**
      * 根据x y z 获取指定位置的缓存
      * @param x

ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/RoadCacheServiceImpl.java

@@ -61,7 +61,25 @@ public class RoadCacheServiceImpl implements RoadCacheService {
         //3.锁定离线小车当前位置
         lockedOfflineCarCurrSite(maps, deviceSrgv);
 
-        int[][] mapsInt = new int[29][15];
+        int[][] mapsInt = new int[29][16];
+        for (String site : maps.keySet()) {
+            WcsSrgvMap wcsSrgvMap = maps.get(site);
+            mapsInt[wcsSrgvMap.getX()][wcsSrgvMap.getY()] = wcsSrgvMap.getValue();
+        }
+        return mapsInt;
+    }
+
+    @Override
+    public int[][] handleMap1(Map<String, WcsSrgvMap> maps, DeviceSrgv deviceSrgv) {
+
+//        //1.锁定其他车任务路径
+//        lockedOtherCarQueuePath(maps, deviceSrgv);
+//        //2.锁定无任务小车当前位置
+//        lockedOtherCarCurrSite(maps, deviceSrgv);
+        //3.锁定离线小车当前位置
+//        lockedOfflineCarCurrSite(maps, deviceSrgv);
+
+        int[][] mapsInt = new int[29][16];
         for (String site : maps.keySet()) {
             WcsSrgvMap wcsSrgvMap = maps.get(site);
             mapsInt[wcsSrgvMap.getX()][wcsSrgvMap.getY()] = wcsSrgvMap.getValue();
@@ -141,7 +159,9 @@ public class RoadCacheServiceImpl implements RoadCacheService {
                 //添加其他小车路径列表
                 HashSet<String> otherCarSiteList = new HashSet<>();
                 for (WcsSrgvQueue wcsSrgvQueue : otherCarQueue) {
-                    otherCarSiteList.addAll(Arrays.asList(wcsSrgvQueue.getPathInfo().split(",")));
+                    if (wcsSrgvQueue.getPathInfo()!=null) {
+                        otherCarSiteList.addAll(Arrays.asList(wcsSrgvQueue.getPathInfo().split(",")));
+                    }
                 }
                 //锁定其他小车路径
                 if (CollUtil.isNotEmpty(otherCarSiteList)) {

ruoyi-admin/src/main/java/com/ruoyi/device/srgv/controller/DeviceSrgvController.java

@@ -79,7 +79,7 @@ public class DeviceSrgvController extends BaseController
         return toAjax(deviceSrgvService.insertDeviceSrgv(deviceSrgv));
     }
 
-    /**
+  /**
      * 修改四向小车设备表
      */
     @PreAuthorize("@ss.hasPermi('device:srgv:edit')")

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

@@ -85,4 +85,7 @@ public interface MydoJobMapper
     void selectMydoJobOutside(HashMap<String, Object> map);
 
     List<MydoJob> selectOutJobList(@Param("theFloor") String floor);
+
+    List<MydoJob> selectInJobList(@Param("theFloor") String floor);
+
 }

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

@@ -88,4 +88,6 @@ public interface IMydoJobService
 
 
     List<MydoJob> selectOutJobList(String floor);
+
+    List<MydoJob> selectInJobList(String floor);
 }

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

@@ -1,5 +1,6 @@
 package com.ruoyi.job.service.impl;
 
+import java.util.Collections;
 import java.util.HashMap;
 import java.util.List;
 
@@ -188,4 +189,9 @@ public class MydoJobServiceImpl implements IMydoJobService
     public List<MydoJob> selectOutJobList(String floor) {
         return mydoJobMapper.selectOutJobList(floor);
     }
+    @Override
+    public List<MydoJob> selectInJobList(String floor) {
+        return mydoJobMapper.selectInJobList(floor);
+    }
+
 }

ruoyi-admin/src/main/java/com/ruoyi/schedule/ScheduleThread.java

@@ -89,6 +89,30 @@ public class ScheduleThread {
         log.info("调度服务执行成功");
     }
 
+    @PreDestroy
+    public void destroy() {
+        try {
+            for (String key : threadMap.keySet()) {
+                CustomThread<?> ct = threadMap.get(key);
+                if (ct != null && ct.getRunnable() != null) {
+                    setRunnableIsRun(ct.getRunnable(), false);
+                }
+            }
+            for (String key : threadMap.keySet()) {
+                CustomThread<?> ct = threadMap.get(key);
+                if (ct != null && ct.getThread() != null) {
+                    try {
+                        ct.getThread().join(2000);
+                    } catch (InterruptedException ignored) {
+                        Thread.currentThread().interrupt();
+                    }
+                }
+            }
+        } catch (Exception e) {
+            log.error("调度服务销毁时停止线程异常", e);
+        }
+    }
+
     /**
      * 调度初始化
      */
@@ -120,7 +144,7 @@ public class ScheduleThread {
         for (DeviceSsj deviceSsj : deviceSsjs) {
             ssjList.put(deviceSsj.getDeviceCode(), deviceSsj);
         }
-        PlcSsjRead plcSsjRead = new PlcSsjRead(ssjList, new PlcConnectInfo("127.0.0.1", 1502));
+        PlcSsjRead plcSsjRead = new PlcSsjRead(ssjList, new PlcConnectInfo("192.168.10.100", 502));
         Thread plcSsjReadThread = new Thread(plcSsjRead, "plcSsjReadCustomThread");
         plcSsjReadCustomThread = new CustomThread<PlcSsjRead>(plcSsjReadThread, plcSsjRead);
 
@@ -130,7 +154,7 @@ public class ScheduleThread {
         for (DeviceCdz deviceCdz : deviceCdzList) {
             cdzList.put(String.valueOf(deviceCdz.getId()), deviceCdz);
         }
-        PlcCdzRead plcCdzRead = new PlcCdzRead(cdzList, new PlcConnectInfo("127.0.0.1", 1502));
+        PlcCdzRead plcCdzRead = new PlcCdzRead(cdzList, new PlcConnectInfo("192.168.10.100", 502));
         Thread plcCdzReadThread = new Thread(plcCdzRead, "plcCdzjReadCustomThread");
         plcCdzjReadCustomThread = new CustomThread<PlcCdzRead>(plcCdzReadThread, plcCdzRead);
 
@@ -142,14 +166,13 @@ public class ScheduleThread {
             tsjList.put(t.getName(), t);
         }
         //plc提升机读取线程
-        PlcTsjRead plcTsjRead = new PlcTsjRead(tsjList, new PlcConnectInfo("127.0.0.1", 1502));
+        PlcTsjRead plcTsjRead = new PlcTsjRead(tsjList, new PlcConnectInfo("192.168.10.100", 502));
         Thread plcTsjReadThread = new Thread(plcTsjRead, "plcTsjReadCustomThread");
         plcTsjReadCustomThread = new CustomThread<PlcTsjRead>(plcTsjReadThread, plcTsjRead);
 
         ConcurrentHashMap<String, DeviceSrgv> srgvList = new ConcurrentHashMap<>();
         List<DeviceSrgv> srgvs = deviceSrgvService.selectDeviceSrgvList(new DeviceSrgv());
         for (DeviceSrgv srgv : srgvs) {
-            srgvList.put(srgv.getDeviceId().toString(), srgv);
             switch (srgv.getDeviceId()) {
                 case 1:
                     PlcSrgvRead plcSrgvRead1 = new PlcSrgvRead(srgv, new PlcConnectInfo(srgv.getIp(), srgv.getPort()));
@@ -162,6 +185,7 @@ public class ScheduleThread {
                     plcSrgvReadCustomThread2 = new CustomThread<PlcSrgvRead>(plcSrgvReadThread2, plcSrgvRead2);
                     break;
             }
+            srgvList.put(srgv.getDeviceId().toString(), srgv);
         }
         PlcSrgvRead.deviceSrgvMap = srgvList;
         //监控线程

ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/cdz/PlcCdzRead.java

@@ -90,8 +90,11 @@ public class PlcCdzRead implements Runnable {
         if (read1.IsSuccess) {
             cdzDevice.setModel(Convert.toInt(byteTransform.TransInt16(read1.Content, 0)));
             cdzDevice.setStatus(Convert.toInt(byteTransform.TransInt16(read1.Content, 2)));
+            if (cdzDevice.getStatus()==0){
+                cdzDevice.setSpare1("0");
+            }
             log.info("=====读取到充电桩充电模式:{}======", Convert.toInt(byteTransform.TransInt16(read1.Content, 0)));
-            log.info("=====读取到充电桩充电状态:{}======", Convert.toInt(byteTransform.TransInt16(read1.Content, 0)));
+            log.info("=====读取到充电桩充电状态:{}======", Convert.toInt(byteTransform.TransInt16(read1.Content, 2)));
         }
     }
 

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

@@ -21,8 +21,8 @@ import java.util.concurrent.ConcurrentHashMap;
 public class PlcSrgvRead implements Runnable {
 
     public static ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap;
-    private static ModbusTcpNet modbusTcpNet;
-    public static IReadWriteNet readWriteNet = null;
+    private ModbusTcpNet modbusTcpNet;
+    public IReadWriteNet readWriteNet = null;
     public volatile boolean isRun = true;
     private final String ip;
     private final int port;
@@ -39,14 +39,14 @@ public class PlcSrgvRead implements Runnable {
         this.station = (byte) 1;
     }
 
-    public static boolean Write(String address, int[] value) {
+    public synchronized boolean write(String address, int[] value) {
 
         OperateResult write = modbusTcpNet.Write(address, value);
         return write.IsSuccess;
 
     }
 
-    public static boolean Write(String address, short[] value) {
+    public synchronized boolean write(String address, short[] value) {
 
         OperateResult write = modbusTcpNet.Write(address, value);
         return write.IsSuccess;
@@ -58,9 +58,11 @@ public class PlcSrgvRead implements Runnable {
     public void run() {
         while (isRun) {
             try {
-                if (IsConnect()) {
+                if (
+                    IsConnect()) {
                     if (deviceSrgv != null) {
                         readSrgvPlc(deviceSrgv);
+                        log.info("=====读取小车开始====IP{}",this.ip);
                     }
                 } else {
                     reConnect();
@@ -158,6 +160,7 @@ public class PlcSrgvRead implements Runnable {
 
     public void ConnectServer() {
         modbusTcpNet = new ModbusTcpNet();//创建一个Modbus对象
+        log.info("创建连接对象,IP{}",this.ip);
         try {
             modbusTcpNet.setIpAddress(this.ip);
             modbusTcpNet.setPort(this.port);
@@ -200,7 +203,7 @@ public class PlcSrgvRead implements Runnable {
     }
 
     public String getSite(String siteId){
-        if (siteId.equals("030502")||siteId.equals("030501")||siteId.equals("030503")){
+        if (siteId.equals("030602")||siteId.equals("030601")||siteId.equals("030603")){
             return "tsj";
         }else {
             return siteId;

ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcSsjRead.java

@@ -118,9 +118,16 @@ public class PlcSsjRead implements Runnable {
         OperateResultExOne<byte[]> read4 = modbusTcpNet.Read("1115", (short) 16);//1115 条码
         if (read4.IsSuccess) {
             StringBuilder sb = new StringBuilder();
-            for (byte b : read4.Content) {
-                int code = b & 0xFF;
-                if (code >= 32 && code <= 126) sb.append((char) code);
+            for (int i = 0; i < read4.Content.length; i += 2) {
+                if (i + 1 < read4.Content.length) {
+                    int hi = read4.Content[i + 1] & 0xFF;
+                    int lo = read4.Content[i] & 0xFF;
+                    if (hi >= 32 && hi <= 126) sb.append((char) hi);
+                    if (lo >= 32 && lo <= 126) sb.append((char) lo);
+                } else {
+                    int single = read4.Content[i] & 0xFF;
+                    if (single >= 32 && single <= 126) sb.append((char) single);
+                }
             }
             String barcode = sb.toString();
             ssjDevice.setTrayCode(barcode);

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/cdz/CdzThread.java

@@ -28,7 +28,7 @@ public class CdzThread implements Runnable {
 
     public boolean isRun = true;
 
-    private final Integer LITTLE_BETTERY = 30;
+    private final Integer LITTLE_BETTERY = 60;
     private final Integer MIDDLE_BETTERY = 70;
 
     private ISrgvChargingJobService chargingJobService;
@@ -61,7 +61,7 @@ public class CdzThread implements Runnable {
 
 
     void dispatch() {
-
+        SrgvChargingJob srgvChargingJobParam = new SrgvChargingJob();
         //获取低电量小车
         List<DeviceSrgv> littleBatterySRgv = new ArrayList<>();
         //获取中电量小车
@@ -98,7 +98,6 @@ public class CdzThread implements Runnable {
 
 
         //充电任务下发
-        SrgvChargingJob srgvChargingJobParam = new SrgvChargingJob();
         srgvChargingJobParam.setChargingStatus("1");
         srgvChargingJobParam.setJobType("1");
         srgvChargingJobParam.setJobStatus("4");
@@ -106,12 +105,12 @@ public class CdzThread implements Runnable {
         if (CollUtil.isNotEmpty(srgvChargingJobs)) {
             for (SrgvChargingJob srgvChargingJob : srgvChargingJobs) {
                 if ("1".equals(srgvChargingJob.getChargingStatus())) {
-                    int i = PlcCdzRead.writeToCdz("1");
-                    if (i == 1) {
+//                    int i = PlcCdzRead.writeToCdz("1");
+//                    if (i == 1) {
                         srgvChargingJob.setChargingStatus("2");
                         srgvChargingJob.setChargingDate(DateUtil.formatDateTime(DateUtil.date()));
                         chargingJobService.updateSrgvChargingJob(srgvChargingJob);
-                    }
+//                    }
                 }
             }
         }
@@ -145,6 +144,24 @@ public class CdzThread implements Runnable {
                 }
             }
         }
+        //充电桩关闭  完成充电任务
+        DeviceCdz deviceCdz = deviceCdzService.selectDeviceCdzById(1L);
+        if (deviceCdz.getStatus()==0){
+            SrgvChargingJob srgvChargingJobDdParam = new SrgvChargingJob();
+            srgvChargingJobDdParam.setChargingStatus("2");
+            srgvChargingJobDdParam.setJobStatus("4");
+            List<SrgvChargingJob> srgvChargingJobDds = chargingJobService.selectSrgvChargingJobList(srgvChargingJobDdParam);
+            if (CollUtil.isNotEmpty(srgvChargingJobDds)) {
+                for (SrgvChargingJob job :srgvChargingJobDds){
+                    job.setChargingStatus("1");
+                    job.setChargingDate(DateUtil.formatDateTime(DateUtil.date()));
+                    chargingJobService.updateSrgvChargingJob(job);
+                    //插入历史
+                    chargingJobService.insertHistory(job.getGuid());
+                    chargingJobService.deleteSrgvChargingJobByGuid(job.getGuid());
+                }
+            }
+        }
 
 
         //断电任务下发
@@ -156,8 +173,8 @@ public class CdzThread implements Runnable {
 
             for (SrgvChargingJob srgvChargingJob : srgvChargingJobs) {
                 if ("0".equals(srgvChargingJob.getChargingStatus())) {
-                    int i = PlcCdzRead.writeToCdz("2");
-                    if (i == 1) {
+//                    int i = PlcCdzRead.writeToCdz("2");
+//                    if (i == 1) {
                         srgvChargingJob.setChargingStatus("1");
                         srgvChargingJob.setChargingDate(DateUtil.formatDateTime(DateUtil.date()));
                         chargingJobService.updateSrgvChargingJob(srgvChargingJob);
@@ -165,7 +182,7 @@ public class CdzThread implements Runnable {
                         //插入历史
                         chargingJobService.insertHistory(srgvChargingJob.getGuid());
                         chargingJobService.deleteSrgvChargingJobByGuid(srgvChargingJob.getGuid());
-                    }
+//                    }
                 }
 
             }
@@ -191,19 +208,19 @@ public class CdzThread implements Runnable {
                 if (CollUtil.isNotEmpty(cdzList)) {
                     //寻找最接近的充电桩
                     Integer floor = deviceSrgv.getCurrFloor();
-                    DeviceCdz cdz = null;
-                    Optional<DeviceCdz> min = cdzList.stream().filter(c -> c.getSzcs().equals(floor)).min((o1, o2) -> {
-                        Integer distance1 = Math.abs(o1.getSzcs());
-                        Integer distance2 = Math.abs(o2.getSzcs());
-                        return distance1 - distance2;
-                    });
-                    if (min.isPresent()) {
-                        cdz = min.get();
-                    }
+                    DeviceCdz cdz = cdzList.get(0);
+//                    Optional<DeviceCdz> min = cdzList.stream().filter(c -> c.getSzcs().equals(floor)).min((o1, o2) -> {
+//                        Integer distance1 = Math.abs(o1.getSzcs());
+//                        Integer distance2 = Math.abs(o2.getSzcs());
+//                        return distance1 - distance2;
+//                    });
+//                    if (min.isPresent()) {
+//                        cdz = min.get();
+//                    }
                     if (ObjUtil.isNotNull(cdz)) {
                         //生成充电任务
                         SrgvChargingJob srgvChargingJobParam = new SrgvChargingJob();
-                        srgvChargingJobParam.setAgvId(deviceSrgv.getDeviceId().toString());
+//                        srgvChargingJobParam.setAgvId(deviceSrgv.getDeviceId().toString());
                         srgvChargingJobParam.setChargingSite(cdz.getSiteId());
                         srgvChargingJobParam.setChargingId(cdz.getId().toString());
                         List<SrgvChargingJob> wcsChargingJobs = chargingJobService.selectSrgvChargingJobList(srgvChargingJobParam);
@@ -231,7 +248,7 @@ public class CdzThread implements Runnable {
     }
 
     /**
-     * 创建充电任务
+     * 创建断电任务
      *
      */
     private void createChargingOutJob(DeviceSrgv deviceSrgv, DeviceCdz cdz) {

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java

@@ -3,6 +3,7 @@ package com.ruoyi.schedule.scheduleTask.srgv;
 import cn.hutool.core.collection.CollUtil;
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.util.ObjUtil;
 import cn.hutool.core.util.StrUtil;
 import com.ruoyi.bas.port.service.IWcsPortService;
@@ -32,6 +33,8 @@ import com.ruoyi.schedule.plcRead.cdz.PlcCdzRead;
 import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;
 import com.ruoyi.schedule.plcRead.srgv.roadUtil.PathFinder;
 import com.ruoyi.schedule.plcRead.tsj.PlcTsjRead;
+import com.ruoyi.schedule.ScheduleThread;
+import com.ruoyi.common.domain.CustomThread;
 import lombok.extern.slf4j.Slf4j;
 
 import java.text.SimpleDateFormat;
@@ -70,12 +73,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
     public JobCallBackServiceImpl jobCallBackService;
 
+    private int taskCache = 450001;
 
     public void init() {
         sRgvCodeList = new HashMap<>();
         ArrayList<String> sRgvCodes = new ArrayList<>();
         sRgvCodes.add("1");
-//        sRgvCodes.add("2");
+        sRgvCodes.add("2");
         sRgvCodeList.put("srgv", sRgvCodes);
 
         wcsSagvQueueMapper = SpringUtils.getBean(IWcsSrgvQueueService.class);
@@ -103,7 +107,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(code);
 
                             sRgvTask(deviceSrgv);
-
+                            //小车创建队列
                             createCarQueue(deviceSrgv);
 
                             inCharging(deviceSrgv);
@@ -145,11 +149,11 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 DeviceCdz deviceCdz = PlcCdzRead.deviceCdzMap.get(chargingId);
                 if (ObjUtil.isNotNull(deviceCdz)) {
                     //下发断电任务
-                    int i = PlcCdzRead.writeToCdz("2");
-                    if (i == 1) {
-                        srgvChargingJobMapper.insertHistory(srgvChargingJob.getGuid());
-                        srgvChargingJobMapper.deleteSrgvChargingJobByGuid(srgvChargingJob.getGuid());
-                    }
+//                    int i = PlcCdzRead.writeToCdz("2");
+//                    if (i == 1) {
+                    srgvChargingJobMapper.insertHistory(srgvChargingJob.getGuid());
+                    srgvChargingJobMapper.deleteSrgvChargingJobByGuid(srgvChargingJob.getGuid());
+//                    }
                 }
             }
         }
@@ -175,8 +179,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 String agvId = srgvChargingJob.getAgvId();
                 String chargingId = srgvChargingJob.getChargingId();
                 DeviceSrgv srgv = PlcSrgvRead.deviceSrgvMap.get(agvId);
-                DeviceCdz cdz = PlcCdzRead.deviceCdzMap.get(chargingId);
-                if (srgv.getCurrFloor().equals(cdz.getSzcs())) {
+//                DeviceCdz cdz = PlcCdzRead.deviceCdzMap.get(chargingId);
+                if (srgv.getCurrFloor() == 1) {
                     //生成四向小车充电队列
                     String chargingSite = srgvChargingJob.getChargingSite();//充电桩站点
                     WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
@@ -196,8 +200,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                     List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
                     if (CollUtil.isEmpty(wcsSrgvQueues)) {
                         createSrgvChargingQueue(deviceSrgv, chargingSite, "8", srgvChargingJob.getTaskNo());
-                        srgvChargingJob.setJobStatus("2");
-                        srgvChargingJobMapper.updateSrgvChargingJob(srgvChargingJob);
+//                        srgvChargingJob.setJobStatus("2");
+//                        srgvChargingJobMapper.updateSrgvChargingJob(srgvChargingJob);
                     }
 
                 }
@@ -210,7 +214,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
         wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
         wcsSrgvQueue.setTaskNo(taskNo);
-        wcsSrgvQueue.setTaskType("3");
+        wcsSrgvQueue.setTaskType(type);
         wcsSrgvQueue.setPriority(Long.parseLong("2"));
         wcsSrgvQueue.setCargo("0");
         wcsSrgvQueue.setIssued("0");
@@ -221,14 +225,15 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         WcsSrgvMap wcsSrgvMap = wcsSrgvMapService.selectWcsSrgvMapBySiteId(chargingSite);
         if ("8".equals(type)) {
             wcsSrgvQueue.setEndSite("tsj");
+            wcsSrgvQueue.setDefault03("040601");
         } else if ("3".equals(type)) {
             wcsSrgvQueue.setEndSite(chargingSite);
+            wcsSrgvQueue.setDefault03(wcsSrgvQueue.getStartSite());
         }
         wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
         wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
         wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
         wcsSrgvQueue.setDefault02("3");
-        wcsSrgvQueue.setDefault03(wcsSrgvQueue.getStartSite());
         wcsSrgvQueue.setDefault07(Convert.toStr(wcsSrgvMap.getZ()));
         wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
     }
@@ -253,61 +258,52 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
      * 生成入库小车队列
      */
     private void createCarQueue(DeviceSrgv deviceSrgv) {
-
+        //充电队列处理
         if (deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() == 1) {
             WcsSrgvQueue wcsSrgvQueue = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
             if (wcsSrgvQueue == null) {
-                //找小车当前层作业，生成队列
-                //如果没有当前层作业，就找最近层换层作业，生成队列
-                MydoJob mydoJob1 = new MydoJob();
-                mydoJob1.setTheFloor(deviceSrgv.getCurrFloor().toString());
-                mydoJob1.setInOrOut("1");//货物入库
-                mydoJob1.setStatus("3");
-                // todo 定提升机到达阶段
-                mydoJob1.setExecutionPhase("3");
-                List<MydoJob> mydoJobs = mydoJobService.selectMydoJobList(mydoJob1);
-                if (mydoJobs.isEmpty()) {
-                    mydoJob1.setInOrOut("3");//空托盘入库
-                    mydoJobs = mydoJobService.selectMydoJobList(mydoJob1);
-                }
-                if (!mydoJobs.isEmpty()) {
-                    //生成了从小车现在位置到提升机接货的队列
-                    createCarQueue(mydoJobs.get(0), deviceSrgv, "4", "0");
+                List<MydoJob> inMydoJobs = mydoJobService.selectInJobList(deviceSrgv.getCurrFloor().toString());
+                //找小车当前层入库作业，生成队列
+                if (!inMydoJobs.isEmpty()) {
+                    //生成了从小车现在位置到提升机接货的队列 更新作业执行阶段为小车搬运
+                    createCarQueue(inMydoJobs.get(0), deviceSrgv, "4", "0");
                 } else {
-                    List<MydoJob> mydoJobs1 = mydoJobService.selectOutJobList(deviceSrgv.getCurrFloor().toString());
+                    //找小车当前层出库作业，生成队列
+                    List<MydoJob> outMydoJobs = mydoJobService.selectOutJobList(deviceSrgv.getCurrFloor().toString());
                     //当前层出库作业
-                    if (!mydoJobs1.isEmpty()) {
+                    if (!outMydoJobs.isEmpty()) {
                         //找最外层作业存储过程
                         HashMap<String, Object> map = new HashMap<>();
                         map.put("v_layer", deviceSrgv.getCurrFloor());
                         mydoJobService.selectMydoJobOutside(map);
                         String jobId = map.get("v_job_ids").toString();
-                        MydoJob mydoJob2 = mydoJobService.selectMydoJobByJobId(jobId);
+                        MydoJob mydoJob = mydoJobService.selectMydoJobByJobId(jobId);
                         //判断小车当前点是否是出库作业货位点，如果不是，就生成队列{},如果是生成已下发队列
                         WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
-                        wcsSrgvMap.setCargoSpaceId(mydoJob2.getCargoSpaceId());
+                        wcsSrgvMap.setCargoSpaceId(mydoJob.getCargoSpaceId());
                         List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
                         if (!deviceSrgv.getCurrSite().equals(wcsSrgvMaps.get(0).getSiteId())) {
-                            createCarQueue(mydoJob2, deviceSrgv, "4", "0");
+                            createCarQueue(mydoJob, deviceSrgv, "4", "0");
                         } else {
-                            createCarQueue(mydoJob2, deviceSrgv, "4", "1");
+                            createCarQueue(mydoJob, deviceSrgv, "4", "1");
                         }
-                        mydoJob2.setStatus("3");
-                        mydoJobService.updateMydoJob(mydoJob2);
+                        mydoJob.setStatus("3");//更新小车出库作业状态为正执行
+                        mydoJobService.updateMydoJob(mydoJob);
                     } else {
                         //别的层的出库作业和入库作业
                         MydoJob job = null;
                         MydoJob mydoJob3 = new MydoJob();
-                        mydoJob3.setStatus("3");
                         mydoJob3.setInOut("1");
+                        mydoJob3.setStatus("3");
                         //todo 输送机阶段
+
                         mydoJob3.setExecutionPhase("1");
                         List<MydoJob> mydoJobs4 = mydoJobService.selectMydoJobList(mydoJob3);
                         if (!mydoJobs4.isEmpty()) {
                             job = mydoJobs4.get(0);
                         } else {
                             MydoJob mydoJob2 = new MydoJob();
-                            mydoJob2.setInOut("2");
+                            mydoJob3.setInOut("2");
                             mydoJob2.setStatus("1");
                             List<MydoJob> mydoJobs3 = mydoJobService.selectMydoJobList(mydoJob2);
                             if (!mydoJobs3.isEmpty()) {
@@ -338,6 +334,12 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
             } else {
                 if ("1".equals(wcsSrgvQueue.getIssued())) {
+                    if (wcsSrgvQueue.getDefault08()!=null&&wcsSrgvQueue.getDefault08().equals("1")){
+                        if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getEndSite()) && "4".equals(wcsSrgvQueue.getTaskType())){
+                            wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                            wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
+                        }
+                    }
                     MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(wcsSrgvQueue.getTaskNo()));
                     if (mydoJob != null) {
                         if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getEndSite()) && "1".equals(wcsSrgvQueue.getTaskType())) {
@@ -367,14 +369,14 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             //根据任务类型 ，生成队列
                             if (Convert.toInt(mydoJob.getInOrOut()) < 20) {
                                 wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
-                                wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
                                 createCarQueue(mydoJob, deviceSrgv, "1", "0");
+                                wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
                             } else {
                                 wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                                createCarQueue(mydoJob, deviceSrgv, "2", "0");
                                 wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
                                 mydoJob.setStatus("3");//作业修改为正执行
                                 mydoJobService.updateMydoJob(mydoJob);
-                                createCarQueue(mydoJob, deviceSrgv, "2", "0");
                             }
                         } else if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && "8".equals(wcsSrgvQueue.getTaskType())) {
                             wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
@@ -402,6 +404,25 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                 deviceCdzService.updateDeviceCdz(deviceCdz1);
                             }
                         }
+                        srgvChargingJob.setAgvId(String.valueOf(wcsSrgvQueue.getAgvId()));
+                        srgvChargingJob.setTaskNo(wcsSrgvQueue.getTaskNo());
+                        srgvChargingJob.setJobStatus("1");
+                        srgvChargingJob.setJobType("1");
+                        List<SrgvChargingJob> srgvChargingJobs1 = srgvChargingJobMapper.selectSrgvChargingJobList(srgvChargingJob);
+                        if (!srgvChargingJobs1.isEmpty()) {
+                            SrgvChargingJob srgvChargingJob1 = srgvChargingJobs1.get(0);
+                            if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && "8".equals(wcsSrgvQueue.getTaskType())) {
+                                wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                                wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
+//                                srgvChargingJob1.setJobStatus("4");
+//                                srgvChargingJobMapper.updateSrgvChargingJob(srgvChargingJob1);
+//                                DeviceCdz deviceCdz = new DeviceCdz();
+//                                DeviceCdz deviceCdz1 = deviceCdzService.selectDeviceCdzById(1L);
+//                                deviceCdz1.setSpare1(String.valueOf(deviceSrgv.getDeviceId()));
+//                                deviceCdzService.updateDeviceCdz(deviceCdz1);
+                            }
+                        }
+
                     }
                 }
             }
@@ -419,18 +440,19 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
         //TODO 小车取货之后会不会退出来，会退出来是4  不会退出来是3
         wcsSrgvMap1.setTheRow(4);
-        wcsSrgvMap1.setTheColumn(5);
+        wcsSrgvMap1.setTheColumn(6);
         wcsSrgvMap1.setTheLayer(Convert.toInt(mydoJob1.getTheFloor()));
         List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
         //点到点任务
         if (Integer.parseInt(mydoJob1.getInOrOut()) < 20 && "4".equals(taskType)) {
             wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
             wcsSrgvQueue.setEndSite("tsj");
-            //入库的点到点直接进入提升机  不选停靠点 default03 是0305
+            //入库的点到点直接进入提升机  不选停靠点 default03 是0306
             wcsSrgvMap1.setTheRow(3);
-            wcsSrgvMap1.setTheColumn(5);
+            wcsSrgvMap1.setTheColumn(6);
             wcsSrgvMap1.setTheLayer(Convert.toInt(mydoJob1.getTheFloor()));
             wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
+            wcsSrgvQueue.setCargoPickSite("tsj");
             wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId());
         } else if (Integer.parseInt(mydoJob1.getInOrOut()) < 20 && "1".equals(taskType)) {
             wcsSrgvQueue.setStartSite("tsj");
@@ -438,9 +460,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
             wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId());
             List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
             wcsSrgvQueue.setEndSite(wcsSrgvMaps.get(0).getSiteId());
-            //入库的点到点从030501 到目标货位
+            //入库的点到点从030601 到目标货位
             wcsSrgvMap1.setTheRow(3);
-            wcsSrgvMap1.setTheColumn(5);
+            wcsSrgvMap1.setTheColumn(6);
             wcsSrgvMap1.setTheLayer(Convert.toInt(mydoJob1.getTheFloor()));
             wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
             wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId());
@@ -495,7 +517,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                     && deviceSrgv.getAllowSend() == 1 //允许下发
             ) {
                 //处理tsj站点  换层去提升机前  入库去提升机里  出库去提升机里
-
                 String startSite = getSite(wcsSrgvQueue.getStartSite(), wcsSrgvQueue.getTheFloor(), wcsSrgvQueue.getTaskType());
                 String endSite = getSite(wcsSrgvQueue.getEndSite(), wcsSrgvQueue.getTheFloor(), wcsSrgvQueue.getTaskType());
                 String currSite = deviceSrgv.getCurrSite();
@@ -512,7 +533,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 }
             }
         }
-
     }
 
     /**
@@ -531,6 +551,232 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
         //判断是否能规划出最短路径
         if (shortestPath == null || shortestPath.isEmpty()) {
+            // =========================================================
+            // 特殊优先策略：若目标点被其他小车占用，直接调度占用车到缓存点
+            // 场景示例：1号车目标为 040701，但 2号车正停在 040701
+            // 处理思路：不等待、不绕行，直接把占用目标点的小车移开
+            // =========================================================
+            try {
+                // 查找占用目标点的阻挡车（排除当前车）
+                String endBlockAgv = null;
+                DeviceSrgv endBlockDevice = null;
+                for (Map.Entry<String, DeviceSrgv> entry : PlcSrgvRead.deviceSrgvMap.entrySet()) {
+                    DeviceSrgv other = entry.getValue();
+                    if (other == null) continue;
+                    if (Objects.equals(other.getCurrSite(), endSite)
+                            && !Objects.equals(Convert.toStr(deviceSrgv.getDeviceId()), entry.getKey())) {
+                        endBlockAgv = entry.getKey();
+                        endBlockDevice = other;
+                        break;
+                    }
+                }
+                WcsSrgvQueue wcsSrgvQueue1 =new WcsSrgvQueue();
+                wcsSrgvQueue1.setAgvId(endBlockAgv);
+                List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue1);
+                if (endBlockDevice != null&&wcsSrgvQueues.isEmpty()) {
+                    // 选择当前层最近且可达的缓存点（避让点）
+                    WcsSrgvMap cacheParam = new WcsSrgvMap();
+                    cacheParam.setRemark("cache");
+                    cacheParam.setTheLayer(floor);
+                    List<WcsSrgvMap> cacheMaps = wcsSrgvMapService.selectWcsSrgvMapList(cacheParam);
+                    // 生成阻挡车的避让任务（点到点，高优先级，未下发）
+                    WcsSrgvQueue taskB = new WcsSrgvQueue();
+                    taskB.setGuid(UUID.randomUUID().toString());
+                    // 生成纯数字任务号（PLC要求），9 + HHmmss
+                    taskB.setTaskNo(String.valueOf(taskCache));
+                    taskB.setAgvId(endBlockAgv);
+                    taskB.setTaskType("4");      // 点到点移动
+                    taskB.setDefault02("4");     // 业务类型标识为点到点
+                    taskB.setPriority(9L);       // 高优先级，尽快避让
+                    taskB.setIssued("0");        // 未下发
+                    taskB.setExecutionStatus("1");// 初始状态
+                    taskB.setStartSite(endBlockDevice.getCurrSite());
+                    taskB.setEndSite("050501");
+                    taskB.setTheFloor(floor.toString());
+                    taskB.setDefault03(endBlockDevice.getCurrSite());
+                    taskB.setDefault07(floor.toString());
+                    taskB.setDefault08("1");//避让任务，直接完成
+                    taskB.setCreateDate(DateUtil.now());
+                    wcsSagvQueueMapper.insertWcsSrgvQueue(taskB);
+                    taskCache++;
+                    log.info("目标点 {} 被小车 {} 占用，已调度其前往避让点 {}", endSite, endBlockAgv, "050501");
+                    // 当前车等待下一轮调度（待阻挡车移开后自然可达）
+                    return false;
+                } else {
+                    log.warn("目标点 {} 被小车 {} 占用，但无可用避让点", endSite, endBlockAgv);
+                    // 无法直接移开阻挡车，后续进入常规策略（寻找阻挡者或自身避让）
+                }
+            } catch (Exception e) {
+                log.error("终点占用直接避让策略执行异常", e);
+            }
+            // ---------------------------------------------------------
+            // 策略1：尝试调度阻挡车避让 (新增逻辑)
+            // ---------------------------------------------------------
+            try {
+                // 1. 获取纯净静态地图 (不含动态障碍物)
+                int[][] staticMap = new int[29][16];
+                for (WcsSrgvMap site : arrByRoadSite.values()) {
+                    if (site.getX() != null && site.getY() != null) {
+                        staticMap[site.getX()][site.getY()] = site.getValue();
+                    }
+                }
+                // 2. 规划理想路径 (忽略其他小车)
+                int sx = arrByRoadSite.get(startSite).getX();
+                int sy = arrByRoadSite.get(startSite).getY();
+                int ex = arrByRoadSite.get(endSite).getX();
+                int ey = arrByRoadSite.get(endSite).getY();
+                staticMap[sx][sy] = 2;
+                staticMap[ex][ey] = 2;
+                List<int[]> idealPath = PathFinder.findShortestPath(
+                        staticMap,
+                        sx, sy,
+                        ex, ey
+                );
+                // 3. 寻找阻挡车
+                String blockingAgv = null;
+                if (idealPath == null || idealPath.isEmpty()) {
+                    log.warn("理想路径为空，sx={},sy={},ex={},ey={},startVal={},endVal={}",
+                            sx, sy, ex, ey, staticMap[sx][sy], staticMap[ex][ey]);
+                }
+                if (idealPath != null && !idealPath.isEmpty()) {
+                    for (int[] point : idealPath) {
+                        // 通过坐标反查站点 (简单遍历)
+                        // 注意：这里假设同一层坐标唯一
+                        String pointSiteId = null;
+                        for (Map.Entry<String, WcsSrgvMap> entry : arrByRoadSite.entrySet()) {
+                            WcsSrgvMap s = entry.getValue();
+                            if (s.getX() == point[0] && s.getY() == point[1]) {
+                                pointSiteId = s.getSiteId();
+                                break;
+                            }
+                        }
+
+                        if (pointSiteId != null) {
+                            // 检查是否有其他车在这个点
+                            for (Map.Entry<String, DeviceSrgv> entry : PlcSrgvRead.deviceSrgvMap.entrySet()) {
+                                String otherAgvCode = entry.getKey();
+                                DeviceSrgv otherAgv = entry.getValue();
+
+                                if (!otherAgvCode.equals(wcsSrgvQueue.getAgvId()) && // 不是自己
+                                        pointSiteId.equals(otherAgv.getCurrSite())) { // 是别人
+
+                                    blockingAgv = otherAgvCode;
+                                    break;
+                                }
+                            }
+                        }
+                        if (blockingAgv != null) break; // 找到第一个阻挡者即可
+                    }
+                }
+
+                // 4. 调度阻挡车
+                if (blockingAgv != null) {
+                    log.info("发现阻挡车: {}, 尝试调度避让", blockingAgv);
+
+                    // 检查 B 是否忙碌 (是否有未完成任务)
+                    WcsSrgvQueue blockingParam = new WcsSrgvQueue();
+                    blockingParam.setAgvId(blockingAgv); // 注意：这里用 AgvId 还是 SrgvCode 需要确认，假设是一致的
+                    // 通常数据库存的是 ID，这里 blockingAgv 来自 deviceSrgvMap 的 key，通常是 code
+                    // 如果 code != id，需要转换。假设 code 就是 id。
+
+                    List<WcsSrgvQueue> tasks = wcsSagvQueueMapper.selectWcsSrgvQueueList(blockingParam);
+                    boolean isBusy = CollUtil.isNotEmpty(tasks);
+                    // 这里简化判断：只要有队列记录就算忙。更精细的判断可以看 status。
+
+                    if (isBusy) {
+                        log.info("阻挡车 {} 正在执行任务，当前车 {} 等待", blockingAgv, wcsSrgvQueue.getAgvId());
+                        return false; // B 忙，A 等待 (不做任何操作，下一轮循环再试)
+                    } else {
+                        // B 空闲，寻找避让点
+                        // 获取当前层所有避让点
+                        WcsSrgvMap cacheParam = new WcsSrgvMap();
+                        cacheParam.setRemark("cache");
+                        cacheParam.setTheLayer(floor);
+                        List<WcsSrgvMap> cacheMaps = wcsSrgvMapService.selectWcsSrgvMapList(cacheParam);
+
+                        // 获取所有小车位置 (用于避让点占用检查)
+                        Set<String> occupiedSites = new HashSet<>();
+                        for (DeviceSrgv d : PlcSrgvRead.deviceSrgvMap.values()) {
+                            occupiedSites.add(d.getCurrSite());
+                        }
+
+                        String bestCacheForB = null;
+                        int minLenForB = Integer.MAX_VALUE;
+
+                        DeviceSrgv deviceB = PlcSrgvRead.deviceSrgvMap.get(blockingAgv);
+                        if (deviceB != null) {
+                            WcsSrgvMap startNodeB = arrByRoadSite.get(deviceB.getCurrSite());
+
+                            for (WcsSrgvMap cache : cacheMaps) {
+                                String siteId = cache.getSiteId();
+                                if (occupiedSites.contains(siteId)) continue; // 已被占
+
+                                // 关键：避让点不能在 A 的理想路径上
+                                boolean onIdealPath = false;
+                                for (int[] p : idealPath) {
+                                    if (p[0] == cache.getX() && p[1] == cache.getY()) {
+                                        onIdealPath = true;
+                                        break;
+                                    }
+                                }
+                                if (onIdealPath) continue;
+
+                                // 检查 B 到避让点的可达性 (在静态地图上即可，因为其他车可能就是 A)
+                                // 此时 A 还没动，所以 B 应该能动。
+                                // 为了安全，还是用 emptyMap (含 A) 检查 B 的路径?
+                                // 不，用 emptyMap 检查 B 的路径，因为 A 还在原位。
+                                if (startNodeB != null && cache.getX() != null && cache.getY() != null) {
+                                    List<int[]> pathB = PathFinder.findShortestPath(emptyMap,
+                                            startNodeB.getX(), startNodeB.getY(),
+                                            cache.getX(), cache.getY());
+
+                                    if (pathB != null && !pathB.isEmpty() && pathB.size() < minLenForB) {
+                                        minLenForB = pathB.size();
+                                        bestCacheForB = siteId;
+                                    }
+                                }
+                            }
+
+                            if (bestCacheForB != null) {
+                                // 生成 B 的避让任务
+                                WcsSrgvQueue taskB = new WcsSrgvQueue();
+                                taskB.setGuid(UUID.randomUUID().toString());
+                                // 生成纯数字任务号，避免 PLC 解析错误
+                                // 格式：9 + HHmmss + 随机位 (防止重复)
+                                String timeStr = DateUtil.format(new Date(), "HHmmss");
+                                taskB.setTaskNo(String.valueOf(taskCache));
+                                taskB.setAgvId(blockingAgv);
+                                taskB.setTaskType("4"); // 点到点
+                                taskB.setPriority(9L); // 高优先级
+                                taskB.setIssued("0");
+                                taskB.setExecutionStatus("1");
+                                taskB.setStartSite(deviceB.getCurrSite());
+                                taskB.setEndSite(bestCacheForB);
+                                taskB.setTheFloor(floor.toString());
+                                taskB.setCreateDate(DateUtil.now());
+                                taskB.setDefault02("4");
+                                taskB.setDefault03(deviceB.getCurrSite()); // 默认值填充
+                                taskB.setDefault07(floor.toString());
+                                taskB.setDefault08("1");
+                                wcsSagvQueueMapper.insertWcsSrgvQueue(taskB);
+                                taskCache++;
+                                log.info("成功调度阻挡车 {} 前往避让点 {}", blockingAgv, bestCacheForB);
+                                return false; // A 等待
+                            } else {
+                                log.warn("阻挡车 {} 无可用避让点", blockingAgv);
+                                // Fallback to Strategy 2 (A moves)
+                            }
+                        }
+                    }
+                }
+            } catch (Exception e) {
+                log.error("调度阻挡车避让逻辑异常", e);
+                // Fallback to Strategy 2
+            }
+
+            // ---------------------------------------------------------
+            // 策略2：自己避让 (原有逻辑)
+            // ---------------------------------------------------------
             //判断是否是1层 空车取货 或者 满车放货
             if (floor == 1) {
                 if ("2".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPlaceSite())) {
@@ -631,13 +877,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         if (endSite.equals("tsj")) {
             switch (wcsSrgvQueue.getTheFloor()) {
                 case "1":
-                    endSite = "030501";
+                    endSite = "030601";
                     break;
                 case "2":
-                    endSite = "030502";
+                    endSite = "030602";
                     break;
                 case "3":
-                    endSite = "030503";
+                    endSite = "030603";
                     break;
                 default:
                     break;
@@ -646,13 +892,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         if (startSite.equals("tsj")) {
             switch (wcsSrgvQueue.getTheFloor()) {
                 case "1":
-                    startSite = "030501";
+                    startSite = "030601";
                     break;
                 case "2":
-                    startSite = "030502";
+                    startSite = "030602";
                     break;
                 case "3":
-                    startSite = "030503";
+                    startSite = "030603";
                     break;
                 default:
                     break;
@@ -668,7 +914,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         } else {
             SendData2 path = new SendData2();
             path.setAddress("4004");//地址
-            path.setData(startSite + "," + endSite);
+            path.setData(startSite + "," + endSite + ",0,0,0,0,0,0");
             path.setType(2);
             sendDataList.add(path);
         }
@@ -766,6 +1012,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
         boolean b = true;
 
+        ScheduleThread scheduleThread = SpringUtils.getBean(ScheduleThread.class);
+        CustomThread<?> ct = scheduleThread.threadMap.get("plcSrgvReadCustomThread" + deviceSrgv.getDeviceId());
+        PlcSrgvRead plcReader = ct != null ? (PlcSrgvRead) ct.getRunnable() : null;
+        if (plcReader == null) {
+            return false;
+        }
+
         for (SendData2 sendData : sendDataList) {
             String address = sendData.getAddress();
             String data = sendData.getData();//
@@ -780,7 +1033,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                         .map(String::trim)
                         .mapToInt(Integer::parseInt)
                         .toArray();
-                boolean write = PlcSrgvRead.Write(address, intData);
+                boolean write = plcReader.write(address, intData);
 
                 if (!write) {
                     b = false;
@@ -802,7 +1055,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                     }
                 }
 
-                boolean write = PlcSrgvRead.Write(address, shortData);
+                boolean write = plcReader.write(address, shortData);
 
                 if (!write) {
                     b = false;
@@ -969,19 +1222,49 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueues.get(0);
 
                 String startSite = null;
-                //打补丁  出库任务的default03 是040501 提升机前
-                if (wcsSrgvQueue.getTaskType().equals("2")) {
-                    startSite = wcsSrgvQueue.getStartSite();
-                }else {
-                    startSite = wcsSrgvQueue.getDefault03();
-                }
+                //打补丁  出库任务的default03 是040601 提升机前
 
+//                if (wcsSrgvQueue.getTaskType().equals("4")) {
+//                    startSite = wcsSrgvQueue.getStartSite();
+//                }
+//                if (wcsSrgvQueue.getTaskType().equals("2")) {
+//                    startSite = wcsSrgvQueue.getStartSite();
+//                }else {
+//                    if(wcsSrgvQueue.getStartSite().equals("040601")){
+//                        startSite=wcsSrgvQueue.getStartSite();
+//                    }else {
+//                        startSite = wcsSrgvQueue.getDefault03();
+//                    }
+//                }
+                startSite = wcsSrgvQueue.getStartSite();
+                if (startSite.equals("tsj")) {
+                    startSite = getSite(wcsSrgvQueue.getStartSite(), wcsSrgvQueue.getTheFloor(), wcsSrgvQueue.getTaskType());
+                }
                 if (!startSite.equals(currSite)) {
                     wcsSrgvQueue.setIssued("1");
                     wcsSrgvQueue.setExecutionStatus("3");
                     wcsSrgvQueue.setStartDate(DateUtil.now());
                     wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
+                    MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
+                    mydoJob.setExecutionPhase("4");//小车搬运
+                    mydoJobService.updateMydoJob(mydoJob);
                 }
+                String endSite = wcsSrgvQueue.getEndSite();
+                if (endSite.equals("tsj")) {
+                    endSite = getSite(wcsSrgvQueue.getEndSite(), wcsSrgvQueue.getTheFloor(), wcsSrgvQueue.getTaskType());
+                }
+                if (endSite.equals(currSite)) {
+                    if (!wcsSrgvQueue.getTaskType().equals("8")) {
+                        wcsSrgvQueue.setIssued("1");
+                        wcsSrgvQueue.setExecutionStatus("3");
+                        wcsSrgvQueue.setStartDate(DateUtil.now());
+                        wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
+                        MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
+                        mydoJob.setExecutionPhase("4");//小车搬运
+                        mydoJobService.updateMydoJob(mydoJob);
+                    }
+                }
+
             }
         }
     }
@@ -991,13 +1274,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
             if (sitId.equals("tsj")) {
                 switch (floor) {
                     case "1":
-                        sitId = "040501";
+                        sitId = "040601";
                         break;
                     case "2":
-                        sitId = "040502";
+                        sitId = "040602";
                         break;
                     case "3":
-                        sitId = "040503";
+                        sitId = "040603";
                         break;
                     default:
                         break;
@@ -1007,13 +1290,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
             if (sitId.equals("tsj")) {
                 switch (floor) {
                     case "1":
-                        sitId = "030501";
+                        sitId = "030601";
                         break;
                     case "2":
-                        sitId = "030502";
+                        sitId = "030602";
                         break;
                     case "3":
-                        sitId = "030503";
+                        sitId = "030603";
                         break;
                     default:
                         break;

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

@@ -55,6 +55,12 @@ public class SsjThread implements Runnable {
                 }
             } catch (RuntimeException e) {
                 log.error(e.getMessage(), e);
+            }finally {
+                try {
+                    Thread.sleep(1500);
+                } catch (InterruptedException e) {
+                    throw new RuntimeException(e);
+                }
             }
         }
     }
@@ -82,7 +88,14 @@ public class SsjThread implements Runnable {
     }
 
     void inDispatch1(DeviceSsj deviceSsj) {
-        if (deviceSsj.getRkqq() == 1 && StrUtil.isNotBlank(deviceSsj.getTrayCode())) {
+        if (deviceSsj.getRkqq() == 1 ) {
+            if(deviceSsj.getTrayCode().equals("NoRead")||StrUtil.isBlank(deviceSsj.getTrayCode())){
+                int i = PlcSsjRead.writeToSsj("0", 11, 1);
+                if (i == 1) {
+                    log.info(deviceSsj.getDeviceCode() + "未读到条码，下发退回，去向2");
+                    return;
+                }
+            }
             // 查是否有正执行的出库作业，有退回
             MydoJob queryJob = new MydoJob();
             queryJob.setStatus("3");

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

@@ -14,7 +14,9 @@ import com.ruoyi.device.srgv.service.IDeviceSrgvService;
 import com.ruoyi.device.srgv.service.impl.DeviceSrgvServiceImpl;
 import com.ruoyi.device.ssj.domain.DeviceSsj;
 import com.ruoyi.device.tsj.domain.DeviceTsj;
+import com.ruoyi.job.domain.JobCallBack;
 import com.ruoyi.job.domain.MydoJob;
+import com.ruoyi.job.service.IJobCallBackService;
 import com.ruoyi.job.service.IMydoJobService;
 import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
 import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService;
@@ -42,7 +44,7 @@ public class TsjThread implements Runnable {
     private HashMap<String, String> inSsjList;
     private IMydoJobService mydoJobService;
     private IDeviceSrgvService deviceSrgvService;
-
+    private IJobCallBackService jobCallBackService;
 
     public void init() {
         tsjDeviceExecutionQueueService = SpringUtils.getBean(ITsjDeviceExecutionQueueService.class);
@@ -51,6 +53,7 @@ public class TsjThread implements Runnable {
         wcsSrgvQueueService = SpringUtils.getBean(IWcsSrgvQueueService.class);
         mydoJobService =SpringUtils.getBean(IMydoJobService.class);
         deviceSrgvService=SpringUtils.getBean(DeviceSrgvServiceImpl.class);
+        jobCallBackService = SpringUtils.getBean(IJobCallBackService.class);
     }
 
     @Override
@@ -64,6 +67,12 @@ public class TsjThread implements Runnable {
                 }
             } catch (RuntimeException e) {
                 log.error(e.getMessage(), e);
+            }finally {
+                try {
+                    Thread.sleep(1500);
+                } catch (InterruptedException e) {
+                    throw new RuntimeException(e);
+                }
             }
         }
 
@@ -76,7 +85,7 @@ public class TsjThread implements Runnable {
         Long rwh = tsj.getRwh();//任务号
         int yxxf = tsj.getYxxf();//允许下发
 
-        if (czfs == 1 && sbzt == 98 && jdbz == 11 && rwh > 999) {
+        if (czfs == 1 && sbzt == 99 && (jdbz == 0||jdbz == 11||jdbz == 8) && rwh > 999) {
             //任务完成
             finishTask(tsj);
         }
@@ -107,9 +116,11 @@ public class TsjThread implements Runnable {
                 if (CollUtil.isNotEmpty(wcsSrgvQueues)) {
                     WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueues.get(0);
                     String rwlx = "";
+                    String tarFloor = wcsSrgvQueue.getDefault07();
                     if ("2".equals(wcsSrgvQueue.getTaskType())) {
                         //出库
                         rwlx = "2";
+                        tarFloor="11";
                     }
                     if ("3".equals(wcsSrgvQueue.getTaskType())) {
                         //
@@ -122,8 +133,6 @@ public class TsjThread implements Runnable {
                     TsjDeviceExecutionQueue tsjDeviceExecutionQueueByRwh = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueByRwh(Convert.toLong(deviceSrgv.getTaskNo()));
                     if (tsjDeviceExecutionQueueByRwh == null && StrUtil.isNotEmpty(rwlx)) {
                         String strFloor = wcsSrgvQueue.getTheFloor();
-                        String tarFloor = wcsSrgvQueue.getDefault07();
-                        if (!Convert.toStr(tsj.getDqcs()).equals(strFloor)) {
                             //提升机层数和取车任务层数不一致
                             //todo 判断目标楼层存在不存在其他小车
                             TsjDeviceExecutionQueue tsjDeviceExecutionQueue = new TsjDeviceExecutionQueue();
@@ -141,8 +150,6 @@ public class TsjThread implements Runnable {
                             tsjDeviceExecutionQueue.setTaskType("1");
                             tsjDeviceExecutionQueue.setRwlx(rwlx);
                             tsjDeviceExecutionQueueService.insertTsjDeviceExecutionQueue(tsjDeviceExecutionQueue);
-                        }
-
                     }
                 }
             }
@@ -185,7 +192,7 @@ public class TsjThread implements Runnable {
                     tsjDeviceExecutionQueue.setDeviceName(tsj.getName());
                     tsjDeviceExecutionQueue.setTaskNo(Convert.toLong(ssj.getTaskNo()));
                     tsjDeviceExecutionQueue.setSrcRow("0");
-                    tsjDeviceExecutionQueue.setSrcLayer(String.valueOf(tsj.getDqcs()));
+                    tsjDeviceExecutionQueue.setSrcLayer("11");
                     tsjDeviceExecutionQueue.setTarRow("0");
                     tsjDeviceExecutionQueue.setTarLayer(theFloor);
                     tsjDeviceExecutionQueue.setSendType("1");
@@ -244,7 +251,7 @@ public class TsjThread implements Runnable {
         if (ObjUtil.isNotNull(tsjDeviceExecutionQueue)) {
             //完成提升机任务 插入历史表
             String senFlag= tsjDeviceExecutionQueue.getSendFlag()==null?"0":"1";
-            if (tsjDeviceExecutionQueue.getTarLayer().equals(String.valueOf(tsj.getDqcs()))&&senFlag.equals("1")){
+            if ((tsjDeviceExecutionQueue.getTarLayer().equals(String.valueOf(tsj.getDqcs()))||tsjDeviceExecutionQueue.getTarLayer().equals("11"))&&senFlag.equals("1")){
                 TsjDeviceExecutionQueueFinish tsjDeviceExecutionQueueFinish = new TsjDeviceExecutionQueueFinish();
                 BeanUtil.copyProperties(tsjDeviceExecutionQueue, tsjDeviceExecutionQueueFinish);
                 tsjDeviceExecutionQueueFinish.setFinishDate(DateUtil.formatDateTime(DateUtil.date()));
@@ -255,6 +262,19 @@ public class TsjThread implements Runnable {
                      mydoJob.setExecutionPhase("3");
                      mydoJobService.updateMydoJob(mydoJob);
                  }
+                if (mydoJob != null&&tsjDeviceExecutionQueue.getRwlx().equals("2")) {
+                    mydoJob.setStatus("4");
+                    mydoJobService.updateMydoJob(mydoJob);
+                    mydoJobService.insertHistory(mydoJob.getJobId());
+                    mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId());
+                    JobCallBack jobCallBack = new JobCallBack();
+                    jobCallBack.setType("2");
+                    jobCallBack.setMydojobId(mydoJob.getJobId());
+                    jobCallBack.setStatus("0");
+                    jobCallBack.setTaskNo(Convert.toLong(mydoJob.getTaskNo()));
+                    jobCallBack.setCreateTime(new Date());
+                    jobCallBackService.insertJobCallBack(jobCallBack);
+                }
                 log.info("提升机任务下发完成 taskNo{}  任务类型:{}", tsj.getRwh(), "提升机任务");
             }
         }

ruoyi-admin/src/main/java/com/ruoyi/web/controller/schedule/ThreadManageController.java

@@ -0,0 +1,214 @@
+package com.ruoyi.web.controller.schedule;
+
+import com.ruoyi.common.core.domain.AjaxResult;
+import com.ruoyi.schedule.ScheduleThread;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
+
+import java.io.*;
+import java.nio.charset.StandardCharsets;
+import java.util.LinkedList;
+import java.util.Map;
+import java.util.regex.Pattern;
+
+/**
+ * 线程管理控制器
+ * 
+ * @author ruoyi
+ */
+@RestController
+@RequestMapping("/schedule/thread")
+public class ThreadManageController {
+
+    @Autowired
+    private ScheduleThread scheduleThread;
+
+    /**
+     * 获取线程列表
+     */
+    @GetMapping("/list")
+    public AjaxResult list() {
+        if (scheduleThread.threadTypeMap.isEmpty()) {
+            scheduleThread.refreshThreadMap();
+        }
+        return AjaxResult.success(scheduleThread.getAllThreadStatus());
+    }
+
+    /**
+     * 启动线程
+     */
+    @PostMapping("/start/{key}")
+    public AjaxResult start(@PathVariable String key) {
+        try {
+            scheduleThread.startThread(key);
+            return AjaxResult.success("启动成功");
+        } catch (Exception e) {
+            return AjaxResult.error("启动失败: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 停止线程
+     */
+    @PostMapping("/stop/{key}")
+    public AjaxResult stop(@PathVariable String key) {
+        try {
+            scheduleThread.stopThread(key);
+            return AjaxResult.success("停止指令已下发");
+        } catch (Exception e) {
+            return AjaxResult.error("停止失败: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 启动全部线程
+     */
+    @PostMapping("/startAll")
+    public AjaxResult startAll() {
+        try {
+            for (String key : scheduleThread.threadMap.keySet()) {
+                try {
+                    scheduleThread.startThread(key);
+                } catch (Exception e) {
+                    // 忽略单个启动失败，继续启动下一个
+                }
+            }
+            return AjaxResult.success("全部启动指令已下发");
+        } catch (Exception e) {
+            return AjaxResult.error("操作失败: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 停止全部线程
+     */
+    @PostMapping("/stopAll")
+    public AjaxResult stopAll() {
+        try {
+            for (String key : scheduleThread.threadMap.keySet()) {
+                scheduleThread.stopThread(key);
+            }
+            return AjaxResult.success("全部停止指令已下发");
+        } catch (Exception e) {
+            return AjaxResult.error("操作失败: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 启动分组线程
+     */
+    @PostMapping("/startGroup/{type}")
+    public AjaxResult startGroup(@PathVariable String type) {
+        try {
+            for (Map.Entry<String, String> entry : scheduleThread.threadTypeMap.entrySet()) {
+                if (type.equals(entry.getValue())) {
+                    try {
+                        scheduleThread.startThread(entry.getKey());
+                    } catch (Exception e) {
+                    }
+                }
+            }
+            return AjaxResult.success("分组启动指令已下发");
+        } catch (Exception e) {
+            return AjaxResult.error("操作失败: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 停止分组线程
+     */
+    @PostMapping("/stopGroup/{type}")
+    public AjaxResult stopGroup(@PathVariable String type) {
+        try {
+            for (Map.Entry<String, String> entry : scheduleThread.threadTypeMap.entrySet()) {
+                if (type.equals(entry.getValue())) {
+                    scheduleThread.stopThread(entry.getKey());
+                }
+            }
+            return AjaxResult.success("分组停止指令已下发");
+        } catch (Exception e) {
+            return AjaxResult.error("操作失败: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 获取线程日志
+     */
+    @GetMapping("/log/{key}")
+    public AjaxResult log(@PathVariable String key) {
+        // 如果key是"ALL"，则不进行关键词过滤，显示所有日志（除了堆栈合并逻辑外）
+        String target = "ALL".equals(key) ? null : key;
+        
+        // 日志路径，根据logback配置及实际环境确认
+        File file = new File("D:/home/ruoyi/logs/sys-info.log");
+        if (!file.exists()) {
+             return AjaxResult.error("日志文件不存在");
+        }
+        
+        LinkedList<String> lines = new LinkedList<>();
+        // 简单的日志行首匹配模式 (yyyy-MM-dd HH:mm:ss)
+        Pattern logStartPattern = Pattern.compile("^\\d{4}-\\d{2}-\\d{2}\\s+\\d{2}:\\d{2}:\\d{2}");
+        boolean isMatchingStack = false;
+        // 如果是查看所有日志，默认所有行都匹配，除非遇到新的日志行且我们想做更复杂的过滤（目前全显）
+        // 但为了支持堆栈合并，我们还是需要判断行首
+        
+        try (BufferedReader br = new BufferedReader(new InputStreamReader(new FileInputStream(file), "GBK"))) {
+            String line;
+            while ((line = br.readLine()) != null) {
+                boolean isLogStart = logStartPattern.matcher(line).find();
+                
+                if (target == null) {
+                     // 查看所有日志：直接添加，或者如果是异常日志查看模式可以在这里过滤
+                     // 暂时逻辑：全部添加
+                     lines.add(line);
+                } else {
+                    // 查看特定线程日志
+                    if (line.contains(target)) {
+                        isMatchingStack = true;
+                        lines.add(line);
+                    } else if (isLogStart) {
+                        isMatchingStack = false;
+                    } else if (isMatchingStack) {
+                        lines.add(line);
+                    }
+                }
+
+                // 限制行数，避免内存溢出，保留最后1000行
+                if (lines.size() > 1000) {
+                    lines.removeFirst();
+                }
+            }
+        } catch (Exception e) {
+            return AjaxResult.error("读取日志失败: " + e.getMessage());
+        }
+        
+        return AjaxResult.success(lines);
+    }
+
+    /**
+     * 获取异常日志
+     */
+    @GetMapping("/errorLog")
+    public AjaxResult errorLog() {
+        File file = new File("D:/home/ruoyi/logs/sys-error.log");
+        if (!file.exists()) {
+             // 如果没有单独的error log，尝试从info log中过滤ERROR级别? 
+             // 假设有 sys-error.log
+             return AjaxResult.error("异常日志文件不存在");
+        }
+        
+        LinkedList<String> lines = new LinkedList<>();
+        try (BufferedReader br = new BufferedReader(new InputStreamReader(new FileInputStream(file), "GBK"))) {
+            String line;
+            while ((line = br.readLine()) != null) {
+                lines.add(line);
+                if (lines.size() > 1000) {
+                    lines.removeFirst();
+                }
+            }
+        } catch (Exception e) {
+            return AjaxResult.error("读取日志失败: " + e.getMessage());
+        }
+        return AjaxResult.success(lines);
+    }
+}

ruoyi-admin/src/main/resources/application-druid.yml

@@ -6,7 +6,7 @@ spring:
         druid:
             #主数据信息
             master:
-                url: jdbc:sqlserver://172.16.2.170:1433;databaseName=FT542-wcs;
+                url: jdbc:sqlserver://192.168.10.200:1433;databaseName=FT542-wcs;
                 username: sa
                 password: Flrd0914.
             # 从库数据源

ruoyi-admin/src/main/resources/application.yml

@@ -68,7 +68,7 @@ spring:
   # redis 配置
   redis:
     # 地址
-    host: 172.16.2.170
+    host: 192.168.10.200
     # 端口，默认为6379
     port: 6379
     # 数据库索引

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

@@ -52,11 +52,11 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     </select>
     <select id="selectDeviceCdzListNoSRgvId" resultMap="DeviceCdzResult">
         <include refid="selectDeviceCdzVo"/>
-        where spare1 is null
+        where spare1 ='0'
     </select>
     <select id="selectDeviceCdzHasSRgvList" resultMap="DeviceCdzResult">
         <include refid="selectDeviceCdzVo"/>
-        where spare1 is not null
+        where spare1 &lt;&gt; '0'
     </select>
 
     <insert id="insertDeviceCdz" parameterType="DeviceCdz">

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

@@ -55,6 +55,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="theFloor != null  and theFloor != ''"> and the_floor = #{theFloor}</if>
             <if test="productId != null  and productId != ''"> and product_id = #{productId}</if>
             <if test="productName != null  and productName != ''"> and product_name like concat('%', #{productName}, '%')</if>
+            <if test="inOut != null  and inOut != '' and inOut == '1'"> and in_or_out &lt; 20 </if>
+            <if test="inOut != null  and inOut != '' and inOut == '2'"> and in_or_out >= 20</if>
         </where>
     </select>
 
@@ -262,6 +264,10 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     </select>
     <select id="selectOutJobList" resultMap="MydoJobResult">
         <include refid="selectMydoJobVo"/>
-        where status=1 and in_or_out >20 and the_floor =#{theFloor}
+        where status=1 and in_or_out >=20 and the_floor =#{theFloor}
+    </select>
+    <select id="selectInJobList" resultMap="MydoJobResult">
+        <include refid="selectMydoJobVo"/>
+        where status=3 and in_or_out &lt; 20 and the_floor =#{theFloor} and execution_phase=3
     </select>
 </mapper>

ruoyi-ui/src/api/schedule/thread.js

@@ -0,0 +1,73 @@
+import request from '@/utils/request'
+
+// 查询线程列表
+export function listThread() {
+  return request({
+    url: '/schedule/thread/list',
+    method: 'get'
+  })
+}
+
+// 启动线程
+export function startThread(key) {
+  return request({
+    url: '/schedule/thread/start/' + key,
+    method: 'post'
+  })
+}
+
+// 停止线程
+export function stopThread(key) {
+  return request({
+    url: '/schedule/thread/stop/' + key,
+    method: 'post'
+  })
+}
+
+// 获取日志
+export function getThreadLog(key) {
+  return request({
+    url: '/schedule/thread/log/' + key,
+    method: 'get'
+  })
+}
+
+// 启动全部线程
+export function startAllThread() {
+  return request({
+    url: '/schedule/thread/startAll',
+    method: 'post'
+  })
+}
+
+// 停止全部线程
+export function stopAllThread() {
+  return request({
+    url: '/schedule/thread/stopAll',
+    method: 'post'
+  })
+}
+
+// 启动分组线程
+export function startGroupThread(type) {
+  return request({
+    url: '/schedule/thread/startGroup/' + type,
+    method: 'post'
+  })
+}
+
+// 停止分组线程
+export function stopGroupThread(type) {
+  return request({
+    url: '/schedule/thread/stopGroup/' + type,
+    method: 'post'
+  })
+}
+
+// 获取异常日志
+export function getErrorLog() {
+  return request({
+    url: '/schedule/thread/errorLog',
+    method: 'get'
+  })
+}

ruoyi-ui/src/views/schedule/thread/index.vue

@@ -0,0 +1,331 @@
+<template>
+  <div class="app-container">
+    <!-- 全局控制卡片 -->
+    <el-card class="box-card" shadow="hover" style="margin-bottom: 20px;">
+      <div slot="header" class="clearfix">
+        <span style="font-weight: bold; font-size: 18px;"><i class="el-icon-setting"></i> 全局控制中心</span>
+      </div>
+      <el-row :gutter="20" type="flex" align="middle">
+        <el-col :span="7">
+          <div class="control-group">
+            <span class="control-label">系统总控：</span>
+            <el-button type="success" size="small" icon="el-icon-video-play" @click="handleStartAll">全部开启</el-button>
+            <el-button type="danger" size="small" icon="el-icon-video-pause" @click="handleStopAll">全部关闭</el-button>
+          </div>
+        </el-col>
+        <el-col :span="11" style="border-left: 1px solid #EBEEF5; border-right: 1px solid #EBEEF5;">
+          <div class="control-group" style="justify-content: space-evenly;">
+            <div style="display: flex; align-items: center;">
+              <span class="control-label"><i class="el-icon-cpu"></i> 通讯组：</span>
+              <el-button-group>
+                <el-button type="primary" size="mini" icon="el-icon-video-play" @click="handleStartGroup('read')">开启</el-button>
+                <el-button type="info" size="mini" icon="el-icon-video-pause" @click="handleStopGroup('read')">停止</el-button>
+              </el-button-group>
+            </div>
+
+            <el-divider direction="vertical" style="height: 20px;"></el-divider>
+
+            <div style="display: flex; align-items: center;">
+              <span class="control-label"><i class="el-icon-s-operation"></i> 调度组：</span>
+              <el-button-group>
+                <el-button type="primary" size="mini" icon="el-icon-video-play" @click="handleStartGroup('schedule')">开启</el-button>
+                <el-button type="info" size="mini" icon="el-icon-video-pause" @click="handleStopGroup('schedule')">停止</el-button>
+              </el-button-group>
+            </div>
+          </div>
+        </el-col>
+        <el-col :span="6">
+          <div class="control-group" style="justify-content: flex-end;">
+            <span class="control-label">日志：</span>
+            <el-button type="primary" plain size="small" icon="el-icon-document" @click="handleGlobalLog">系统日志</el-button>
+            <el-button type="danger" plain size="small" icon="el-icon-warning-outline" @click="handleErrorLog">异常日志</el-button>
+          </div>
+        </el-col>
+      </el-row>
+    </el-card>
+
+    <el-row :gutter="20">
+      <!-- 读取线程组 -->
+      <el-col :span="12">
+        <el-card class="box-card" shadow="hover">
+          <div slot="header" class="clearfix">
+            <span style="font-weight: bold; font-size: 16px;"><i class="el-icon-cpu"></i> PLC读取线程</span>
+            <el-tag size="small" type="info" style="float: right">硬件通信</el-tag>
+          </div>
+          <el-table v-loading="loading" :data="readThreads" size="small" :show-header="true">
+            <el-table-column label="线程名称" prop="name" :show-overflow-tooltip="true" />
+            <el-table-column label="状态" align="center" width="100">
+              <template slot-scope="scope">
+                <el-tag :type="scope.row.isRun ? 'success' : 'danger'" size="mini" effect="dark">
+                  {{ scope.row.isRun ? '运行中' : '已停止' }}
+                </el-tag>
+              </template>
+            </el-table-column>
+            <el-table-column label="操作" align="center" width="150">
+              <template slot-scope="scope">
+                <el-button size="mini" type="text" icon="el-icon-video-play" v-if="!scope.row.isRun" @click="handleStart(scope.row)">启动</el-button>
+                <el-button size="mini" type="text" icon="el-icon-video-pause" v-if="scope.row.isRun" @click="handleStop(scope.row)">停止</el-button>
+              </template>
+            </el-table-column>
+          </el-table>
+        </el-card>
+      </el-col>
+
+      <!-- 调度线程组 -->
+      <el-col :span="12">
+        <el-card class="box-card" shadow="hover">
+          <div slot="header" class="clearfix">
+            <span style="font-weight: bold; font-size: 16px;"><i class="el-icon-s-operation"></i> 调度控制线程</span>
+            <el-tag size="small" type="primary" style="float: right">业务逻辑</el-tag>
+          </div>
+          <el-table v-loading="loading" :data="scheduleThreads" size="small" :show-header="true">
+            <el-table-column label="线程名称" prop="name" :show-overflow-tooltip="true" />
+            <el-table-column label="状态" align="center" width="100">
+              <template slot-scope="scope">
+                <el-tag :type="scope.row.isRun ? 'success' : 'danger'" size="mini" effect="dark">
+                  {{ scope.row.isRun ? '运行中' : '已停止' }}
+                </el-tag>
+              </template>
+            </el-table-column>
+            <el-table-column label="操作" align="center" width="150">
+              <template slot-scope="scope">
+                <el-button size="mini" type="text" icon="el-icon-video-play" v-if="!scope.row.isRun" @click="handleStart(scope.row)">启动</el-button>
+                <el-button size="mini" type="text" icon="el-icon-video-pause" v-if="scope.row.isRun" @click="handleStop(scope.row)">停止</el-button>
+              </template>
+            </el-table-column>
+          </el-table>
+        </el-card>
+      </el-col>
+    </el-row>
+
+    <el-row :gutter="20" style="margin-top: 20px;">
+       <!-- 监控线程组 -->
+       <el-col :span="24">
+        <el-card class="box-card" shadow="hover">
+          <div slot="header" class="clearfix">
+            <span style="font-weight: bold; font-size: 16px;"><i class="el-icon-monitor"></i> 系统监控线程</span>
+            <el-tag size="small" type="warning" style="float: right">状态监控</el-tag>
+          </div>
+          <el-table v-loading="loading" :data="monitorThreads" size="small" :show-header="true">
+            <el-table-column label="线程名称" prop="name" :show-overflow-tooltip="true" />
+            <el-table-column label="标识" prop="key" :show-overflow-tooltip="true" />
+            <el-table-column label="状态" align="center" width="100">
+              <template slot-scope="scope">
+                <el-tag :type="scope.row.isRun ? 'success' : 'danger'" size="mini" effect="dark">
+                  {{ scope.row.isRun ? '运行中' : '已停止' }}
+                </el-tag>
+              </template>
+            </el-table-column>
+            <el-table-column label="操作" align="center" width="150">
+              <template slot-scope="scope">
+                <el-button size="mini" type="text" icon="el-icon-video-play" v-if="!scope.row.isRun" @click="handleStart(scope.row)">启动</el-button>
+                <el-button size="mini" type="text" icon="el-icon-video-pause" v-if="scope.row.isRun" @click="handleStop(scope.row)">停止</el-button>
+              </template>
+            </el-table-column>
+          </el-table>
+        </el-card>
+      </el-col>
+    </el-row>
+
+    <!-- 日志弹窗 -->
+    <el-dialog :title="logTitle" :visible.sync="openLog" width="800px" append-to-body>
+      <div class="log-container" v-loading="logLoading">
+        <pre v-if="logContent.length > 0">{{ logContent.join('\n') }}</pre>
+        <div v-else style="text-align: center; color: #909399; padding-top: 200px;">暂无日志</div>
+      </div>
+      <div slot="footer" class="dialog-footer">
+        <el-button type="primary" @click="refreshLog">刷 新</el-button>
+        <el-button @click="openLog = false">关 闭</el-button>
+      </div>
+    </el-dialog>
+  </div>
+</template>
+
+<script>
+import { listThread, startThread, stopThread, getThreadLog, startAllThread, stopAllThread, startGroupThread, stopGroupThread, getErrorLog } from "@/api/schedule/thread";
+
+export default {
+  name: "Thread",
+  data() {
+    return {
+      // 遮罩层
+      loading: true,
+      // 线程表格数据
+      threadList: [],
+      // 日志弹窗
+      openLog: false,
+      logTitle: "",
+      logLoading: false,
+      logContent: [],
+      logType: 'system', // system, error
+      currentLogKey: null // for refresh
+    };
+  },
+  computed: {
+      readThreads() {
+          return this.threadList.filter(item => item.type === 'read' || !item.type);
+      },
+      scheduleThreads() {
+          return this.threadList.filter(item => item.type === 'schedule');
+      },
+      monitorThreads() {
+          return this.threadList.filter(item => item.type === 'monitor');
+      }
+  },
+  created() {
+    this.getList();
+  },
+  methods: {
+    /** 查询线程列表 */
+    getList() {
+      this.loading = true;
+      listThread().then(response => {
+        this.threadList = response.data;
+        this.loading = false;
+      });
+    },
+    /** 启动按钮操作 */
+    handleStart(row) {
+      this.$confirm('确认要启动 "' + row.name + '" 吗?', "警告", {
+          confirmButtonText: "确定",
+          cancelButtonText: "取消",
+          type: "warning"
+        }).then(() => {
+          return startThread(row.key);
+        }).then(response => {
+          this.$modal.msgSuccess("启动指令已下发");
+          setTimeout(() => {
+             this.getList();
+          }, 1000);
+        }).catch(error => {
+          console.error("启动失败:", error);
+        });
+    },
+    /** 停止按钮操作 */
+    handleStop(row) {
+      this.$confirm('确认要停止 "' + row.name + '" 吗?', "警告", {
+          confirmButtonText: "确定",
+          cancelButtonText: "取消",
+          type: "warning"
+        }).then(() => {
+          return stopThread(row.key);
+        }).then(response => {
+          this.$modal.msgSuccess("停止指令已下发");
+          // 稍微延迟一下刷新，等待线程退出
+          setTimeout(() => {
+             this.getList();
+          }, 1000);
+        }).catch(error => {
+          console.error("停止失败:", error);
+        });
+    },
+    /** 一键开启所有 */
+    handleStartAll() {
+      this.$confirm('确认要启动所有线程吗?', "警告", {
+          confirmButtonText: "确定",
+          cancelButtonText: "取消",
+          type: "warning"
+        }).then(() => {
+          return startAllThread();
+        }).then(() => {
+          this.$modal.msgSuccess("操作成功");
+          setTimeout(() => { this.getList(); }, 2000);
+        });
+    },
+    /** 一键关闭所有 */
+    handleStopAll() {
+      this.$confirm('确认要停止所有线程吗?', "警告", {
+          confirmButtonText: "确定",
+          cancelButtonText: "取消",
+          type: "error"
+        }).then(() => {
+          return stopAllThread();
+        }).then(() => {
+          this.$modal.msgSuccess("操作成功");
+          setTimeout(() => { this.getList(); }, 2000);
+        });
+    },
+    /** 分组开启 */
+    handleStartGroup(type) {
+      startGroupThread(type).then(() => {
+        this.$modal.msgSuccess("操作成功");
+        setTimeout(() => { this.getList(); }, 1500);
+      });
+    },
+    /** 分组停止 */
+    handleStopGroup(type) {
+      stopGroupThread(type).then(() => {
+        this.$modal.msgSuccess("操作成功");
+        setTimeout(() => { this.getList(); }, 1500);
+      });
+    },
+    /** 系统日志 */
+    handleGlobalLog() {
+      this.logTitle = "系统运行日志";
+      this.logType = 'system';
+      this.currentLogKey = 'ALL';
+      this.openLog = true;
+      this.refreshLog();
+    },
+    /** 异常日志 */
+    handleErrorLog() {
+      this.logTitle = "系统异常日志";
+      this.logType = 'error';
+      this.openLog = true;
+      this.refreshLog();
+    },
+    refreshLog() {
+      this.logLoading = true;
+      if (this.logType === 'system') {
+        getThreadLog(this.currentLogKey).then(response => {
+          this.logContent = response.data;
+          this.logLoading = false;
+          this.$nextTick(() => {
+              const container = this.$el.querySelector('.log-container');
+              if (container) container.scrollTop = container.scrollHeight;
+          });
+        });
+      } else {
+        getErrorLog().then(response => {
+          this.logContent = response.data;
+          this.logLoading = false;
+          this.$nextTick(() => {
+              const container = this.$el.querySelector('.log-container');
+              if (container) container.scrollTop = container.scrollHeight;
+          });
+        });
+      }
+    }
+  }
+};
+</script>
+<style scoped>
+.log-container {
+  height: 500px;
+  overflow-y: auto;
+  background-color: #f5f7fa;
+  padding: 10px;
+  border: 1px solid #e4e7ed;
+  border-radius: 4px;
+}
+pre {
+  white-space: pre-wrap;
+  word-wrap: break-word;
+  font-family: Consolas, Monaco, monospace;
+  font-size: 12px;
+  margin: 0;
+}
+.box-card {
+    height: 100%;
+}
+.control-group {
+  display: flex;
+  align-items: center;
+  height: 40px;
+}
+.control-label {
+  font-weight: bold;
+  margin-right: 10px;
+  color: #606266;
+}
+</style>