2026.2.9 小车避让

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

@@ -2,6 +2,7 @@ package com.ruoyi.bas.cargospace.mapper;
 
 import java.util.List;
 import com.ruoyi.bas.cargospace.domain.BasCargoSpace;
+import org.apache.ibatis.annotations.Param;
 
 /**
  * 库存信息Mapper接口
@@ -60,4 +61,8 @@ public interface BasCargoSpaceMapper
     public int deleteBasCargoSpaceByCargoSpaceIds(String[] cargoSpaceIds);
 
     BasCargoSpace selectBasCargoSpaceByWmsCargoSpaceId(String cargoSpaceId);
+
+    String selecGroupCodingBySite(@Param("currSite") String currSite);
+
+    String selectMaxSiteIdByNo(@Param("siteId") String groupCodingNo);
 }

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

@@ -60,4 +60,8 @@ public interface IBasCargoSpaceService
     public int deleteBasCargoSpaceByCargoSpaceId(String cargoSpaceId);
 
     BasCargoSpace selectBasCargoSpaceByWmsCargoSpaceId(String cargoSpaceId);
+
+    String selecGroupCodingBySite(String currSite);
+
+    String selectMaxSiteIdByNo(String groupCodingNo);
 }

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

@@ -95,4 +95,14 @@ public class BasCargoSpaceServiceImpl implements IBasCargoSpaceService
     public BasCargoSpace selectBasCargoSpaceByWmsCargoSpaceId(String cargoSpaceId) {
         return basCargoSpaceMapper.selectBasCargoSpaceByWmsCargoSpaceId(cargoSpaceId);
     }
+
+    @Override
+    public String selectMaxSiteIdByNo(String groupCodingNo) {
+        return basCargoSpaceMapper.selectMaxSiteIdByNo(groupCodingNo);
+    }
+
+    @Override
+    public String selecGroupCodingBySite(String currSite) {
+        return basCargoSpaceMapper.selecGroupCodingBySite(currSite);
+    }
 }

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

@@ -142,7 +142,9 @@ 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/mapper/DeviceSrgvMapper.java

@@ -2,6 +2,7 @@ package com.ruoyi.device.srgv.mapper;
 
 import java.util.List;
 import com.ruoyi.device.srgv.domain.DeviceSrgv;
+import org.apache.ibatis.annotations.Param;
 
 /**
  * 四向小车设备表Mapper接口
@@ -58,4 +59,6 @@ public interface DeviceSrgvMapper
      * @return 结果
      */
     public int deleteDeviceSrgvByGuids(String[] guids);
+
+    int updateLastTimeByAgvId(@Param("agvId") String agvId);
 }

ruoyi-admin/src/main/java/com/ruoyi/device/srgv/service/IDeviceSrgvService.java

@@ -58,4 +58,6 @@ public interface IDeviceSrgvService
      * @return 结果
      */
     public int deleteDeviceSrgvByGuid(String guid);
+
+    int updateLastTimeByAgvId(String agvId);
 }

ruoyi-admin/src/main/java/com/ruoyi/device/srgv/service/impl/DeviceSrgvServiceImpl.java

@@ -79,6 +79,11 @@ public class DeviceSrgvServiceImpl implements IDeviceSrgvService
         return deviceSrgvMapper.deleteDeviceSrgvByGuids(guids);
     }
 
+    @Override
+    public int updateLastTimeByAgvId(String agvId) {
+        return deviceSrgvMapper.updateLastTimeByAgvId(agvId);
+    }
+
     /**
      * 删除四向小车设备表信息
      * 

ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/mapper/WcsSrgvQueueMapper.java

@@ -25,6 +25,11 @@ public interface WcsSrgvQueueMapper
 
     public WcsSrgvQueue selectWcsSrgvQueueByAgvId(String agvId);
 
+    public WcsSrgvQueue selectWcsSrgvQueueByFloor(String theFloor);
+
+
+
+
 
     /**
      * 查询四向小车任务队列列表

ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/IWcsSrgvQueueService.java

@@ -24,6 +24,8 @@ public interface IWcsSrgvQueueService
 
     public WcsSrgvQueue selectWcsSrgvQueueByAgvId(String agvId);
 
+    public WcsSrgvQueue selectWcsSrgvQueueByFloor(String theFloor);
+
 
 
 

ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/impl/WcsSrgvQueueServiceImpl.java

@@ -50,7 +50,10 @@ public class WcsSrgvQueueServiceImpl implements IWcsSrgvQueueService
         return wcsSrgvQueueMapper.selectWcsSrgvQueueByAgvId(agvId);
     }
 
-
+    @Override
+    public WcsSrgvQueue selectWcsSrgvQueueByFloor(String theFloor) {
+        return wcsSrgvQueueMapper.selectWcsSrgvQueueByFloor(theFloor);
+    }
 
     /**
      * 查询四向小车任务队列列表

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

@@ -79,6 +79,11 @@ public class PlcSrgvRead implements Runnable {
         if (read1.IsSuccess) {
             setValueByByte1(read1.Content, deviceSrgv);
         }
+        //读取二段任务 小车是否接收完成1段作业
+        OperateResultExOne<byte[]> read3 = modbusTcpNet.Read("1000", (short) 2);//2400-2414
+        if (read3.IsSuccess) {
+            setValueByByte3(read3.Content, deviceSrgv);
+        }
 
         //读取双字
         OperateResultExOne<byte[]> read2 = modbusTcpNet.Read("4060", (short) 8);// 4800-4807任务号、原点、目标点、当前
@@ -118,6 +123,12 @@ public class PlcSrgvRead implements Runnable {
 
     }
 
+    //单字
+    private void setValueByByte3(byte[] content, DeviceSrgv agvData) {
+//        agvData.setTaskType(0);
+        agvData.setSpare5(String.valueOf(Convert.toInt(byteTransform.TransInt16(content, 0))));
+    }
+
     private void setValueByByte2(byte[] content, DeviceSrgv agvData) {
         byteTransform.setDataFormat(DataFormat.CDAB);
         // TODO 注意双字反转

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

@@ -5,6 +5,7 @@ import cn.hutool.core.date.DateUnit;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjUtil;
+import com.ruoyi.common.domain.SendData;
 import com.ruoyi.common.utils.spring.SpringUtils;
 import com.ruoyi.device.cdz.domain.DeviceCdz;
 import com.ruoyi.device.cdz.service.IDeviceCdzService;
@@ -16,11 +17,14 @@ import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
 import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService;
 import com.ruoyi.schedule.plcRead.cdz.PlcCdzRead;
 import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;
+import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
+import com.ruoyi.schedule.plcRead.util.Tools;
 import lombok.extern.slf4j.Slf4j;
 
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Optional;
+import java.util.UUID;
 import java.util.stream.Collectors;
 
 @Slf4j
@@ -48,10 +52,10 @@ public class CdzThread implements Runnable {
         init();
         while (isRun) {
             try {
-                 dispatch();
+                dispatch();
                 Thread.sleep(1500);
-            }catch (Exception e){
+            } catch (Exception e) {
-                log.error(e.getMessage(),e);
+                log.error(e.getMessage(), e);
             }
 
 
@@ -106,20 +110,26 @@ public class CdzThread implements Runnable {
 
             for (SrgvChargingJob srgvChargingJob : srgvChargingJobs) {
                 if ("0".equals(srgvChargingJob.getChargingStatus())) {
-                    int i = PlcCdzRead.WriteToCdz("", null);
+                    String chargingSite = srgvChargingJob.getChargingSite();
+                    DeviceCdz deviceCdz = new DeviceCdz();
+                    deviceCdz.setSiteId(chargingSite);
+                    List<DeviceCdz> deviceCdzs = deviceCdzService.selectDeviceCdzList(deviceCdz);
+                    String plcDbWriteAddress = deviceCdzs.get(0).getPlcDbWriteAddress();
+                    SendData qxSendData = new SendData(Tools.INT, 1);
+                    byte[] bytes = Tools.sendData(qxSendData);
+                    int i = PlcCdzRead.WriteToCdz(plcDbWriteAddress, bytes);
                     if (i == 1) {
                         srgvChargingJob.setChargingStatus("2");
                         srgvChargingJob.setChargingDate(DateUtil.formatDateTime(DateUtil.date()));
                         chargingJobService.updateSrgvChargingJob(srgvChargingJob);
                     }
                 }
-
             }
 
         }
 
 
-        //生成断电任务  有任务且电量大于50
+        //生成断电任务  有任务且电量大于50   todo 代码无效
         WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
         wcsSrgvQueueParam.setIssued("0");
         List<WcsSrgvQueue> wcsSrgvQueues = wcsSrgvQueueService.selectWcsSrgvQueueList(wcsSrgvQueueParam);
@@ -157,17 +167,25 @@ public class CdzThread implements Runnable {
         List<SrgvChargingJob> srgvChargingJobDds = chargingJobService.selectSrgvChargingJobList(srgvChargingJobDdParam);
         if (CollUtil.isNotEmpty(srgvChargingJobDds)) {
 
-            for (SrgvChargingJob srgvChargingJob : srgvChargingJobs) {
+            for (SrgvChargingJob srgvChargingJob : srgvChargingJobDds) {
                 if ("0".equals(srgvChargingJob.getChargingStatus())) {
-                    int i = PlcCdzRead.WriteToCdz("", null);
+                    String chargingSite = srgvChargingJob.getChargingSite();
+                    DeviceCdz deviceCdz = new DeviceCdz();
+                    deviceCdz.setSiteId(chargingSite);
+                    List<DeviceCdz> deviceCdzs = deviceCdzService.selectDeviceCdzList(deviceCdz);
+                    String plcDbWriteAddress = deviceCdzs.get(0).getPlcDbWriteAddress();
+                    SendData qxSendData = new SendData(Tools.INT, 0);
+                    byte[] bytes = Tools.sendData(qxSendData);
+                    int i = PlcCdzRead.WriteToCdz(plcDbWriteAddress, bytes);
                     if (i == 1) {
                         srgvChargingJob.setChargingStatus("1");
                         srgvChargingJob.setChargingDate(DateUtil.formatDateTime(DateUtil.date()));
                         chargingJobService.updateSrgvChargingJob(srgvChargingJob);
-
                         //插入历史
                         chargingJobService.insertHistory(srgvChargingJob.getGuid());
                         chargingJobService.deleteSrgvChargingJobByGuid(srgvChargingJob.getGuid());
+                        deviceCdzs.get(0).setSpare1(null);
+                        deviceCdzService.updateDeviceCdz(deviceCdzs.get(0));
                     }
                 }
 
@@ -179,7 +197,6 @@ public class CdzThread implements Runnable {
 
     /**
      * 创建充电任务
-     *
      */
     private void createChargingInJob(List<DeviceSrgv> srgvList) {
         srgvList.sort((o1, o2) -> o2.getBattery() - o1.getBattery());
@@ -207,7 +224,7 @@ public class CdzThread implements Runnable {
                         //生成充电任务
                         SrgvChargingJob srgvChargingJobParam = new SrgvChargingJob();
                         srgvChargingJobParam.setAgvId(deviceSrgv.getDeviceId().toString());
-                        srgvChargingJobParam.setChargingSite(cdz.getSiteId());
+                        srgvChargingJobParam.setChargingSite("08020" + cdz.getSzcs());
                         srgvChargingJobParam.setChargingId(cdz.getId().toString());
                         List<SrgvChargingJob> wcsChargingJobs = chargingJobService.selectSrgvChargingJobList(srgvChargingJobParam);
                         if (CollUtil.isEmpty(wcsChargingJobs)) {
@@ -219,8 +236,10 @@ public class CdzThread implements Runnable {
                             scj.setStartDate(DateUtil.now());
                             scj.setJobType("1");//到充电桩
                             scj.setAgvId(deviceSrgv.getDeviceId().toString());
-                            scj.setChargingId(deviceSrgv.getDeviceId().toString());
+                            scj.setChargingId(cdz.getId().toString());
                             chargingJobService.insertSrgvChargingJob(scj);
+                            cdz.setSpare1(deviceSrgv.getDeviceId().toString());
+                            deviceCdzService.updateDeviceCdz(cdz);
                         }
                     }
                 }
@@ -230,28 +249,39 @@ public class CdzThread implements Runnable {
 
     /**
      * 创建充电任务
-     *
      */
     private void createChargingOutJob(DeviceSrgv deviceSrgv, DeviceCdz cdz) {
         SrgvChargingJob srgvChargingJobParam = new SrgvChargingJob();
         srgvChargingJobParam.setAgvId(deviceSrgv.getDeviceId().toString());
         srgvChargingJobParam.setChargingSite(cdz.getSiteId());
         srgvChargingJobParam.setChargingId(cdz.getId().toString());
+        srgvChargingJobParam.setJobType("1");
         List<SrgvChargingJob> srgvChargingJobs = chargingJobService.selectSrgvChargingJobList(srgvChargingJobParam);
-        if (CollUtil.isNotEmpty(srgvChargingJobs)) {
+
+        SrgvChargingJob srgvChargingJobParamOut = new SrgvChargingJob();
+        srgvChargingJobParamOut.setAgvId(deviceSrgv.getDeviceId().toString());
+        srgvChargingJobParamOut.setChargingSite(cdz.getSiteId());
+        srgvChargingJobParamOut.setChargingId(cdz.getId().toString());
+        srgvChargingJobParamOut.setJobType("2");
+        List<SrgvChargingJob> srgvChargingJobOut = chargingJobService.selectSrgvChargingJobList(srgvChargingJobParamOut);
+
+        if (CollUtil.isNotEmpty(srgvChargingJobs)&&CollUtil.isEmpty(srgvChargingJobOut)) {
             SrgvChargingJob scj = srgvChargingJobs.get(0);
 
             //插入历史
             chargingJobService.insertHistory(scj.getGuid());
+            chargingJobService.deleteSrgvChargingJobByGuid(scj.getGuid());
 
             scj.setChargingSite(cdz.getSiteId());
+            scj.setGuid(IdUtil.fastSimpleUUID());
             scj.setJobStatus("1");
             scj.setChargingStatus("0");
             scj.setStartDate(DateUtil.now());
             scj.setJobType("2");//到充电桩
             scj.setAgvId(deviceSrgv.getDeviceId().toString());
-            scj.setChargingId(deviceSrgv.getDeviceId().toString());
+            scj.setChargingId(String.valueOf(cdz.getId()));
             chargingJobService.insertSrgvChargingJob(scj);
+
         }
     }
 

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

@@ -7,6 +7,7 @@ import cn.hutool.core.util.ObjUtil;
 import cn.hutool.core.util.StrUtil;
 import com.ruoyi.api.domain.RequestLog;
 import com.ruoyi.api.service.IApiService;
+import com.ruoyi.bas.cargospace.service.IBasCargoSpaceService;
 import com.ruoyi.bas.port.service.IWcsPortService;
 import com.ruoyi.bas.srgvmap.domain.WcsSrgvMap;
 import com.ruoyi.bas.srgvmap.service.IWcsSrgvMapService;
@@ -16,6 +17,7 @@ import com.ruoyi.common.domain.CustomThread;
 import com.ruoyi.common.domain.SendData2;
 import com.ruoyi.common.utils.spring.SpringUtils;
 import com.ruoyi.device.srgv.domain.DeviceSrgv;
+import com.ruoyi.device.srgv.service.IDeviceSrgvService;
 import com.ruoyi.job.charg.domain.SrgvChargingJob;
 import com.ruoyi.job.charg.service.ISrgvChargingJobService;
 import com.ruoyi.job.domain.JobCallBack;
@@ -60,6 +62,11 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
     private IApiService apiService;
     private JobCallBackServiceImpl jobCallBackService;
 
+    private IBasCargoSpaceService basCargoSpaceService;
+
+    public IDeviceSrgvService deviceSrgvService;
+    private int taskCache = 450001;
+
     public void init() {
         sRgvCodeList = new HashMap<>();
         ArrayList<String> sRgvCodes = new ArrayList<>();
@@ -77,6 +84,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
         roadCacheService = SpringUtils.getBean(RoadCacheService.class);
         apiService = SpringUtils.getBean(IApiService.class);
         jobCallBackService = SpringUtils.getBean(JobCallBackServiceImpl.class);
+        basCargoSpaceService = SpringUtils.getBean(IBasCargoSpaceService.class);
+        deviceSrgvService = SpringUtils.getBean(IDeviceSrgvService.class);
+        mydoJobService = SpringUtils.getBean(IMydoJobService.class);
     }
 
     @Override
@@ -102,7 +112,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             // 充电任务
                             inCharging(deviceSrgv);
                             // 充电完成调离
-                            outCharging(deviceSrgv);
+//                            outCharging(deviceSrgv);
 
                         } else {
                             log.error("小车设备为空");
@@ -168,13 +178,15 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 WcsSrgvMap wcsSrgvMap = wcsSrgvMapService.selectWcsSrgvMapBySiteId(chargingSite);
                 if (wcsSrgvMap.getTheLayer().equals(deviceSrgv.getCurrFloor())) {
                     wcsSrgvQueue.setEndSite(chargingSite);
+                    wcsSrgvQueue.setDefault02("3");
                 } else {
                     wcsSrgvQueue.setEndSite("tsj");
+                    wcsSrgvQueue.setDefault02("8");
                 }
+                wcsSrgvQueue.setTaskNo("9999");
                 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.setDefault07(Convert.toStr(wcsSrgvMap.getZ()));
                 wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
             }
@@ -213,6 +225,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
                 List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
                         .filter(deviceSrgv -> deviceSrgv.getWorkMode() == 5)
+                        .filter(deviceSrgv -> deviceSrgv.getBattery() > 30)
                         .sorted((d1, d2) -> Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d2.getCurrFloor())
                                 - Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d1.getCurrFloor()))
                         .collect(Collectors.toList());
@@ -227,17 +240,20 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
                             if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
                                 deviceSrgv = deviceSrgv1;
-                                break;
                             }
                         }
                     }
                     if (deviceSrgv != null) {
                         WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
-                        if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1) {
+                        WcsSrgvQueue wcsSrgvQueue4 = wcsSagvQueueMapper.selectWcsSrgvQueueByFloor(mydoJob1.getTheFloor());
+
+                        if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1 && wcsSrgvQueue4 == null) {
                             //查询小车是否为取货楼层
                             String endSite = "";
                             String issued = "0";
                             String executionStatus = "1";
+                            String default08 = "";//是否二段任务标识
+                            String default06 = "";
                             WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
                             wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId());
                             List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
@@ -248,6 +264,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             if (Objects.equals(deviceSrgv.getCurrFloor(), wcsSrgvMaps.get(0).getPlcLayer())) {
                                 //终点是巷道口到位输送线
                                 endSite = cargoPickSite;
+                                //生成队列时插入二段下发标识和第二段任务终点
+                                String groupCodingNo = basCargoSpaceService.selecGroupCodingBySite(endSite);
+                                String siteId = basCargoSpaceService.selectMaxSiteIdByNo(groupCodingNo);
+                                if (!endSite.equals(siteId) && !deviceSrgv.getCurrSite().equals(endSite)) {
+                                    default08 = "1";
+                                    default06 = siteId;
+                                }
                                 if (cargoPickSite.equals(deviceSrgv.getCurrSite())) {
                                     issued = "1";
                                     executionStatus = "3";
@@ -299,8 +322,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                             wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
                                         }
                                     }
-
-
                                 }
                             }
 
@@ -322,16 +343,20 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             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("4");
+                            if (endSite.equals("tsj")) {
-                            wcsSrgvQueue.setDefault07("1");
+                                wcsSrgvQueue.setDefault02("8");
+                            } else {
+                                wcsSrgvQueue.setDefault02("4");
+                            }
+                            String cargoSpaceId = mydoJob1.getCargoSpaceId();
+                            String tarFloor = cargoSpaceId.substring(5, 6);
+                            wcsSrgvQueue.setDefault07(tarFloor);
+                            wcsSrgvQueue.setDefault08(default08);
+                            wcsSrgvQueue.setDefault06(default06);
                             wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
-
                         }
                     }
-
                 }
-
-
             }
         }
     }
@@ -355,20 +380,26 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
                 List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
                         .filter(deviceSrgv -> deviceSrgv.getWorkMode() == 5)
+                        .filter(deviceSrgv -> deviceSrgv.getBattery() > 30)
                         .filter(deviceSrgv -> deviceSrgv.getCurrFloor() > 0)
                         .sorted((d1, d2) -> d2.getCurrFloor().compareTo(d1.getCurrFloor()))
                         .collect(Collectors.toList());
+
+                log.info("list:{}", deviceSrgvList);
+
                 if (!deviceSrgvList.isEmpty()) {
                     DeviceSrgv deviceSrgv = null;
                     for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
                         if (deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
                             deviceSrgv = deviceSrgv1;
+                            log.info("楼层相等：{}", deviceSrgv);
                             break; // 找到了相同楼层的直接选它
                         } else {
                             WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
                             if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
                                 deviceSrgv = deviceSrgv1; // 更新为更小楼层的小车
-                                break;
+                                log.info("楼层bu相等:{}", deviceSrgv);
+
                             }
                         }
                     }
@@ -376,7 +407,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                     if (deviceSrgv != null) {
 
                         WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
-                        if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1) {
+                        WcsSrgvQueue wcsSrgvQueue4 = wcsSagvQueueMapper.selectWcsSrgvQueueByFloor(mydoJob1.getTheFloor());
+
+                        if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1 && wcsSrgvQueue4 == null) {
 
                             //查询小车是否为1楼,且1楼小车不在入库站点
                             String endSite = "";
@@ -469,7 +502,11 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                             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("4");
+                            if (endSite.equals("tsj")) {
+                                wcsSrgvQueue.setDefault02("8");
+                            } else {
+                                wcsSrgvQueue.setDefault02("4");
+                            }
                             wcsSrgvQueue.setDefault07("1");
                             wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
 
@@ -529,6 +566,72 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 }
             }
         }
+//        if (wcsSrgvQueue.getDefault02().equals("8")){
+//            endSite="07050"+deviceSrgv.getCurrFloor();
+//        }
+        //
+        String endBlockAgv = null;
+        DeviceSrgv endBlockDevice = null;
+        // TODO 通过arrByRoadSite 中的站点 查询是否存在其他车的站点，如果存在则生成其他车到避让点的队列
+        if (arrByRoadSite != null && !arrByRoadSite.isEmpty()) {
+            // 将arrByRoadSite转为String类型的Set（统一类型，方便匹配）
+            Set<String> roadSiteSet = arrByRoadSite.keySet().stream()
+                    .filter(Objects::nonNull) // 过滤集合中的null值
+                    .map(Object::toString)    // 转为字符串，适配站点类型
+                    .collect(Collectors.toSet());
+
+            // 2. Stream流式处理deviceSrgvMap
+            Optional<Map.Entry<String, DeviceSrgv>> targetEntry = PlcSrgvRead.deviceSrgvMap.entrySet().stream()
+                    .filter(entry -> entry.getValue() != null) // 过滤other为null的条目
+                    // 条件1：other的当前站点存在于roadSiteSet中
+                    .filter(entry -> roadSiteSet.contains(entry.getValue().getCurrSite()))
+                    // 条件2：设备ID不等于当前entry的key
+                    .filter(entry -> !Objects.equals(Convert.toStr(deviceSrgv.getDeviceId()), entry.getKey()))
+                    .findFirst(); // 找到第一个符合条件的条目（等价于原代码的break）
+
+            // 3. 处理结果（若找到则赋值）
+            if (targetEntry.isPresent()) {
+                endBlockAgv = targetEntry.get().getKey();
+                endBlockDevice = targetEntry.get().getValue();
+            }
+        }
+
+        WcsSrgvQueue wcsSrgvQueueBR = new WcsSrgvQueue();
+        wcsSrgvQueueBR.setAgvId(endBlockAgv);
+        List<WcsSrgvQueue> wcsSrgvQueueBRS = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueBR);
+        if (endBlockDevice != null && wcsSrgvQueueBRS.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("1");      // 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.setCargoPickSite(endBlockDevice.getCurrSite());
+            taskB.setCargoPlaceSite("05020"+endBlockDevice.getCurrFloor());
+            taskB.setEndSite("05020"+endBlockDevice.getCurrFloor());
+            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, "02050"+endBlockDevice.getCurrFloor());
+            // 当前车等待下一轮调度（待阻挡车移开后自然可达）
+            return false;
+        }
+
         //处理地图
         int[][] emptyMap = roadCacheService.handleMap(arrByRoadSite, deviceSrgv);
 
@@ -563,7 +666,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                 break;
                             }
                         }
-
                     }
                 }
                 if ("4".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPickSite())) {
@@ -634,62 +736,176 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
             }
         }
         if (("tsj").equals(endSite)) {
-            endSite = "09050" + wcsSrgvQueue.getTheFloor();
+            if (wcsSrgvQueue.getDefault02().equals("8")) {
+                endSite = extractTarget(String.valueOf(pathBuilder));
+            } else {
+                endSite = "09050" + wcsSrgvQueue.getTheFloor();
+            }
         }
 //        if (("tsj").equals(startSite)) {
 //            endSite = "09050" + wcsSrgvQueue.getTheFloor();
 //        }
-        List<SendData2> sendDataList = new ArrayList<>();
+        List<SendData2> sendDataList = null;
-        if (!trun.isEmpty()) {
+        if (StrUtil.isEmpty(wcsSrgvQueue.getDefault08())) {
-            SendData2 path = new SendData2();
+            sendDataList = new ArrayList<>();
-            path.setAddress("4004");//地址
+            if (!trun.isEmpty()) {
-            path.setData(startSite + "," + endSite + "," + turnBuilder);
+                SendData2 path = new SendData2();
-            path.setType(2);
+                path.setAddress("4004");//地址
-            sendDataList.add(path);
+                path.setData(startSite + "," + endSite + "," + turnBuilder);
+                path.setType(2);
+                sendDataList.add(path);
+            } else {
+                SendData2 path = new SendData2();
+                path.setAddress("4004");//地址
+                path.setData(startSite + "," + endSite + ",0,0,0,0,0,0");
+                path.setType(2);
+                sendDataList.add(path);
+            }
+
+            //任务号、原、目标数据转换
+            String siteId = wcsSrgvQueue.getTaskNo();//+ "," + startSite + "," + endSite;
+            SendData2 site = new SendData2();
+            site.setAddress("4000");
+            site.setData(siteId);
+            site.setType(2);
+            sendDataList.add(site);
+
+            //任务类型转换
+            SendData2 taskType = new SendData2();
+            taskType.setAddress("4002");
+            taskType.setData(wcsSrgvQueue.getDefault02());
+            taskType.setType(1);
+            sendDataList.add(taskType);
+
+            //下发标志转换
+            SendData2 flag = new SendData2();
+            flag.setAddress("4021");
+            flag.setData("1");
+            flag.setType(1);
+            sendDataList.add(flag);
+
+            if (wcsSrgvQueue.getDefault02().equals("8")) {
+                //换层标志
+                SendData2 hcbz = new SendData2();
+                hcbz.setAddress("4020");
+                hcbz.setData("1");
+                hcbz.setType(1);
+                sendDataList.add(hcbz);
+
+                //换层目标层
+                SendData2 hcmbc = new SendData2();
+                hcmbc.setAddress("4022");
+                hcmbc.setData(wcsSrgvQueue.getDefault07());
+                hcmbc.setType(1);
+                sendDataList.add(hcmbc);
+
+            }
+
         } else {
-            SendData2 path = new SendData2();
+            if (wcsSrgvQueue.getDefault08().equals("1")) {
-            path.setAddress("4004");//地址
+                sendDataList = new ArrayList<>();
-            path.setData(startSite + "," + endSite);
+                if (!trun.isEmpty()) {
-            path.setType(2);
+                    SendData2 path = new SendData2();
-            sendDataList.add(path);
+                    path.setAddress("4404");//地址
+                    path.setData(startSite + "," + endSite + "," + turnBuilder);
+                    path.setType(2);
+                    sendDataList.add(path);
+                } else {
+                    SendData2 path = new SendData2();
+                    path.setAddress("4404");//地址
+                    path.setData(startSite + "," + endSite + ",0,0,0,0,0,0");
+                    path.setType(2);
+                    sendDataList.add(path);
+                }
+
+                //下发标志转换
+                SendData2 flag = new SendData2();
+                flag.setAddress("4422");
+                flag.setData("1");
+                flag.setType(1);
+                sendDataList.add(flag);
+
+                //任务类型转换
+                SendData2 taskType = new SendData2();
+                taskType.setAddress("4402");
+                taskType.setData(wcsSrgvQueue.getDefault02());
+                taskType.setType(1);
+                sendDataList.add(taskType);
+
+            }
+
+            if (wcsSrgvQueue.getDefault08().equals("2") && deviceSrgv.getSpare5().equals("1")) {
+                sendDataList = new ArrayList<>();
+                SendData2 path = new SendData2();
+                path.setAddress("4404");//地址
+                path.setData(endSite + "," + wcsSrgvQueue.getDefault06() + ",0,0,0,0,0,0");
+                path.setType(2);
+                sendDataList.add(path);
+
+                //下发标志转换
+                SendData2 flag = new SendData2();
+                flag.setAddress("4422");
+                flag.setData("2");
+                flag.setType(1);
+                sendDataList.add(flag);
+
+                //多段任务完成标志
+                SendData2 wcjs = new SendData2();
+                wcjs.setAddress("4423");
+                wcjs.setData("99");
+                wcjs.setType(1);
+                sendDataList.add(wcjs);
+
+                //任务类型转换
+                SendData2 taskType = new SendData2();
+                taskType.setAddress("4402");
+                taskType.setData("7");
+                taskType.setType(1);
+                sendDataList.add(taskType);
+
+            }
+            //任务号、原、目标数据转换
+            String siteId = wcsSrgvQueue.getTaskNo();//+ "," + startSite + "," + endSite;
+            SendData2 site = new SendData2();
+            site.setAddress("4400");
+            site.setData(siteId);
+            site.setType(2);
+            sendDataList.add(site);
+
+
         }
 
-
-        //任务号、原、目标数据转换
-        String siteId = wcsSrgvQueue.getTaskNo();//+ "," + startSite + "," + endSite;
-        SendData2 site = new SendData2();
-        site.setAddress("4000");
-        site.setData(siteId);
-        site.setType(2);
-        sendDataList.add(site);
-
-        //任务类型转换
-        SendData2 taskType = new SendData2();
-        taskType.setAddress("4002");
-        taskType.setData(wcsSrgvQueue.getDefault02());
-        taskType.setType(1);
-        sendDataList.add(taskType);
-
-        //下发标志转换
-        SendData2 flag = new SendData2();
-        flag.setAddress("4021");
-        flag.setData("1");
-        flag.setType(1);
-        sendDataList.add(flag);
-
         //下发数据
         boolean b = sendCarTask(sendDataList, deviceSrgv);
         if (b) {
             wcsSrgvQueue.setPathInfo(pathBuilder.toString());
             wcsSrgvQueue.setTrunPath(turnBuilder.toString());
-            wcsSrgvQueue.setIssued("1");
+            if (wcsSrgvQueue.getDefault08() == null || !wcsSrgvQueue.getDefault08().equals("1")) {
+                wcsSrgvQueue.setIssued("1");
+            }
             wcsSrgvQueue.setExecutionStatus("3");
+            if (wcsSrgvQueue.getDefault08() != null && wcsSrgvQueue.getDefault08().equals("1")) {
+                wcsSrgvQueue.setDefault08("2");
+            } else {
+                wcsSrgvQueue.setDefault08("");
+//                wcsSrgvQueue.setDefault06("");
+            }
             wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
-            MydoJob mydoJob = new MydoJob();
+            MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
-            mydoJob.setTaskNo(wcsSrgvQueue.getTaskNo());
+            //换层任务不修改执行阶段
-            mydoJob.setExecutionPhase("3");
+            if (!wcsSrgvQueue.getDefault02().equals("8") && !wcsSrgvQueue.getDefault02().equals("3")) {
-            mydoJob.setStatus("3");
+                mydoJob.setExecutionPhase("3");
-            mydoJobService.updateMydoJob(mydoJob);
+                mydoJob.setStatus("3");
+                mydoJobService.updateMydoJob(mydoJob);
+            }
+            // 充电修改 srgvchaningjob
+            if (wcsSrgvQueue.getDefault02().equals("3")) {
+                SrgvChargingJob srgvChargingJob = new SrgvChargingJob();
+                srgvChargingJob.setJobStatus("3");
+                srgvChargingJob.setAgvId(wcsSrgvQueue.getAgvId());
+                srgvChargingJobMapper.updateSrgvChargingJob(srgvChargingJob);
+
+            }
             return true;
         } else {
             log.error("小车下发失败 taskNo:{}", wcsSrgvQueue.getTaskNo());
@@ -708,11 +924,21 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 // 空车任务（充电、换层、手动点到点、除尘等）
                 sendFlag = sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite);
                 break;
-            case "1":
+            case "8":
+                sendFlag = sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite);
+                break;
             case "2":
                 // 载货任务（出库、入库、移库等）
                 sendFlag = sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite);
                 break;
+            case "1":
+                // 载货任务（出库、入库、移库等）
+                sendFlag = sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite);
+                break;
+            case "3":
+                // 载货任务（出库、入库、移库等）
+                sendFlag = sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite);
+                break;
         }
 
         if (sendFlag) {
@@ -805,18 +1031,30 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
      * 小车完成队列
      */
     private void completeCarTask(DeviceSrgv deviceSrgv) {
-        //联机自动
+
-        if (deviceSrgv.getWorkMode() == 5) {
+
-            if (deviceSrgv.getStatus() == 1) {
+        if (deviceSrgv.getWorkMode() == 5) {  //联机自动
+            if (deviceSrgv.getStatus() == 1) {//小车待机
                 WcsSrgvQueue param = new WcsSrgvQueue();
                 param.setAgvId(Convert.toStr(deviceSrgv.getDeviceId()));
-                param.setEndSite(deviceSrgv.getCurrSite());//目标点
+                param.setTaskNo(String.valueOf(deviceSrgv.getTaskNo()));//目标点
                 param.setIssued("1");
                 param.setExecutionStatus("3");
                 List<WcsSrgvQueue> wcsSagvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(param);//查询到达目标的
                 if (CollUtil.isNotEmpty(wcsSagvQueues)) {
                     WcsSrgvQueue wcsSrgvQueue = wcsSagvQueues.get(0);
                     finishTaskByQueue(deviceSrgv.getCurrSite(), wcsSrgvQueue);
+                } else {
+                    WcsSrgvQueue param1 = new WcsSrgvQueue();
+                    param1.setAgvId(Convert.toStr(deviceSrgv.getDeviceId()));
+                    param1.setEndSite(deviceSrgv.getCurrSite());
+                    param1.setIssued("1");
+                    param1.setExecutionStatus("3");
+                    List<WcsSrgvQueue> wcsSagvQueues1 = wcsSagvQueueMapper.selectWcsSrgvQueueList(param1);//查询到达目标的
+                    if (CollUtil.isNotEmpty(wcsSagvQueues1)) {
+                        WcsSrgvQueue wcsSrgvQueue = wcsSagvQueues1.get(0);
+                        finishTaskByQueue(deviceSrgv.getCurrSite(), wcsSrgvQueue);
+                    }
                 }
             }
         }
@@ -831,9 +1069,17 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
      */
     private void finishTaskByQueue(String currSite, WcsSrgvQueue wcsSrgvQueue) {
 
-
+        String groupCodingNo = basCargoSpaceService.selecGroupCodingBySite(currSite);
-        // 如果当前在终点
+        String siteId = basCargoSpaceService.selectMaxSiteIdByNo(groupCodingNo);
-        if (Objects.equals(currSite, wcsSrgvQueue.getEndSite())) {
+        List<String> sites = new ArrayList<>();
+        if (wcsSrgvQueue.getEndSite().equals("tsj") && wcsSrgvQueue.getDefault02().equals("8")) {
+            //处理换层逻辑
+            String site1 = "07050" + wcsSrgvQueue.getDefault07();
+            String site2 = "10050" + wcsSrgvQueue.getDefault07();
+            sites.add(site1);
+            sites.add(site2);
+        }
+        if (Objects.equals(currSite, wcsSrgvQueue.getEndSite()) || (siteId != null && Objects.equals(currSite, siteId)) || sites.contains(currSite)) {
             String taskType = wcsSrgvQueue.getTaskType();
             String cargoPickSite = wcsSrgvQueue.getCargoPickSite();
             String cargoPlaceSite = wcsSrgvQueue.getCargoPlaceSite();
@@ -860,48 +1106,55 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 //                return;
             }
             //空车任务  且当前车的位置和取货位置相同
-            if ("1".equals(taskType) && cargoPickSite.equals(currSite)) {
+            if ("1".equals(taskType)
+                    && (cargoPickSite.equals(currSite) || (wcsSrgvQueue.getDefault06() != null && wcsSrgvQueue.getDefault06().equals(currSite)) || sites.contains(currSite))
 
-                WcsSrgvMap wcsSrgvMapq = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPickSite);
+            ) {
-                WcsSrgvMap wcsSrgvMapf = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPlaceSite);
                 String endSite = "";
                 String xfType = "";
-                // 取货点地图和放货点地图不为空
+                if (wcsSrgvQueue.getDefault02().equals("8")) {
-                if (wcsSrgvMapq != null && wcsSrgvMapf != null) {
+                    //换层任务直接完成，等待后续入出库作业下发
-
-                    if (Objects.equals(wcsSrgvMapq.getTheLayer(), wcsSrgvMapf.getTheLayer())) {
-                        //如果是同层，终点为放货点
-                        endSite = cargoPlaceSite;
-                    } else {
-                        //不同层，终点为提升机
-                        endSite = "tsj";
-                    }
-
-                    if ("L1004".equals(wcsSrgvMapq.getRemark()) || "L1005".equals(wcsSrgvMapq.getRemark())) {
-                        xfType = "1";//入库
-                    } else {
-                        if ("L1004".equals(wcsSrgvMapf.getRemark()) || "L1005".equals(wcsSrgvMapf.getRemark())) {
-                            xfType = "2";//出库
-                        } else {
-                            xfType = "7";//移库
-                        }
-                    }
-                    // 更新目标点，修改执行队列
-                    wcsSrgvQueue.setExecutionStatus("4");
                     wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
-                    wcsSrgvQueue.setStartSite(currSite);
+                    wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
-                    wcsSrgvQueue.setEndSite(endSite);
+                    return;
-                    wcsSrgvQueue.setDefault02(xfType);
+                } else {
-                    wcsSrgvQueue.setTheFloor(wcsSrgvMapq.getTheLayer().toString());
+                    WcsSrgvMap wcsSrgvMapq = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPickSite);
-                    wcsSrgvQueue.setDefault07(wcsSrgvMapf.getTheLayer().toString());
+                    WcsSrgvMap wcsSrgvMapf = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPlaceSite);
-                    wcsSrgvQueue.setIssued("0");
+                    // 取货点地图和放货点地图不为空
-                    wcsSrgvQueue.setExecutionStatus("1");
+                    if (wcsSrgvMapq != null && wcsSrgvMapf != null) {
-                    wcsSrgvQueue.setTaskType("2");
-                    wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
 
+                        if (Objects.equals(wcsSrgvMapq.getTheLayer(), wcsSrgvMapf.getTheLayer())) {
+                            //如果是同层，终点为放货点
+                            endSite = cargoPlaceSite;
+                        } else {
+                            //不同层，终点为提升机
+                            endSite = "tsj";
+                        }
+
+                        if ("L1004".equals(wcsSrgvMapq.getRemark()) || "L1005".equals(wcsSrgvMapq.getRemark())) {
+                            xfType = "1";//入库
+                        } else {
+                            if ("L1004".equals(wcsSrgvMapf.getRemark()) || "L1005".equals(wcsSrgvMapf.getRemark())) {
+                                xfType = "2";//出库
+                            } else {
+                                xfType = "7";//移库
+                            }
+                        }
+                        // 更新目标点，修改执行队列
+                        wcsSrgvQueue.setEndSite(endSite);
+                        wcsSrgvQueue.setDefault02(xfType);
+                        wcsSrgvQueue.setTheFloor(wcsSrgvMapq.getTheLayer().toString());
+                        wcsSrgvQueue.setDefault07(wcsSrgvMapf.getTheLayer().toString());
+                        wcsSrgvQueue.setIssued("0");
+                        wcsSrgvQueue.setExecutionStatus("1");
+                        wcsSrgvQueue.setTaskType("2");
+                    }
+                    wcsSrgvQueue.setStartSite(currSite);
+                    wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                    wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
                 }
                 // 入库任务  原地址和目标地址不同，且小车当前地址和放货地址相同处理入库任务执行队列
-            } else if ("2".equals(taskType) && cargoPlaceSite.equals(currSite)) {
+            } else if ("2".equals(taskType) && (cargoPlaceSite.equals(currSite) || siteId.equals(currSite))) {
                 //判断对列的任务类型  当前只限于处理出库任务执行队列
                 switch (wcsSrgvQueue.getDefault02()) {
                     case "1"://入库，插库存，
@@ -922,12 +1175,10 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                     case "2":
                         MydoJob mydoJobOut = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
                         if (mydoJobOut != null) {
+                            mydoJobService.insertHistory(mydoJobOut.getJobId());
                             mydoJobService.deleteMydoJobByJobId(mydoJobOut.getJobId());
                         }
-
-
                     case "7"://移库，变动库存
-
                         break;
                     default:
                         break;
@@ -937,12 +1188,20 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                 wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
                 wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
 
-            } else {
+                // 充电任务
+            } else if ("3".equals(taskType)) {
+                //删除队列，插入历史表
+                wcsSrgvQueue.setExecutionStatus("4");
+                wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
+                // 删除充电任务
+                srgvChargingJobMapper.deleteSrgvChargingJobByGuid(wcsSrgvQueue.getAgvId());
+
                 //充电之类的，不知道用不用
 
             }
-
+            //更新小车待机时间
-
+            deviceSrgvService.updateLastTimeByAgvId(wcsSrgvQueue.getAgvId());
         }
 
     }
@@ -979,5 +1238,36 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
     }
 
+    public static String extractTarget(String data) {
+        // 1. 基础校验
+        if (data == null || data.trim().isEmpty()) {
+            return "无效数据";
+        }
+
+        // 2. 分割字符串
+        String[] parts = data.split(",");
+        int len = parts.length;
+
+        // 3. 优先检查是否符合【第一种数据】的特征
+        // 特征：倒数第三个字段以 "07" 开头
+        if (len >= 3) {
+            String val3 = parts[len - 3];
+            if (val3.startsWith("07")) {
+                return val3; // 命中规则1，直接返回
+            }
+        }
+
+        // 4. 检查是否符合【第二种数据】的特征
+        // 特征：倒数第二个字段以 "10" 开头
+        if (len >= 2) {
+            String val2 = parts[len - 2];
+            if (val2.startsWith("10")) {
+                return val2; // 命中规则2，直接返回
+            }
+        }
+
+        return "tsj";
+    }
+
 
 }

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

@@ -143,7 +143,7 @@ public class SsjThread implements Runnable {
                 }
                 // 插入入库作业，并且根据作业直接下发 ，下发完毕直接修改执行阶段
                 MydoJob mydoJob1 = new MydoJob();
-                mydoJob1.setTrayCode(mydoJob.getTaskNo());
+                mydoJob1.setTaskNo(mydoJob.getTaskNo());
                 List<MydoJob> mydoJobs = mydoJobService.selectMydoJobList(mydoJob1);
                 if (mydoJobs.size() > 0) {
                     return;
@@ -156,7 +156,7 @@ public class SsjThread implements Runnable {
                     log.info(deviceSsj.getDeviceCode() + "输送机下发任务号成功:{}", mydoJob.getTaskNo());
                 }
             } else {
-                int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), "0", 2, 1);
+                int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), "0", 2, 2);
                 if (i == 1) {
                     log.info(deviceSsj.getDeviceCode() + "未查到该托盘码作业，下发退回，去向2");
                 }

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

@@ -7,14 +7,11 @@ import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjUtil;
 import cn.hutool.core.util.StrUtil;
-import com.ruoyi.bas.cargospace.service.IBasCargoSpaceService;
-import com.ruoyi.bas.port.domain.WcsPort;
 import com.ruoyi.bas.port.service.IWcsPortService;
 import com.ruoyi.common.domain.SendData;
 import com.ruoyi.common.utils.spring.SpringUtils;
 import com.ruoyi.device.srgv.domain.DeviceSrgv;
 import com.ruoyi.device.tsj.domain.DeviceTsj;
-import com.ruoyi.device.tsj.service.IDeviceTsjService;
 import com.ruoyi.job.service.IMydoJobService;
 import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
 import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService;
@@ -23,7 +20,6 @@ import com.ruoyi.queue.tsj.domain.TsjDeviceExecutionQueueFinish;
 import com.ruoyi.queue.tsj.service.ITsjDeviceExecutionQueueFinishService;
 import com.ruoyi.queue.tsj.service.ITsjDeviceExecutionQueueService;
 import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;
-import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
 import com.ruoyi.schedule.plcRead.tsj.PlcTsjRead;
 import com.ruoyi.schedule.plcRead.util.Tools;
 import lombok.extern.slf4j.Slf4j;
@@ -39,7 +35,7 @@ public class TsjThread implements Runnable {
     private ITsjDeviceExecutionQueueFinishService tsjDeviceExecutionQueueFinishService;
     private IWcsPortService wcsPortService;
     private IWcsSrgvQueueService wcsSrgvQueueService;
-
+    public IMydoJobService mydoJobService;
 
     public void init() {
         tsjDeviceExecutionQueueService = SpringUtils.getBean(ITsjDeviceExecutionQueueService.class);
@@ -81,7 +77,7 @@ public class TsjThread implements Runnable {
          *
          * */
         if (czfs == 2 && sbzt == 2 && rwh > 999) {
-            finishSend(rwh);
+//            finishSend(rwh, tsj);
         }
 
         /*
@@ -102,7 +98,7 @@ public class TsjThread implements Runnable {
          * */
         if (czfs == 2 && sbzt == 2 && jdbz == 5 && rwh > 999) {
             //任务完成
-            finishTask(rwh);
+            finishTask(rwh, tsj);
         }
 
         /*
@@ -131,6 +127,7 @@ public class TsjThread implements Runnable {
         }
 
     }
+
     // 下发提升机完成
     private void createSRgvQueueTsjFinish(Long rwh, DeviceTsj tsj) {
         for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
@@ -235,6 +232,7 @@ public class TsjThread implements Runnable {
                         tsjDeviceExecutionQueue.setSrcRow("0");
                         tsjDeviceExecutionQueue.setSrcLayer(strFloor);
                         tsjDeviceExecutionQueue.setTarRow("0");
+
                         tsjDeviceExecutionQueue.setTarLayer(tarFloor);
                         tsjDeviceExecutionQueue.setSendType("1");
                         tsjDeviceExecutionQueue.setCreateDate(DateUtil.formatDateTime(new Date()));
@@ -344,11 +342,11 @@ public class TsjThread implements Runnable {
     }
 
 
-    private void finishTask(Long taskNo) {
+    private void finishTask(Long taskNo, DeviceTsj tsj) {
 
         //根据任务号查询队列 修改执行状态
         TsjDeviceExecutionQueue tsjDeviceExecutionQueue = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueByRwh(taskNo);
-        if (ObjUtil.isNotNull(tsjDeviceExecutionQueue)) {
+        if (ObjUtil.isNotNull(tsjDeviceExecutionQueue) && tsjDeviceExecutionQueue.getSendFlag().equals("1") && tsj.getDqcs() == Integer.parseInt(tsjDeviceExecutionQueue.getTarLayer())) {
             //完成提升机任务 插入历史表
             TsjDeviceExecutionQueueFinish tsjDeviceExecutionQueueFinish = new TsjDeviceExecutionQueueFinish();
             BeanUtil.copyProperties(tsjDeviceExecutionQueue, tsjDeviceExecutionQueueFinish);
@@ -364,11 +362,12 @@ public class TsjThread implements Runnable {
      * 提升机下发任务完成
      *
      * @param taskNo
+     * @param tsj
      */
-    private void finishSend(Long taskNo) {
+    private void finishSend(Long taskNo, DeviceTsj tsj) {
         //根据任务号查询是否存在入库或者出库的正执行任务
         TsjDeviceExecutionQueue tsjDeviceExecutionQueue = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueByRwh(taskNo);
-        if (ObjUtil.isNotNull(tsjDeviceExecutionQueue)) {
+        if (ObjUtil.isNotNull(tsjDeviceExecutionQueue) && !tsjDeviceExecutionQueue.getTarLayer().equals(tsj.getDqcs())) {
             tsjDeviceExecutionQueue.setSendFlag("1");
             tsjDeviceExecutionQueue.setStartDate(DateUtil.formatDateTime(DateUtil.date()));
             tsjDeviceExecutionQueueService.updateTsjDeviceExecutionQueue(tsjDeviceExecutionQueue);

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

@@ -150,4 +150,12 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             #{cargoSpaceId}
         </foreach>
     </delete>
+
+    <select id="selecGroupCodingBySite" parameterType="String" resultType="String">
+        select group_coding_no from bas_cargo_space where cargo_space_logo =#{currSite}
+    </select>
+
+    <select id="selectMaxSiteIdByNo" resultType="java.lang.String" parameterType="String">
+        select top 1 cargo_space_logo from bas_cargo_space where group_coding_no =#{siteId} order by group_coding desc
+    </select>
 </mapper>

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

@@ -225,4 +225,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             #{guid}
         </foreach>
     </delete>
+
+    <update id="updateLastTimeByAgvId" parameterType="String">
+        update  device_srgv set last_time =getdate() where agv_id=#{agvId}
+    </update>
 </mapper>

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

@@ -67,7 +67,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     <select id="selectMydoJobByTaskNo" parameterType="String" resultMap="MydoJobResult">
             <include refid="selectMydoJobVo"/>
             where task_no = #{taskNo}
-        and execution_phase != '2'
+
     </select>
     <select id="ddjTaskFinish" parameterType="java.util.Map" statementType="CALLABLE">
         {call proc_mydojob_finish(

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

@@ -81,7 +81,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="agvId != null">agv_id = #{agvId},</if>
             <if test="chargingId != null">charging_id = #{chargingId},</if>
         </trim>
-        where guid = #{guid}
+        where agv_id = #{agvId}
     </update>
 
     <delete id="deleteSrgvChargingJobByGuid" parameterType="String">

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

@@ -83,6 +83,11 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         where agv_id = #{AgvId}
     </select>
 
+    <select id="selectWcsSrgvQueueByFloor" parameterType="String" resultMap="WcsSrgvQueueResult">
+        <include refid="selectWcsSrgvQueueVo"/>
+        where default07 =#{theFloor}
+    </select>
+
     <insert id="insertWcsSrgvQueue" parameterType="WcsSrgvQueue">
         insert into wcs_srgv_queue
         <trim prefix="(" suffix=")" suffixOverrides=",">