diff --git a/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/IWcsSrgvQueueService.java b/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/IWcsSrgvQueueService.java
index 235d1a2..da7cd2a 100644
--- a/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/IWcsSrgvQueueService.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/IWcsSrgvQueueService.java
@@ -25,6 +25,8 @@ public interface IWcsSrgvQueueService
     public WcsSrgvQueue selectWcsSrgvQueueByAgvId(String agvId);
 
 
+
+
     /**
      * 查询四向小车任务队列列表
      *
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java
index d5552cb..0a4b666 100644
--- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java
@@ -199,29 +199,26 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
             MydoJob mydoJob1 = mydoJobs.get(0);
             // 查询是否有已下发的该任务号队列
             WcsSrgvQueue wcsSrgvQueue1 = wcsSagvQueueMapper.selectWcsSrgvQueueByTaskNo(mydoJob1.getTaskNo());
+
+
             if (wcsSrgvQueue1 == null) {
                 ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
-                List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream().filter(deviceSrgv -> deviceSrgv.getStatus() == 1 && deviceSrgv.getWorkMode() == 4).collect(Collectors.toList());
+                List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream().filter(deviceSrgv -> deviceSrgv.getWorkMode() == 4).collect(Collectors.toList());
                 if (!deviceSrgvList.isEmpty()) {
                     DeviceSrgv deviceSrgv =null;
                     for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
-                        WcsSrgvQueue wcsSrgvQueue = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
-                        if (wcsSrgvQueue == null) {
-                            //如果有currFloor等于mydoJob1的theFloor的就选择，如果没有选择deviceSrgvList中currFloor最小的
                             if (deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
                                 deviceSrgv = deviceSrgv1;
                                 break; // 找到了相同楼层的直接选它
                             } else if (deviceSrgv == null || deviceSrgv1.getCurrFloor() < deviceSrgv.getCurrFloor()) {
                                 deviceSrgv = deviceSrgv1; // 更新为更小楼层的小车
                             }
-
-                        }else{
-                            return;
-                        }
                     }
 
+                    WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
+                    if (wcsSrgvQueue2 == null && deviceSrgv.getStatus()==1) {
 
-                    //查询1楼是否有空闲联机自动的小车,且1楼小车不在入库站点
+                    //查询小车是否为1楼,且1楼小车不在入库站点
                     String endSite = "";
                     WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
                     wcsSrgvMap.setRemark(mydoJob1.getEntranceId());
@@ -264,6 +261,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                     wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
 
                 }
+                }
             }
         }
 
@@ -516,22 +514,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                      * 1、不处理终点是提升机站点的四向车
                      * 2、处理终点不是提升机站点的
                      * */
-                    boolean taskFinishFlag = finishTaskByQueue(deviceSrgv.getCurrSite(), wcsSrgvQueue);
 
-                    if (taskFinishFlag) {
-                        String spare2 = deviceSrgv.getSpare2();
-                        if ("-".equals(spare2)) {
-                            //换层 不删除队列
-                            wcsSrgvQueue.setExecutionStatus("2");
-                            wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
-                        } else {
-                            WcsSrgvQueueFinish wcsSrgvQueueFinish = new WcsSrgvQueueFinish();
-                            BeanUtil.copyProperties(wcsSrgvQueue, wcsSrgvQueueFinish);
-                            wcsSrgvQueueFinish.setFinishDate(DateUtil.now());
-                            wcsSagvQueueFinishMapper.insertWcsSrgvQueueFinish(wcsSrgvQueueFinish);
-                            wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
-                        }
-                    }
+                finishTaskByQueue(deviceSrgv.getCurrSite(), wcsSrgvQueue);
+
                 }
             }
         }
@@ -602,16 +587,18 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                         //请求wms生成库存
 
                         break;
-                    case "7"://移库，变动库存，删除队列，插入历史表
-
+                    case "7"://移库，变动库存
 
                         break;
                     default:
                         break;
                 }
-
+                //删除队列，插入历史表
+                wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
 
             } else {
+                //充电之类得  不知道用不用
 
             }