小车

2026.3.18
2026-03-19 15:08:50 +08:00 · 2026-03-18 14:26:26 +08:00 · 2026-03-18 14:22:57 +08:00 · 2026-03-18 14:13:14 +08:00 · 2026-03-11 09:02:58 +08:00 · 2026-03-02 08:40:01 +08:00
49 changed files with 747 additions and 2139 deletions
--- a/pom.xml
+++ b/pom.xml
@@ -37,7 +37,7 @@
        <spring-framework.version>5.3.39</spring-framework.version>
        <hutool.version>5.8.27</hutool.version>
        <lombok.version>1.18.30</lombok.version>
-        <HslCommunication.version>2.0.0</HslCommunication.version>
+        <HslCommunication.version>3.7.0</HslCommunication.version>
        <mybatis-plus.version>3.5.2</mybatis-plus.version>

    </properties>
--- a/ruoyi-admin/pom.xml
+++ b/ruoyi-admin/pom.xml
@@ -83,12 +83,6 @@
            <artifactId>slf4j-api</artifactId>
        </dependency>

-        <dependency>
-            <groupId>org.springframework.boot</groupId>
-            <artifactId>spring-boot-starter-test</artifactId>
-            <scope>test</scope>
-        </dependency>
-
        <!--    plc连接库    -->
        <dependency>
            <groupId>org.apache.plc4x</groupId>
@@ -112,11 +106,6 @@

    <build>
        <plugins>
-            <plugin>
-                <groupId>org.apache.maven.plugins</groupId>
-                <artifactId>maven-surefire-plugin</artifactId>
-                <version>3.2.5</version>
-            </plugin>
            <plugin>
                <groupId>org.springframework.boot</groupId>
                <artifactId>spring-boot-maven-plugin</artifactId>
--- a/ruoyi-admin/src/main/java/com/ruoyi/MyStartupRunner.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/MyStartupRunner.java
@@ -1,21 +0,0 @@
-package com.ruoyi;
-
-import com.ruoyi.schedule.ScheduleThread;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.boot.CommandLineRunner;
-import org.springframework.stereotype.Component;
-
-@Component
-public class MyStartupRunner implements CommandLineRunner {
-
-    @Autowired
-    private ScheduleThread scheduleThread;
-
-    @Override
-    public void run(String... args) throws Exception {
-        // 这里编写项目启动后要执行的方法逻辑
-        //System.out.println("项目启动成功后自动执行此方法");
-//        scheduleThread.startAllThread();
-//        scheduleThread.startAllThread2();
-    }
-}
--- a/ruoyi-admin/src/main/java/com/ruoyi/api/controller/AgvController.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/api/controller/AgvController.java
@@ -1,43 +1,31 @@
 package com.ruoyi.api.controller;

-import cn.hutool.json.JSONObject;
-import com.mchange.v2.lang.ObjectUtils;
 import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackRequest;
 import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackResponse;
 import com.ruoyi.api.service.IApiService;
 import com.ruoyi.common.core.controller.BaseController;
 import com.ruoyi.common.core.domain.AjaxResult;
-import com.ruoyi.queue.agv.service.impl.AgvQueueServiceImpl;
-import com.ruoyi.system.domain.AgvContainerTask;
-import com.ruoyi.system.mapper.AgvContainerTaskMapper;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.web.bind.annotation.*;

-import java.util.HashMap;
-import java.util.List;
 import java.util.Map;

 /**
 * Agv操作请求
 */
@RestController
-@RequestMapping("/api/agv")
+@RequestMapping("/agv/api")
@Slf4j
 public class AgvController extends BaseController {


    @Autowired
    private IApiService apiService;
-    @Autowired
-    private AgvQueueServiceImpl agvQueueService;
-    @Autowired
-    private AgvContainerTaskMapper agvContainerTaskMapper;

    /**
     * agv执行状态返回接口
-     *
     * @param request
     * @return
     */
@@ -47,112 +35,25 @@ public class AgvController extends BaseController {
    }


+
    /**
     * agv搬运作业
-     *
-     * @param param{ startPoint:起始点
-     *               endPoint:结束点
-     *               containerCode:容器编号
-     *               taskNo:任务号
-     *               }
+     * @param param{
+     *             startPoint:起始点
+     *             endPoint:结束点
+     *             containerCode:容器编号
+     *             taskNo:任务号
+     * }
     * @return
     */
    @PostMapping("/receiveAgvMoveJob")
-    public AjaxResult receiveAgvMoveJob(@RequestBody Map<String, String> param) {
+    public int receiveAgvMoveJob(@RequestBody Map<String, String> param) {
        return apiService.receiveAgvMoveJob(param);
    }

-
-    /**
-     * 获取AGV任务定时器
-     */
-
-    @Scheduled(fixedDelay = 5000)
-    public void queryAgvMoveJob() {
-        apiService.sendContarTask();
-    }
-
-    @Scheduled(fixedDelay = 5000)
-    public void finishAgvMoveJob() {
-       AgvContainerTask agvContainerTask= agvContainerTaskMapper.selectAgvContainerFinishOne();
-       if (agvContainerTask!=null){
-           apiService.finishAgvJob(agvContainerTask.getContainer());
-       }
-
-    }
-
-
-    /**任务下发
-     *
-     */
-    @Scheduled(fixedDelay = 1000)
-    public void sendAgvMoveJob() {
-        AgvContainerTask agvContainerTask = new AgvContainerTask();
-        agvContainerTask.setStatus("0");
-        List<AgvContainerTask> agvContainerTasks = agvContainerTaskMapper.selectAgvContainerTaskList(agvContainerTask);
-        if (agvContainerTasks.size() > 0) {
-            AgvContainerTask agvContainerTask1 = agvContainerTasks.get(0);
-            Map<String, String> param = new HashMap<>();
-            param.put("FromStation", agvContainerTask1.getStartPoint());
-            param.put("ToStation", agvContainerTask1.getEndPoint());
-            param.put("Type", agvContainerTask1.getSpare1());
-            param.put("OrderId", agvContainerTask1.getContainer());
-//            param.put("TaskGuideId", agvContainerTask1.getTaskNo());
-            AjaxResult ajaxResult = apiService.sendAgvCar(param);
-            Integer code = (Integer) ajaxResult.get("code");
-            if (200 == code) {
-                agvContainerTask1.setStatus("1");
-                agvContainerTaskMapper.updateAgvContainerTask(agvContainerTask1);
-            }
-        }
-    }
-
-
-    /***
-     * 请求取货放货接口
-     * @param jsonObject
-     * @return
-     */
-    @RequestMapping("/checkAllow")
-    public AjaxResult checkAllow(@RequestBody JSONObject jsonObject) {
-        // 取放货站点
-        String requestStation = String.valueOf(jsonObject.get("requestStation"));
-        // 表内主键
-        String orderId = String.valueOf(jsonObject.get("orderId"));
-        String Type = String.valueOf(jsonObject.get("type"));
-
-        HashMap<String, Object> map = new HashMap<>();
-        map.put("v_position", requestStation);
-        map.put("v_orderId", orderId);
-        map.put("v_type", Type);
-        agvQueueService.selectKx(map);
-        Integer vResult = (Integer) map.get("v_result");
-        if (vResult == 1) {
-            return new AjaxResult(1, Type.equals("1") ? "允许取货" : "允许放货");
-        } else {
-            return new AjaxResult(0, Type.equals("1") ? "不允许取货，请等待" : "不允许放货，请等待");
-        }
-    }
-
-
-    /**
-     * 取货放货完成返回接口
-     *
-     * @param jsonObject
-     * @return
-     */
-    @RequestMapping("/completionSignal")
-    public AjaxResult completionSignal(@RequestBody JSONObject jsonObject) {
-
-        String orderId = String.valueOf(jsonObject.get("orderId"));
-        String Type = String.valueOf(jsonObject.get("type"));
-
-
-        agvContainerTaskMapper.updateAgvContainerTaskByOrder(orderId);
-//        agvContainerTaskMapper.insertAgvContainerTaskFinish(orderId);
-//        agvContainerTaskMapper.deleteAgvContainerTaskByContainer(orderId);
-
-        return new AjaxResult(1, "返回成功");
+//@Scheduled(cron = "0/5 * * * * ?")
+    public void sendAgvTask(){
+        apiService.sendAgvTask();
    }


--- a/ruoyi-admin/src/main/java/com/ruoyi/api/controller/Wcs2WmsController.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/api/controller/Wcs2WmsController.java
@@ -1,12 +1,10 @@
 package com.ruoyi.api.controller;

-import cn.hutool.json.JSONObject;
 import com.ruoyi.api.domain.wcs2wms.JobParam;
 import com.ruoyi.api.domain.wcs2wms.ReceiveJob;
 import com.ruoyi.api.service.IApiService;
 import com.ruoyi.common.core.domain.AjaxResult;
 import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
@@ -55,5 +53,4 @@ public class Wcs2WmsController {



-
 }
--- a/ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/genAgvSchedulingTask/GenAgvSchedulingTaskRequest.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/genAgvSchedulingTask/GenAgvSchedulingTaskRequest.java
@@ -14,143 +14,187 @@ import java.util.UUID;
@Data
 public class GenAgvSchedulingTaskRequest {
    /**
-     * 请求编号
-     * 同一个请求重复提交， 使用同一编号
+     * 起始站点
     */
-    @NotNull
-    private String reqCode = UUID.randomUUID().toString();
+    private String FromStation;
+    
    /**
-     * 请求时间
-     * 格式: “yyyy-MM-dd HH:mm:ss”
+     * 目的站点
     */
-    private String reqTime = LocalDateTime.now().format(DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"));
+    private String ToStation;
+    
    /**
-     *  客户端编号
-     *  客户端编号，如PDA，HCWMS等
+     * 任务类型（以实际的任务类型为准）
     */
-    private String clientCode;
+    private String Type;
+    
    /**
-     * 令牌号
-     * 由调度系统颁发
+     * 类名
     */
-    private String tokenCode;
+    private String ClassName;
+    
    /**
-     * 任务类型
-     * 内置任务类型:
-     *      厂内货架搬运: F01
-     *      厂内货架空满交换: F02
-     *      辊筒搬运接驳:F03
-     *      厂内货架出库AGV待命:F04
-     *      旋转货架: F05
-     *      厂内电梯任务: F06
-     * 以下为叉车专用任务类型
-     *      高位货架到工作台: F11
-     *      工作台到高位货架: F12
-     *      巷道到工作台: F13
-     *      工作台到巷道: F14
-     *      高位货架到工作台(接驳) : F15
-     *      工作台到高位货架 (接驳) : F16
-     *      巷道到工作台(接驳) : F17
-     *      工作台到巷道(接驳) : F18
-     *      叉车电梯主任务: F20
+     * 任务引导ID
     */
-    @NotNull
-    private String taskTyp;
+    private String TaskGuideId;
    /**
-     * 容器类型（叉车/CTU专用） 叉车项目必传
+     * 订单 ID
     */
-    private String ctnrTyp;
+    private String OrderId;
+    
    /**
-     * 容器编号 (叉车/CTU专用）
+     * 触发ID
     */
-    private String ctnrCode; //
+    private String TriggerId;
+    
    /**
-     * 容器数量（叉车堆叠专用），默认值1，仅记录堆叠的数量不记录堆叠的每个容器号
+     * 扩展字段4
     */
-    private String ctnrNum;
+    private String Extend4;
+    
    /**
-     * 任务模式
-     * 0-普通move  1-出库move  2-入库move  3-移库move
+     * 扩展字段5
     */
-    private String taskMode;
+    private String Extend5;
+    
    /**
-     * 工作位
-     * 与RCS-2000端配置的位置名称一致, 工作位名称为字母\数字\或组合
+     * 扩展字段6
     */
-    private String wbCode;
+    private String Extend6;
+    
    /**
-     * 位置路径
-     * AGV关键路径位置集合，与任务类型中模板配置的位置路径一一对应。待现场地图部署、配置完成后可获取
+     * 扩展字段7
     */
-    private List<PositionCodeData> positionCodePath;
+    private String Extend7;
+    
    /**
-     * 货架编号
-     * 不指定货架可以为空
+     * 扩展字段8
     */
-    private String podCode;
+    private String Extend8;
+    
    /**
-     * 货架方向
-     * “180”,”0”,”90”,”-90” 分别对应地图的”左”,”右”,”上”,”下”
-     * 不指定方向可以为空
-     * 如果终点不是工作台或工作台未配置操作方向则货架拣货方向podDir作为终点方向
-     * 如果工作台配有操作方向，则系统会根据货架拣货方向podDir和工作台操作方向计算货架终点方向
+     * 扩展字段9
     */
-    private String podDir;
+    private String Extend9;
+    
    /**
-     * 货架类型, 传空时表示随机找个货架
-     * 找空货架传参方式如下：
-     * -1: 代表不关心货架类型, 找到空货架即可.
-     * -2: 代表从工作位获取关联货架类型, 如果未配置, 只找空货架.
-     * 货架类型编号: 只找该货架类型的空货架
+     * 任务附加信息
     */
-    private String podTyp;
+    private TaskAdditionallInfo TaskAdditionallInfo;
+    
    /**
-     * 物料批次
-     * 物料批次或货架上的物料唯一编码,生成任务单时,货架与物料直接绑定时使用. （通过同时传podCode和materialLot来绑定或通过 wbCode 找到位置上的货架和materialLot来绑定）
-     * 如果是区域/策略内查找货架，可以匹配对应物料批次的货架，支持以下值：
-     * 0：区域/策略内查找空货架
-     * 1：区域/策略内查找满货架
-     * 其他值：查找指定物料批次对应的货架
-     * 巷道任务通过该字段传入特征值
+     * 任务附加信息类
     */
-    private String materialLot;
-    /**
-     * 优先级
-     * 从（1~127）级，最大优先级最高。为空时，采用任务模板的优先级
-     */
-    private String priority;
-    /**
-     * AGV编号
-     * 填写表示指定某一编号的AGV执行该任务
-     */
-    private String agvCode;
-    /**
-     * 任务单号
-     * 选填, 不填系统自动生成
-     */
-    private String taskCode;
-    /**
-     * 组编号
-     * CTU场景下用于按组出库，同组任务优先拼车。 如业务需要任务组间或组内按顺序出库，则需调用料箱顺序出库（CTU）接口。
-     * 潜伏式场景下，通过组号来管理顺序出库的顺序，组号小的优先出库。
-     */
-    private String groupId;
-    /**
-     * 设备类型
-     */
-    private String agvTyp;
-    /**
-     * 选择策略
-     * 区域/策略中挑选货架以及根据物料批次挑选货架时的先进先出规则，支持以下4个值：
-     * 1：按照货架到达储位的时间顺序，先进先出
-     * 2：按照货架到达储位的时间顺序，先进后出
-     * 9：按照货架绑定物料批次的时间顺序，先进先出
-     * 10：按照货架绑定物料批次的时间顺序，先进后出
-     */
-    private String positionSelStrategy;
-    /**
-     * 自定义数据
-     */
-    private String data;
-
+    @Data
+    public static class TaskAdditionallInfo {
+        /**
+         * 任务ID
+         */
+        private String TaskId;
+        
+        /**
+         * 库存ID
+         */
+        private String StockId;
+        
+        /**
+         * 任务引导ID
+         */
+        private String TaskGuideId;
+        
+        /**
+         * 触发ID
+         */
+        private String TriggerId;
+        
+        /**
+         * 下一任务添加阶段
+         */
+        private String NextTaskAddStage;
+        
+        /**
+         * 链ID
+         */
+        private String ChainId;
+        
+        /**
+         * 链类型
+         */
+        private Integer ChainType;
+        
+        /**
+         * 链排序
+         */
+        private Integer ChainSort;
+        
+        /**
+         * 图号
+         */
+        private String FigureNo;
+        
+        /**
+         * 尺寸
+         */
+        private String Size;
+        
+        /**
+         * 箱号
+         */
+        private String BoxNo;
+        
+        /**
+         * 物料
+         */
+        private String Mater;
+        
+        /**
+         * 相关数量
+         */
+        private Integer RelatedCount;
+        
+        /**
+         * 序列号
+         */
+        private String SerialNo;
+        
+        /**
+         * 重量
+         */
+        private String Weight;
+        
+        /**
+         * 站点号
+         */
+        private String StationNo;
+        
+        /**
+         * 手动计数
+         */
+        private String HandCount;
+        
+        /**
+         * 批次
+         */
+        private String Batch;
+        
+        /**
+         * 前置相关任务ID
+         */
+        private String PreviousRelatedTaskId;
+        
+        /**
+         * 下一相关任务ID
+         */
+        private String NextRelatedTaskId;
+        
+        /**
+         * 级联任务开始
+         */
+        private String CascadeTaskBeginning;
+        
+        /**
+         * 级联任务结束
+         */
+        private String CascadeTaskEnding;
+    }
 }
--- a/ruoyi-admin/src/main/java/com/ruoyi/api/service/IApiService.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/api/service/IApiService.java
@@ -34,11 +34,11 @@ public interface IApiService
     * @param code1 起点
     * @param code2 终点
     * @param wmsTrayCode 容器码 托盘料箱码/容器码
-     * @param wmsTaskNo mydojob 任务
-     * @param wmsTaskType 1-入库 2-出库 3-agv搬运
+     * @param type mydojob 任务
+     * @param jobId 1-入库 2-出库 3-agv搬运
     * @return
     */
-    public AgvQueue createAgvQueue(String code1,String code2,String wmsTrayCode,String taskCode,String wmsTaskType,String traySize,String wmsTaskNo);
+    public int createAgvQueue(String code1,String code2,String wmsTrayCode,String taskCode,String type,String jobId);

        /**
         * 取消AGV任务
@@ -76,7 +76,9 @@ public interface IApiService
     * @param param
     * @return
     */
-    AjaxResult receiveAgvMoveJob(Map<String, String> param);
+    int receiveAgvMoveJob(Map<String, String> param);
+
+    void sendAgvTask();

    /**
     * 任务到达拣选口
@@ -136,18 +138,4 @@ public interface IApiService
    AjaxResult allotSpace(JobParam jobParam);

    AjaxResult JobFinish(Map<String, Object> param);
-
-    AjaxResult OutMakeSure(HashMap<String, Object> map);
-
-    void updateLed(HashMap<String, Object> objectObjectHashMap);
-
-    void updateLedError(HashMap<String, Object> objectObjectHashMap);
-
-    void sendContarTask();
-
-    AjaxResult sendAgvCar(Map<String, String> param);
-
-    AjaxResult insertAgvQuene(HashMap<String, Object> objectObjectHashMap);
-
-    void finishAgvJob(String container);
 }
--- a/ruoyi-admin/src/main/java/com/ruoyi/api/service/IRequestLogService.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/api/service/IRequestLogService.java
@@ -68,6 +68,8 @@ public interface IRequestLogService
     */
    public RequestLog getRequestLog(String url, String param, String endPoint);

+    public RequestLog getRequestLogAgv(String url, String endPoint, String param);
+
    /**
     * 接收请求，并插入日志
     * @param url
@@ -75,6 +77,4 @@ public interface IRequestLogService
     * @return
     */
    public RequestLog getRequestLog(String url, String param);
-
-    public RequestLog getRequestLogs(String url, String param, String endPoint);
 }
--- a/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java
@@ -18,15 +18,12 @@ import com.ruoyi.api.domain.agv.genAgvSchedulingTask.PositionCodeData;
 import com.ruoyi.api.domain.wcs2wms.JobParam;
 import com.ruoyi.api.domain.wcs2wms.ReceiveJob;
 import com.ruoyi.api.service.IApiService;
-import com.ruoyi.bas.cargospace.mapper.BasCargoSpaceMapper;
 import com.ruoyi.common.core.domain.AjaxResult;
 import com.ruoyi.common.utils.DateUtils;
 import com.ruoyi.job.domain.MydoJob;
 import com.ruoyi.job.service.IMydoJobService;
 import com.ruoyi.queue.agv.domain.AgvQueue;
 import com.ruoyi.queue.agv.service.IAgvQueueService;
-import com.ruoyi.system.domain.AgvContainerTask;
-import com.ruoyi.system.service.IAgvContainerTaskService;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
@@ -54,10 +51,7 @@ public class ApiServiceImpl implements IApiService {
    private IAgvQueueService agvQueueService;
    @Autowired
    private IMydoJobService mydoJobService;
-    @Autowired
-    private BasCargoSpaceMapper basCargoSpaceMapper;
-    @Autowired
-    private IAgvContainerTaskService agvContainerTaskService;
+


    /**
@@ -68,17 +62,22 @@ public class ApiServiceImpl implements IApiService {
     */
    @Override
    public GenAgvSchedulingTaskResponse genAgvSchedulingTask(GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest) {
-        RequestLog requestLog = requestLogService.getRequestLog(GEN_AGV_SCHEDULING_TASK, "生成AGV任务", JSONUtil.toJsonStr(genAgvSchedulingTaskRequest));
+        RequestLog requestLog = requestLogService.getRequestLogAgv(CREATE_AGV_TASK_URL, "生成AGV任务", JSONUtil.toJsonStr(genAgvSchedulingTaskRequest));
        if ("1".equals(requestLog.getIsSuccessful())) {
-            return BeanUtil.toBean(requestLog.getResponseBody(), GenAgvSchedulingTaskResponse.class);
+            GenAgvSchedulingTaskRequest bean = BeanUtil.toBean(requestLog.getResponseBody(), GenAgvSchedulingTaskRequest.class);
+            GenAgvSchedulingTaskResponse response = new GenAgvSchedulingTaskResponse();
+            response.setCode(0);
+            response.setMessage("请求成功");
+            response.setReqCode(genAgvSchedulingTaskRequest.getOrderId());
+            return  response;
        } else {
            //todo 需要调试
            GenAgvSchedulingTaskResponse response = new GenAgvSchedulingTaskResponse();
            response.setCode(500);
            response.setMessage("请求失败");
            //todo 需要调试小车请求
-            response.setCode(0);
-            response.setMessage("模拟测试");
+//            response.setCode(0);
+//            response.setMessage("模拟测试");
            return response;
        }
    }
@@ -117,18 +116,39 @@ public class ApiServiceImpl implements IApiService {
     * @return
     */
    @Override
-    public AjaxResult receiveAgvMoveJob(Map<String, String> param) {
+    public int receiveAgvMoveJob(Map<String, String> param) {
        String startPoint = param.get("startPoint");
        String endPoint = param.get("endPoint");
-        String traySize = param.get("traySize");
-        String wmsTaskNo = param.get("wmsTaskNo");
+        String type = param.get("type");
+        String jobId = param.get("jobId");

-        AgvQueue agvQueue = createAgvQueue(startPoint, endPoint, param.get("trayCode"), param.get("taskNo"), "1", traySize, wmsTaskNo);
-        GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(agvQueue);
-        if (genAgvSchedulingTaskResponse.getCode() == 0) {
-            return AjaxResult.success();
+        int i = createAgvQueue(startPoint, endPoint, param.get("trayCode"), param.get("taskNo"), type,jobId);
+
+        return i;
+//        GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(agvQueue);
+//        if (genAgvSchedulingTaskResponse.getCode() == 0) {
+//            return AjaxResult.success();
+//        }
+//        return AjaxResult.error(genAgvSchedulingTaskResponse.getMessage());
+
+    }
+
+    @Override
+    public void sendAgvTask() {
+        AgvQueue agvQueue = agvQueueService.selectAgvQueueByStatus();
+        if (agvQueue != null) {
+            GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(agvQueue);
+
+            if (genAgvSchedulingTaskResponse.getCode() == 0) {
+                agvQueue.setStatus("1");
+                agvQueueService.updateAgvQueue(agvQueue);
+                agvQueueService.insertHistory(agvQueue.getReqCode());
+
+            }else{
+                agvQueue.setStatus("2");
+                agvQueueService.updateAgvQueue(agvQueue);
+            }
        }
-        return AjaxResult.error(genAgvSchedulingTaskResponse.getMessage());

    }

@@ -144,6 +164,10 @@ public class ApiServiceImpl implements IApiService {
    }


+
+
+
+
    /**
     * 处理agv状态返回
     *
@@ -198,24 +222,26 @@ public class ApiServiceImpl implements IApiService {
    public AjaxResult cancelMydoJob(JobParam jobParam) {

        MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(jobParam.getTaskNo()));
-        if (mydoJob == null) {
+        if(mydoJob==null){
            return AjaxResult.error("任务不存在");
        }
-        if ("1".equals(mydoJob.getStatus())) {
+        if("1".equals(mydoJob.getStatus())){
            mydoJob.setStatus("5");
            mydoJobService.insertHistory(mydoJob.getJobId());
            mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId());
            return AjaxResult.success();
-        } else {
+        }else{
            return AjaxResult.error("任务已开始");
        }
    }


+
+
    @Override
    public AjaxResult reAssign(JobParam jobParam) {
        RequestLog requestLog = requestLogService.getRequestLog(RE_ASSIGN_URL, "重新分配货位", JSONUtil.toJsonStr(jobParam));
-        if ("1".equals(requestLog.getIsSuccessful())) {
+        if ("1".equals(requestLog.getIsSuccessful())){
            InterfaceReceive bean = JSONUtil.toBean(requestLog.getResponseBody(), InterfaceReceive.class);
            MydoJob wmsMydoJob = BeanUtil.toBean(bean.getData(), MydoJob.class);
            MydoJob mydoJob = mydoJobService.selectMydoJobByJobId(wmsMydoJob.getJobId());
@@ -229,7 +255,7 @@ public class ApiServiceImpl implements IApiService {
    @Override
    public AjaxResult reMaterial(JobParam jobParam) {
        RequestLog requestLog = requestLogService.getRequestLog(RE_MATERIAL_URL, "重新分配物料", JSONUtil.toJsonStr(jobParam));
-        if ("1".equals(requestLog.getIsSuccessful())) {
+        if ("1".equals(requestLog.getIsSuccessful())){
            return AjaxResult.success();
        }
        return AjaxResult.error();
@@ -242,12 +268,12 @@ public class ApiServiceImpl implements IApiService {
     * @param code1       起点
     * @param code2       终点
     * @param wmsTrayCode 容器码 托盘料箱码/容器码
-     * @param wmsTaskNo   mydojob 任务
-     * @param wmsTaskType 1-入库 2-出库 3-agv搬运
+     * @param type   mydojob 任务
+     * @param jobId 1-入库 2-出库 3-agv搬运
     * @return
     */
    @Override
-    public AgvQueue createAgvQueue(String code1, String code2, String wmsTrayCode, String taskCode, String wmsTaskType, String traySize, String wmsTaskNo) {
+    public int createAgvQueue(String code1, String code2, String wmsTrayCode, String taskCode,String type,String jobId) {
        //生成ctu执行队列
        AgvQueue agvQueue = new AgvQueue();
        String reqCode = IdUtil.fastSimpleUUID();
@@ -257,20 +283,21 @@ public class ApiServiceImpl implements IApiService {
        agvQueue.setAgvType("AGV");
        agvQueue.setPositionCode1(code1);
        agvQueue.setPositionCode2(code2);
-        agvQueue.setTaskType("F01");
-        agvQueue.setCtnrType(traySize);
+        agvQueue.setTaskType(type);
+        agvQueue.setCtnrType("0");
        agvQueue.setCtnrCode("0");
        agvQueue.setCtnrNum("0");
        agvQueue.setTaskMode("0");
        agvQueue.setPriority("10");
        agvQueue.setRequest("0");
        agvQueue.setWmsTraycode(wmsTrayCode);
-        agvQueue.setWmsTaskNo(wmsTaskNo);
+        agvQueue.setWmsTaskNo(taskCode);
        agvQueue.setStatus("0");
-        agvQueue.setTaskCode(taskCode);
-        agvQueue.setWmsTaskType(wmsTaskType);
-        agvQueueService.insertAgvQueue(agvQueue);
-        return agvQueue;
+        agvQueue.setTaskCode(jobId);
+        agvQueue.setWmsTaskType("0");
+        int i = agvQueueService.insertAgvQueue(agvQueue);
+        return i;
+
    }

    /**
@@ -317,20 +344,15 @@ public class ApiServiceImpl implements IApiService {
    public GenAgvSchedulingTaskResponse requestAgvQueue(AgvQueue agvQueue) {
        //todo 请求ctu
        GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest = new GenAgvSchedulingTaskRequest();
-        genAgvSchedulingTaskRequest.setReqCode(agvQueue.getReqCode());
-        genAgvSchedulingTaskRequest.setTaskMode("0");
-        genAgvSchedulingTaskRequest.setPriority("10");
-        genAgvSchedulingTaskRequest.setTaskTyp("F01");
-        genAgvSchedulingTaskRequest.setCtnrCode("0");
-        genAgvSchedulingTaskRequest.setCtnrNum("0");
-        genAgvSchedulingTaskRequest.setTaskMode("0");
-        genAgvSchedulingTaskRequest.setTaskCode(agvQueue.getTaskCode());
-        genAgvSchedulingTaskRequest.setAgvTyp("AGV");
-        genAgvSchedulingTaskRequest.setPositionSelStrategy("0");
-        List<PositionCodeData> positionCodePath = new ArrayList<>();
-        positionCodePath.add(new PositionCodeData(agvQueue.getPositionCode1(), "0"));
-        positionCodePath.add(new PositionCodeData(agvQueue.getPositionCode2(), "0"));
-        genAgvSchedulingTaskRequest.setPositionCodePath(positionCodePath);
+        genAgvSchedulingTaskRequest.setFromStation(agvQueue.getPositionCode1());
+        genAgvSchedulingTaskRequest.setToStation(agvQueue.getPositionCode2());
+        genAgvSchedulingTaskRequest.setOrderId(agvQueue.getTaskCode());
+        genAgvSchedulingTaskRequest.setType(agvQueue.getTaskType());
+        genAgvSchedulingTaskRequest.setTaskGuideId("00000000-0000-0000-0000-000000000000");
+        genAgvSchedulingTaskRequest.setTriggerId("00000000-0000-0000-0000-000000000000");
+        GenAgvSchedulingTaskRequest.TaskAdditionallInfo taskAdditionallInfo = new GenAgvSchedulingTaskRequest.TaskAdditionallInfo();
+        genAgvSchedulingTaskRequest.setTaskAdditionallInfo(taskAdditionallInfo);
+
        return genAgvSchedulingTask(genAgvSchedulingTaskRequest);
    }

@@ -360,22 +382,9 @@ public class ApiServiceImpl implements IApiService {
    }


+
    @Override
    public AjaxResult receiveOutMydoJob(ReceiveJob receiveOutJob) {
-        Integer jobType = parseOutboundJobType(receiveOutJob);
-        if (jobType == null || jobType < 20) {
-            String rawType = receiveOutJob == null ? null : receiveOutJob.getInOrOut();
-            return AjaxResult.error("WCS 无法识别作业类型 " + rawType + "，任务未接收");
-        }
-        if (jobType != 30) {
-            String cargoSpaceId = receiveOutJob.getCargoSpaceId();
-            if (basCargoSpaceMapper.selectBasCargoSpaceByCargoSpaceId(cargoSpaceId) == null) {
-                return AjaxResult.error("WCS 未找到出库货位 " + cargoSpaceId + "，任务未接收");
-            }
-            if (basCargoSpaceMapper.countOutboundBlockingPositions(cargoSpaceId) > 0) {
-                return AjaxResult.error("同通道外侧货位尚未清空，等待前置移库完成");
-            }
-        }
        MydoJob mydoJob = new MydoJob();
        mydoJob.setJobId(receiveOutJob.getJobId());
        mydoJob.setTaskNo(receiveOutJob.getTaskNo());
@@ -393,23 +402,12 @@ public class ApiServiceImpl implements IApiService {
        int i = mydoJobService.insertMydoJob(mydoJob);
        if (i > 0) {
            return AjaxResult.success();
-        } else {
+        }else{
            return AjaxResult.error();
        }

    }

-    private Integer parseOutboundJobType(ReceiveJob job) {
-        if (job == null || job.getInOrOut() == null) {
-            return null;
-        }
-        try {
-            return Integer.valueOf(job.getInOrOut());
-        } catch (NumberFormatException ignored) {
-            return null;
-        }
-    }
-
    @Override
    public AjaxResult receiveInMydoJob(ReceiveJob receiveInJob) {
        MydoJob mydoJob = new MydoJob();
@@ -426,7 +424,7 @@ public class ApiServiceImpl implements IApiService {
        int i = mydoJobService.insertMydoJob(mydoJob);
        if (i > 0) {
            return AjaxResult.success();
-        } else {
+        }else{
            return AjaxResult.error();
        }
    }
@@ -471,74 +469,4 @@ public class ApiServiceImpl implements IApiService {


    }
-
-    @Override
-    public AjaxResult OutMakeSure(HashMap<String, Object> map) {
-        RequestLog requestLog = requestLogService.getRequestLog(OUT_MAKE_SURE, "线边直出请求过账", JSONUtil.toJsonStr(map));
-        if ("1".equals(requestLog.getIsSuccessful())) {
-            InterfaceReceive bean = JSONUtil.toBean(requestLog.getResponseBody(), InterfaceReceive.class);
-            return AjaxResult.success(bean.getData());
-        } else {
-            return AjaxResult.error();
-        }
-    }
-
-    @Override
-    public void updateLed(HashMap<String, Object> map) {
-        RequestLog requestLog = requestLogService.getRequestLog(UPDATE_LED, "出库到位更新LED", JSONUtil.toJsonStr(map));
-
-
-    }
-
-    @Override
-    public void updateLedError(HashMap<String, Object> map) {
-        RequestLog requestLog = requestLogService.getRequestLog(UPDATE_LED_ERROR, "更新线体报错信息", JSONUtil.toJsonStr(map));
-
-
-    }
-
-    @Override
-    public void sendContarTask() {
-        RequestLog requestLog = requestLogService.getRequestLog(QUERY_AGV_QUENE, "请求获取AGV执行队列", JSONUtil.toJsonStr(""));
-        if ("1".equals(requestLog.getIsSuccessful())) {
-            InterfaceReceive bean = JSONUtil.toBean(requestLog.getResponseBody(), InterfaceReceive.class);
-            AgvContainerTask bean1 = BeanUtil.toBean(bean.getData(), AgvContainerTask.class);
-            bean1.setStatus("0");
-            agvContainerTaskService.insertAgvContainerTask(bean1);
-        }
-    }
-
-    @Override
-    public AjaxResult sendAgvCar(Map<String, String> param) {
-        RequestLog requestLog = requestLogService.getRequestLogs(SEND_AGV_CAR, "下发AGV执行对列", JSONUtil.toJsonStr(param));
-        if ("1".equals(requestLog.getIsSuccessful())) {
-            return AjaxResult.success();
-        }
-        {
-            return AjaxResult.error();
-        }
-    }
-
-    @Override
-    public AjaxResult insertAgvQuene(HashMap<String, Object> param) {
-        RequestLog requestLog = requestLogService.getRequestLog(INSERT_AGV_QUENE, "请求自动生成AGV执行队列", JSONUtil.toJsonStr(param));
-        if ("1".equals(requestLog.getIsSuccessful())) {
-            return AjaxResult.success();
-        }
-        {
-            return AjaxResult.error();
-        }
-    }
-
-    @Override
-    public void finishAgvJob(String container) {
-        HashMap<Object, Object> objectObjectHashMap = new HashMap<>();
-        objectObjectHashMap.put("order", container);
-        RequestLog requestLog = requestLogService.getRequestLog(FINISH_AGV_QUENE, "完成AGV执行队列", JSONUtil.toJsonStr(objectObjectHashMap));
-        if ("1".equals(requestLog.getIsSuccessful())) {
-
-            agvContainerTaskService.deleteAgvContainerTaskByOrderId(container);
-        }
-    }
-
 }
--- a/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/RequestLogServiceImpl.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/RequestLogServiceImpl.java
@@ -6,7 +6,7 @@ import java.util.List;
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUnit;
 import cn.hutool.core.date.DateUtil;
-import cn.hutool.http.ContentType;
+import cn.hutool.http.HttpRequest;
 import cn.hutool.http.HttpResponse;
 import cn.hutool.http.HttpUtil;
 import cn.hutool.json.JSONUtil;
@@ -26,7 +26,8 @@ import com.ruoyi.api.service.IRequestLogService;
 */
@Service
@Slf4j
-public class RequestLogServiceImpl implements IRequestLogService {
+public class RequestLogServiceImpl implements IRequestLogService
+{
    @Autowired
    private RequestLogMapper requestLogMapper;

@@ -37,7 +38,8 @@ public class RequestLogServiceImpl implements IRequestLogService {
     * @return 接口记录
     */
    @Override
-    public RequestLog selectRequestLogByRequestId(Long requestId) {
+    public RequestLog selectRequestLogByRequestId(Long requestId)
+    {
        return requestLogMapper.selectRequestLogByRequestId(requestId);
    }

@@ -48,7 +50,8 @@ public class RequestLogServiceImpl implements IRequestLogService {
     * @return 接口记录
     */
    @Override
-    public List<RequestLog> selectRequestLogList(RequestLog requestLog) {
+    public List<RequestLog> selectRequestLogList(RequestLog requestLog)
+    {
        return requestLogMapper.selectRequestLogList(requestLog);
    }

@@ -59,10 +62,11 @@ public class RequestLogServiceImpl implements IRequestLogService {
     * @return 结果
     */
    @Override
-    public int insertRequestLog(RequestLog requestLog) {
-        if ("1".equals(requestLog.getIsSuccessful())) {
+    public int insertRequestLog(RequestLog requestLog)
+    {
+        if ("1".equals(requestLog.getIsSuccessful())){
            return requestLogMapper.insertRequestLog(requestLog);
-        } else {
+        }else {
            //log.error("请求失败：" + requestLog.getErrorDetails());
            return 0;
        }
@@ -75,7 +79,8 @@ public class RequestLogServiceImpl implements IRequestLogService {
     * @return 结果
     */
    @Override
-    public int updateRequestLog(RequestLog requestLog) {
+    public int updateRequestLog(RequestLog requestLog)
+    {
        return requestLogMapper.updateRequestLog(requestLog);
    }

@@ -86,7 +91,8 @@ public class RequestLogServiceImpl implements IRequestLogService {
     * @return 结果
     */
    @Override
-    public int deleteRequestLogByRequestIds(Long[] requestIds) {
+    public int deleteRequestLogByRequestIds(Long[] requestIds)
+    {
        return requestLogMapper.deleteRequestLogByRequestIds(requestIds);
    }

@@ -97,7 +103,8 @@ public class RequestLogServiceImpl implements IRequestLogService {
     * @return 结果
     */
    @Override
-    public int deleteRequestLogByRequestId(Long requestId) {
+    public int deleteRequestLogByRequestId(Long requestId)
+    {
        return requestLogMapper.deleteRequestLogByRequestId(requestId);
    }

@@ -110,7 +117,7 @@ public class RequestLogServiceImpl implements IRequestLogService {
     * @return requestLog
     */
    @Override
-    public RequestLog getRequestLog(String url, String endPoint, String param) {
+    public RequestLog getRequestLog(String url,  String endPoint,String param) {
        RequestLog requestLog = new RequestLog();
        Date requestTime = new Date();
        requestLog.setRequestTime(DateUtil.format(requestTime, "yyyy-MM-dd HH:mm:ss"));
@@ -123,17 +130,16 @@ public class RequestLogServiceImpl implements IRequestLogService {
        requestLog.setRequestUrl(url);
        try {
            String resStr = HttpUtil.post(url, param);
-
            requestLog.setResponseBody(resStr);
-
            InterfaceReceive bean = JSONUtil.toBean(resStr, InterfaceReceive.class);
-            Date responseTime = new Date();
+            Date responseTime =new Date();
            if (bean.getCode() == 200) {
                requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
                requestLog.setResponseStatus("1");
                requestLog.setDuration(Convert.toStr(DateUtil.between(requestTime, responseTime, DateUnit.MS)));
                requestLog.setIsSuccessful("1");
-            } else {
+            }else {
+                requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
                requestLog.setResponseStatus("0");
                requestLog.setErrorDetails(bean.getMsg());
                requestLog.setIsSuccessful("0");
@@ -149,6 +155,56 @@ public class RequestLogServiceImpl implements IRequestLogService {
        return requestLog;
    }

+    @Override
+    public RequestLog getRequestLogAgv(String url, String endPoint, String param) {
+        RequestLog requestLog = new RequestLog();
+        Date requestTime = new Date();
+        requestLog.setRequestTime(DateUtil.format(requestTime, "yyyy-MM-dd HH:mm:ss"));
+        requestLog.setSourceSystem("wms");
+        requestLog.setTargetSystem("agv");
+        requestLog.setEndpoint(endPoint);
+        requestLog.setRequestMethod("post");
+        requestLog.setRequestHeaders(null);
+        requestLog.setRequestBody(param);
+        requestLog.setRequestUrl(url);
+        try {
+            // 使用HttpRequest获取HTTP状态码
+            HttpResponse response = HttpRequest.post(url)
+                    .body(param)
+                    .timeout(5000)
+                    .execute();
+
+            int httpStatusCode = response.getStatus();
+            String resStr = response.body();
+
+            requestLog.setResponseBody(resStr);
+            Date responseTime = new Date();
+
+            // 判断HTTP状态码是否成功(200-299都算成功)
+            if (httpStatusCode == 200) {
+                requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
+                requestLog.setResponseStatus(String.valueOf(httpStatusCode));
+                requestLog.setDuration(Convert.toStr(DateUtil.between(requestTime, responseTime, DateUnit.MS)));
+                requestLog.setIsSuccessful("1");
+
+
+            } else {
+                requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
+                requestLog.setResponseStatus(String.valueOf(httpStatusCode));
+                requestLog.setErrorDetails("HTTP请求失败，状态码: " + httpStatusCode);
+                requestLog.setIsSuccessful("0");
+            }
+
+        } catch (Exception e) {
+            requestLog.setErrorDetails(e.getMessage());
+            requestLog.setIsSuccessful("0");
+            requestLog.setResponseStatus("0");
+        } finally {
+            insertRequestLog(requestLog);
+        }
+        return requestLog;
+    }
+
    /**
     * 插入请求日志
     *
@@ -168,46 +224,4 @@ public class RequestLogServiceImpl implements IRequestLogService {
        requestLog.setDuration(Convert.toStr(DateUtil.between(requestTime, requestTime, DateUnit.MS)));
        return requestLog;
    }
-
-    @Override
-    public RequestLog getRequestLogs(String url, String param, String endPoint) {
-        RequestLog requestLog = new RequestLog();
-        Date requestTime = new Date();
-        requestLog.setRequestTime(DateUtil.format(requestTime, "yyyy-MM-dd HH:mm:ss"));
-        requestLog.setSourceSystem("wcs");
-        requestLog.setTargetSystem("wms");
-        requestLog.setEndpoint(param);
-        requestLog.setRequestMethod("post");
-        requestLog.setRequestHeaders(null);
-        requestLog.setRequestBody(endPoint);
-        requestLog.setRequestUrl(url);
-        try {
-            // 链式创建POST请求，获取完整响应对象
-            HttpResponse response = HttpUtil.createPost(url)
-                    .body(endPoint, "application/json") // 传入表单参数
-                    .execute();
-            String body = response.body();
-            int status = response.getStatus();
-            InterfaceReceive bean = JSONUtil.toBean(body, InterfaceReceive.class);
-            Date responseTime = new Date();
-            if (status == 200) {
-                requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
-                requestLog.setResponseStatus("1");
-                requestLog.setDuration(Convert.toStr(DateUtil.between(requestTime, responseTime, DateUnit.MS)));
-                requestLog.setIsSuccessful("1");
-            } else {
-                requestLog.setResponseStatus("0");
-                requestLog.setErrorDetails(bean.getMsg());
-                requestLog.setIsSuccessful("0");
-            }
-
-        } catch (Exception e) {
-            requestLog.setErrorDetails(e.getMessage());
-            requestLog.setIsSuccessful("0");
-            requestLog.setResponseStatus("0");
-        } finally {
-            insertRequestLog(requestLog);
-        }
-        return requestLog;
-    }
 }
--- a/ruoyi-admin/src/main/java/com/ruoyi/bas/cargospace/mapper/BasCargoSpaceMapper.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/bas/cargospace/mapper/BasCargoSpaceMapper.java
@@ -20,11 +20,6 @@ public interface BasCargoSpaceMapper
     */
    public BasCargoSpace selectBasCargoSpaceByCargoSpaceId(String cargoSpaceId);

-    /**
-     * Count occupied positions or unfinished outbound jobs outside the requested position.
-     */
-    int countOutboundBlockingPositions(@Param("cargoSpaceId") String cargoSpaceId);
-
    /**
     * 查询库存信息列表
     * 
--- a/ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/RoadCacheServiceImpl.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/RoadCacheServiceImpl.java
@@ -141,7 +141,7 @@ public class RoadCacheServiceImpl implements RoadCacheService {
                HashSet<String> otherCarSiteList = new HashSet<>();
                for (WcsSrgvQueue wcsSrgvQueue : otherCarQueue) {
                    if (wcsSrgvQueue.getPathInfo() != null) {
-                        //根据小车当前点位去除已走路径 除了当前点和上一个点之外都解锁
+                        //根据小车当前点位去除已走路径
                        DeviceSrgv otherCarCurrStatus = deviceSrgvService.selectDeviceSrgvByGuid(wcsSrgvQueue.getAgvId());
                        String currSite = otherCarCurrStatus.getCurrSite();
                        List<String> allSiteList = Arrays.asList(wcsSrgvQueue.getPathInfo().split(","));
--- a/ruoyi-admin/src/main/java/com/ruoyi/common/Constant.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/common/Constant.java
@@ -4,8 +4,9 @@ package com.ruoyi.common;
 public class Constant {

    public static final String WMS_BASE_URL = "http://localhost:8080/api2wms/";
-    public static final String RCS_BASE_URL = "http://192.168.188.251:9501/";
-    public static final String WMS_BASE_PDA_URL = "http://localhost:8080/pda/";
+    public static final String RCS_BASE_URL = "http://127.0.0.1:8081/rcms-dps/rest/";
+    public static final String AGV_BASE_URL = "http://127.0.0.1:9501/api/app/agvs-task";
+

    public static final String JOB_FINISH_URL = WMS_BASE_URL+"jobFinish";
    public static final String CONTINUE_TASK_URL = RCS_BASE_URL+"continueTask";
@@ -17,13 +18,9 @@ public class Constant {
    public static final String RE_ASSIGN_URL = WMS_BASE_URL+"reAssign";
    public static final String RE_MATERIAL_URL = WMS_BASE_URL+"reMaterial";
    public static final String REQUEST_ENTER_URL = WMS_BASE_URL+"requestEnterByTrayCodeAndEntranceId";
-    public static final String OUT_MAKE_SURE=WMS_BASE_PDA_URL+"outMakeSure";
-    public static final String UPDATE_LED=WMS_BASE_URL+"updateLed";
-    public static final String QUERY_AGV_QUENE=WMS_BASE_URL+"queryAgvQuene";
-    public static final String FINISH_AGV_QUENE=WMS_BASE_URL+"finishAgvQuene";
-    public static final String SEND_AGV_CAR=RCS_BASE_URL+"api/app/agvs-task";
-    public static final String INSERT_AGV_QUENE=WMS_BASE_URL+"insertAgvQuene";
-    public static final String UPDATE_LED_ERROR=WMS_BASE_URL+"updateLedError";
+    public static final String CREATE_AGV_TASK_URL = AGV_BASE_URL+"agvs-task";
+
+
    public static final String WAREHOUSE_01 = "01";
    public static final String WAREHOUSE_02 = "02";

--- a/ruoyi-admin/src/main/java/com/ruoyi/device/ssj/domain/DeviceSsj.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/device/ssj/domain/DeviceSsj.java
@@ -83,8 +83,6 @@ public class DeviceSsj extends BaseEntity

    @Excel(name="输送线模式 1-入库 2-出库")
    private int model;
-    // 报警信息
-    private int errorCode;



--- a/ruoyi-admin/src/main/java/com/ruoyi/job/controller/MydoJobController.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/job/controller/MydoJobController.java
@@ -2,7 +2,6 @@ package com.ruoyi.job.controller;

 import java.util.List;
 import javax.servlet.http.HttpServletResponse;
-
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.GetMapping;
@@ -30,7 +29,8 @@ import com.ruoyi.common.core.page.TableDataInfo;
 */
@RestController
@RequestMapping("/job/mydoJob")
-public class MydoJobController extends BaseController {
+public class MydoJobController extends BaseController
+{
    @Autowired
    private IMydoJobService mydoJobService;

@@ -39,7 +39,8 @@ public class MydoJobController extends BaseController {
     */
    @PreAuthorize("@ss.hasPermi('job:mydoJob:list')")
    @GetMapping("/list")
-    public TableDataInfo list(MydoJob mydoJob) {
+    public TableDataInfo list(MydoJob mydoJob)
+    {
        startPage();
        List<MydoJob> list = mydoJobService.selectMydoJobList(mydoJob);
        return getDataTable(list);
@@ -50,11 +51,10 @@ public class MydoJobController extends BaseController {
     */
    @PreAuthorize("@ss.hasPermi('job:mydoJob:list')")
    @GetMapping("/listFinish")
-    public TableDataInfo listFinish(MydoJob mydoJob) {
+    public TableDataInfo listFinish(MydoJob mydoJob)
+    {
        startPage();
-//        mydoJob.setStatus("3");
        List<MydoJob> list = mydoJobService.selectMydoJobFinishList(mydoJob);
-
        return getDataTable(list);
    }

@@ -64,15 +64,9 @@ public class MydoJobController extends BaseController {
    @PreAuthorize("@ss.hasPermi('job:mydoJob:export')")
    @Log(title = "作业信息", businessType = BusinessType.EXPORT)
    @PostMapping("/export")
-    public void export(HttpServletResponse response, MydoJob mydoJob) {
-        List<MydoJob> list = null;
-        if (mydoJob.getStatus().equals("3")) {
-            list = mydoJobService.selectMydoJobList(mydoJob);
-        } else {
-
-            list = mydoJobService.selectMydoJobFinishList(mydoJob);
-        }
-
+    public void export(HttpServletResponse response, MydoJob mydoJob)
+    {
+        List<MydoJob> list = mydoJobService.selectMydoJobList(mydoJob);
        ExcelUtil<MydoJob> util = new ExcelUtil<MydoJob>(MydoJob.class);
        util.exportExcel(response, list, "作业信息数据");
    }
@@ -82,7 +76,8 @@ public class MydoJobController extends BaseController {
     */
    @PreAuthorize("@ss.hasPermi('job:mydoJob:query')")
    @GetMapping(value = "/{jobId}")
-    public AjaxResult getInfo(@PathVariable("jobId") String jobId) {
+    public AjaxResult getInfo(@PathVariable("jobId") String jobId)
+    {
        return success(mydoJobService.selectMydoJobByJobId(jobId));
    }

@@ -92,7 +87,8 @@ public class MydoJobController extends BaseController {
    @PreAuthorize("@ss.hasPermi('job:mydoJob:add')")
    @Log(title = "作业信息", businessType = BusinessType.INSERT)
    @PostMapping
-    public AjaxResult add(@RequestBody MydoJob mydoJob) {
+    public AjaxResult add(@RequestBody MydoJob mydoJob)
+    {
        return toAjax(mydoJobService.insertMydoJob(mydoJob));
    }

@@ -102,7 +98,8 @@ public class MydoJobController extends BaseController {
    @PreAuthorize("@ss.hasPermi('job:mydoJob:edit')")
    @Log(title = "作业信息", businessType = BusinessType.UPDATE)
    @PutMapping
-    public AjaxResult edit(@RequestBody MydoJob mydoJob) {
+    public AjaxResult edit(@RequestBody MydoJob mydoJob)
+    {
        return toAjax(mydoJobService.updateMydoJob(mydoJob));
    }

@@ -111,8 +108,9 @@ public class MydoJobController extends BaseController {
     */
    @PreAuthorize("@ss.hasPermi('job:mydoJob:remove')")
    @Log(title = "作业信息", businessType = BusinessType.DELETE)
-    @DeleteMapping("/{jobIds}")
-    public AjaxResult remove(@PathVariable String[] jobIds) {
+	@DeleteMapping("/{jobIds}")
+    public AjaxResult remove(@PathVariable String[] jobIds)
+    {
        return toAjax(mydoJobService.deleteMydoJobByJobIds(jobIds));
    }

@@ -120,7 +118,8 @@ public class MydoJobController extends BaseController {
    @PreAuthorize("@ss.hasPermi('job:mydoJob:manualCallback')")
    @Log(title = "作业信息", businessType = BusinessType.UPDATE)
    @GetMapping("/manualCallback/{jobId}")
-    public AjaxResult manualCallback(@PathVariable("jobId") String jobId) {
+    public AjaxResult manualCallback(@PathVariable("jobId") String jobId)
+    {
        return mydoJobService.manualCallback(jobId);
    }
 }
--- a/ruoyi-admin/src/main/java/com/ruoyi/job/domain/MydoJob.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/job/domain/MydoJob.java
@@ -24,11 +24,10 @@ public class MydoJob extends BaseEntity
    private static final long serialVersionUID = 1L;

    /** 任务ID */
-    @Excel(name = "任务ID")
    private String jobId;

    /** 任务状态 */
-    @Excel(name = "任务状态",dictType = "job_status")
+    @Excel(name = "任务状态")
    private String status;

    /** 任务号 */
@@ -36,7 +35,7 @@ public class MydoJob extends BaseEntity
    private String taskNo;

    /** 巷道ID */
-//    @Excel(name = "巷道ID")
+    @Excel(name = "巷道ID")
    private String roadwayId;

    /** 货位ID */
@@ -56,11 +55,11 @@ public class MydoJob extends BaseEntity
    private Long priority;

    /** 执行阶段 */
-//    @Excel(name = "执行阶段")
+    @Excel(name = "执行阶段")
    private String executionPhase;

    /** 任务类型 */
-    @Excel(name = "任务类型",dictType = "job_type")
+    @Excel(name = "任务类型")
    private String inOrOut;

    /** 开始时间 */
@@ -84,9 +83,9 @@ public class MydoJob extends BaseEntity
    private String warehouseId;

    /** 重分标志 */
-//    @Excel(name = "重分标志")
+    @Excel(name = "重分标志")
    private String faultFlag;
-    @Excel(name = "托盘条码")
+
    private String trayCode;

    private String inOut;
--- a/ruoyi-admin/src/main/java/com/ruoyi/job/mapper/MydoJobMapper.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/job/mapper/MydoJobMapper.java
@@ -89,18 +89,4 @@ public interface MydoJobMapper
    Integer selectExit(String ssj);

    Integer selectMydoJobCount();
-
-    Integer selectMydoJobIn();
-
-    Integer selectMydoJobCountOut();
-
-    Integer selectByJobOut(Integer currFloor);
-
-    Integer selectByJobOutIsOne(Integer currFloor);
-
-    Integer selectMydoJobExit(String exit);
-
-    Integer selectTheFloorYk(String theFloor);
-
-    void deleteMydoJobByTaskNos(List<String> validTaskNos);
 }
--- a/ruoyi-admin/src/main/java/com/ruoyi/job/service/IMydoJobService.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/job/service/IMydoJobService.java
@@ -88,16 +88,4 @@ public interface IMydoJobService
    Integer selectExit(String ssj);

    Integer selectMydoJobCount();
-
-    Integer selectMydoJobIn();
-
-    Integer selectMydoJobCountOut();
-
-    Integer selectByJobOut(Integer currFloor);
-
-    Integer selectByJobOutIsOne(Integer currFloor);
-
-    Integer selectMydoJobExit(String exit);
-
-    Integer selectTheFloorYk(String theFloor);
 }
--- a/ruoyi-admin/src/main/java/com/ruoyi/job/service/impl/MydoJobServiceImpl.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/job/service/impl/MydoJobServiceImpl.java
@@ -193,35 +193,4 @@ public class MydoJobServiceImpl implements IMydoJobService
    public Integer selectMydoJobCount() {
        return mydoJobMapper.selectMydoJobCount();
    }
-
-    @Override
-    public Integer selectMydoJobIn() {
-        return mydoJobMapper.selectMydoJobIn();
-    }
-
-    @Override
-    public Integer selectMydoJobCountOut() {
-        return mydoJobMapper.selectMydoJobCountOut();
-    }
-
-    @Override
-    public Integer selectByJobOut(Integer currFloor) {
-
-        return  mydoJobMapper.selectByJobOut(currFloor);
-    }
-
-    @Override
-    public Integer selectByJobOutIsOne(Integer currFloor) {
-        return mydoJobMapper.selectByJobOutIsOne(currFloor);
-    }
-
-    @Override
-    public Integer selectMydoJobExit(String exit) {
-        return mydoJobMapper.selectMydoJobExit(exit);
-    }
-
-    @Override
-    public Integer selectTheFloorYk(String theFloor) {
-        return mydoJobMapper.selectTheFloorYk(theFloor);
-    }
 }
--- a/ruoyi-admin/src/main/java/com/ruoyi/queue/agv/mapper/AgvQueueMapper.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/queue/agv/mapper/AgvQueueMapper.java
@@ -1,6 +1,5 @@
 package com.ruoyi.queue.agv.mapper;

-import java.util.HashMap;
 import java.util.List;
 import com.ruoyi.queue.agv.domain.AgvQueue;

@@ -67,7 +66,7 @@ public interface AgvQueueMapper
     */
    AgvQueue selectAgvQueueByTaskCode(String taskCode);

-    void insertHistory(String reqCode);
+    AgvQueue selectAgvQueueByStatus();

-    void selectKx(HashMap<String, Object> map);
+    void insertHistory(String reqCode);
 }
--- a/ruoyi-admin/src/main/java/com/ruoyi/queue/agv/service/IAgvQueueService.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/queue/agv/service/IAgvQueueService.java
@@ -1,6 +1,5 @@
 package com.ruoyi.queue.agv.service;

-import java.util.HashMap;
 import java.util.List;
 import com.ruoyi.queue.agv.domain.AgvQueue;

@@ -67,11 +66,11 @@ public interface IAgvQueueService
     */
    AgvQueue selectAgvQueueByTaskCode(String taskCode);

+    AgvQueue selectAgvQueueByStatus();
+
    /**
     * 插入agv完成历史
     * @param reqCode
     */
    void insertHistory(String reqCode);
-
-    void selectKx(HashMap<String, Object> map);
 }
--- a/ruoyi-admin/src/main/java/com/ruoyi/queue/agv/service/impl/AgvQueueServiceImpl.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/queue/agv/service/impl/AgvQueueServiceImpl.java
@@ -1,6 +1,5 @@
 package com.ruoyi.queue.agv.service.impl;

-import java.util.HashMap;
 import java.util.List;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
@@ -98,12 +97,12 @@ public class AgvQueueServiceImpl implements IAgvQueueService
    }

    @Override
-    public void insertHistory(String reqCode) {
-        agvQueueMapper.insertHistory(reqCode);
+    public AgvQueue selectAgvQueueByStatus() {
+        return agvQueueMapper.selectAgvQueueByStatus();
    }

    @Override
-    public void selectKx(HashMap<String, Object> map) {
-        agvQueueMapper.selectKx(map);
+    public void insertHistory(String reqCode) {
+        agvQueueMapper.insertHistory(reqCode);
    }
 }
--- a/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/mapper/WcsSrgvQueueMapper.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/mapper/WcsSrgvQueueMapper.java
@@ -2,7 +2,6 @@ package com.ruoyi.queue.srgv.mapper;

 import java.util.List;
 import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
-import org.apache.ibatis.annotations.Param;

 /**
 * 四向小车任务队列Mapper接口
@@ -10,11 +9,10 @@ import org.apache.ibatis.annotations.Param;
 * @author ruoyi
 * @date 2025-11-21
 */
-public interface WcsSrgvQueueMapper 
-{
+public interface WcsSrgvQueueMapper {
    /**
     * 查询四向小车任务队列
-     * 
+     *
     * @param guid 四向小车任务队列主键
     * @return 四向小车任务队列
     */
@@ -29,12 +27,9 @@ public interface WcsSrgvQueueMapper
    public WcsSrgvQueue selectWcsSrgvQueueByFloor(String theFloor);


-
-
-
    /**
     * 查询四向小车任务队列列表
-     * 
+     *
     * @param wcsSrgvQueue 四向小车任务队列
     * @return 四向小车任务队列集合
     */
@@ -42,7 +37,7 @@ public interface WcsSrgvQueueMapper

    /**
     * 新增四向小车任务队列
-     * 
+     *
     * @param wcsSrgvQueue 四向小车任务队列
     * @return 结果
     */
@@ -50,7 +45,7 @@ public interface WcsSrgvQueueMapper

    /**
     * 修改四向小车任务队列
-     * 
+     *
     * @param wcsSrgvQueue 四向小车任务队列
     * @return 结果
     */
@@ -58,7 +53,7 @@ public interface WcsSrgvQueueMapper

    /**
     * 删除四向小车任务队列
-     * 
+     *
     * @param guid 四向小车任务队列主键
     * @return 结果
     */
@@ -66,7 +61,7 @@ public interface WcsSrgvQueueMapper

    /**
     * 批量删除四向小车任务队列
-     * 
+     *
     * @param guids 需要删除的数据主键集合
     * @return 结果
     */
@@ -80,5 +75,4 @@ public interface WcsSrgvQueueMapper

    Integer selectByEndSite();

-    List<String> selectTaskNosByGuids(String[] guids);
 }
--- a/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/impl/WcsSrgvQueueServiceImpl.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/impl/WcsSrgvQueueServiceImpl.java
@@ -1,12 +1,10 @@
 package com.ruoyi.queue.srgv.service.impl;

-import java.util.ArrayList;
 import java.util.List;

 import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.ObjUtil;
-import com.ruoyi.job.mapper.MydoJobMapper;
 import com.ruoyi.queue.srgv.domain.WcsSrgvQueueFinish;
 import com.ruoyi.queue.srgv.mapper.WcsSrgvQueueFinishMapper;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -28,8 +26,7 @@ public class WcsSrgvQueueServiceImpl implements IWcsSrgvQueueService
    private WcsSrgvQueueMapper wcsSrgvQueueMapper;
    @Autowired
    private WcsSrgvQueueFinishMapper wcsSrgvQueueFinishMapper;
-    @Autowired
-    private MydoJobMapper mydoJobMapper;
+
    /**
     * 查询四向小车任务队列
     *
@@ -103,29 +100,9 @@ public class WcsSrgvQueueServiceImpl implements IWcsSrgvQueueService
    @Override
    public int deleteWcsSrgvQueueByGuids(String[] guids)
    {
-        if (guids == null || guids.length == 0) {
-            return 0;
-        }
-        List<String> taskNos = wcsSrgvQueueMapper.selectTaskNosByGuids(guids);
-        deleteMydoJobsByTaskNos(taskNos);
        return wcsSrgvQueueMapper.deleteWcsSrgvQueueByGuids(guids);
    }

-    private void deleteMydoJobsByTaskNos(List<String> taskNos) {
-        if (taskNos == null || taskNos.isEmpty()) {
-            return;
-        }
-        List<String> validTaskNos = new ArrayList<>();
-        for (String taskNo : taskNos) {
-            if (taskNo != null && !"".equals(taskNo)) {
-                validTaskNos.add(taskNo);
-            }
-        }
-        if (!validTaskNos.isEmpty()) {
-            mydoJobMapper.deleteMydoJobByTaskNos(validTaskNos);
-        }
-    }
-
    /**
     * 删除四向小车任务队列信息
     *
@@ -154,6 +131,7 @@ public class WcsSrgvQueueServiceImpl implements IWcsSrgvQueueService
        return wcsSrgvQueueMapper.selectByCaogoPlaceSite(siteId);
    }

+
    @Override
    public Integer selectByEndSite() {
        return wcsSrgvQueueMapper.selectByEndSite();
--- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/cdz/PlcCdzRead.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/cdz/PlcCdzRead.java
@@ -73,8 +73,6 @@ public class PlcCdzRead implements Runnable {
            ddsx1 = SoftBasic.ByteToHexString(read2.Content);
            deviceCdz.setStatus(ParseUtil.optInt(0, ddsx1));
 //            deviceCdz.setModel(ParseUtil.optInt(2, ddsx1));
-        }else {
-            log.error(read2.Message);
        }
    }

@@ -118,8 +116,8 @@ public class PlcCdzRead implements Runnable {
    }

    void closeServer() {
-        if (siemensS7Net != null) {
-            siemensS7Net.ConnectClose();
+        if (readWriteNet != null) {
+            readWriteNet.ConnectClose();
        }
        setIsConnect(false);
    }
--- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ddj/PlcDdjRead.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ddj/PlcDdjRead.java
@@ -123,8 +123,8 @@ public class PlcDdjRead implements Runnable {
    }

    void closeServer() {
-        if (siemensS7Net != null) {
-            siemensS7Net.ConnectClose();
+        if (readWriteNet != null) {
+            readWriteNet.ConnectClose();
        }
        setIsConnect(false);
    }
--- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/PlcSrgvRead.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/PlcSrgvRead.java
@@ -78,39 +78,29 @@ public class PlcSrgvRead implements Runnable {
        OperateResultExOne<byte[]> read1 = modbusTcpNet.Read("4068", (short) 15);//2400-2414
        if (read1.IsSuccess) {
            setValueByByte1(read1.Content, deviceSrgv);
-        }else {
-            log.error(read1.Message);
        }

        OperateResultExOne<byte[]> read5 = modbusTcpNet.Read("4081", (short) 2);//2400-2414
        if (read5.IsSuccess) {
            setValueByByte5(read1.Content, deviceSrgv);
-        }else {
-            log.error(read1.Message);
        }

        //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);
-        }else {
-            log.error(read1.Message);
        }

        //读取双字
        OperateResultExOne<byte[]> read2 = modbusTcpNet.Read("4060", (short) 8);// 4800-4807任务号、原点、目标点、当前
        if (read2.IsSuccess) {
            setValueByByte2(read2.Content, deviceSrgv);
-        }else {
-            log.error(read1.Message);
        }

        //        //读取双字，路径
        OperateResultExOne<byte[]> read4 = modbusTcpNet.Read("6000", (short) 800);// 5000-5799 路径 400个
        if (read4.IsSuccess) {
            setValueByByte4(read4.Content, deviceSrgv);
-        }else {
-            log.error(read1.Message);
        }
    }

@@ -244,8 +234,8 @@ public class PlcSrgvRead implements Runnable {
    }

    void closeServer() {
-        if (modbusTcpNet != null) {
-            modbusTcpNet.ConnectClose();
+        if (readWriteNet != null) {
+            readWriteNet.ConnectClose();
        }
        setIsConnect(false);
    }
--- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcSsjRead.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcSsjRead.java
@@ -97,7 +97,6 @@ public class PlcSsjRead implements Runnable {
            ddsx1 = SoftBasic.ByteToHexString(read2.Content);
            ssjDevice.setKx(ParseUtil.optInt(4, ddsx1));
            ssjDevice.setDw(ParseUtil.optInt(6, ddsx1));
-            ssjDevice.setErrorCode(ParseUtil.optInt(8,ddsx1));
            ssjDevice.setTaskNo(ParseUtil.optDInt(0, ddsx1));

        }
@@ -136,8 +135,6 @@ public class PlcSsjRead implements Runnable {
            ssjDevice.setDw(ParseUtil.optInt(6, ddsx1));
 //            ssjDevice.setTrayCode(ParseUtil.optString(14, 12, ddsx1));
 //            ssjDevice.setModel(ParseUtil.optInt(28, ddsx1));
-        }else {
-            log.error(read2.Message);
        }
    }

@@ -158,8 +155,6 @@ public class PlcSsjRead implements Runnable {
 //            ssjDevice.setKx(ParseUtil.optInt(4, ddsx1));
 //            ssjDevice.setDw(ParseUtil.optInt(6, ddsx1));

-        }else {
-            log.error(read2.Message);
        }
    }

@@ -197,8 +192,6 @@ public class PlcSsjRead implements Runnable {
                //去除bytes中
                ssjDevice.setTrayCode(ParseUtil.filterAndConvert(trayCodeRead.Content));
            }
-        }else {
-            log.error(read2.Message);
        }
    }

@@ -242,8 +235,8 @@ public class PlcSsjRead implements Runnable {
    }

    void closeServer() {
-        if (siemensS7Net != null) {
-            siemensS7Net.ConnectClose();
+        if (readWriteNet != null) {
+            readWriteNet.ConnectClose();
        }
        setIsConnect(false);
    }
--- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/tsj/PlcTsjRead.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/tsj/PlcTsjRead.java
@@ -126,8 +126,8 @@ public class PlcTsjRead implements Runnable {
    }

    void closeServer() {
-        if (siemensS7Net != null) {
-            siemensS7Net.ConnectClose();
+        if (readWriteNet != null) {
+            readWriteNet.ConnectClose();
        }
        setIsConnect(false);
    }
--- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/cdz/CdzThread.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/cdz/CdzThread.java
@@ -23,9 +23,6 @@ import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
 import com.ruoyi.schedule.plcRead.util.Tools;
 import lombok.extern.slf4j.Slf4j;

-import java.time.LocalDateTime;
-import java.time.format.DateTimeFormatter;
-import java.time.temporal.ChronoUnit;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Optional;
@@ -70,19 +67,6 @@ public class CdzThread implements Runnable {
        }
    }

-    public static boolean isMoreThan30Min(String timeStr, String pattern) {
-        // 1. 创建格式化器
-        DateTimeFormatter formatter = DateTimeFormatter.ofPattern(pattern);
-        // 2. 解析字符串为时间对象
-        LocalDateTime targetTime = LocalDateTime.parse(timeStr, formatter);
-        // 3. 获取当前系统时间
-        LocalDateTime now = LocalDateTime.now();
-        // 4. 计算两个时间相差的总分钟（可正可负）
-        long diffMinutes = ChronoUnit.MINUTES.between(targetTime, now);
-        // 取绝对值：不管是过去/未来时间，只要间隔超30分钟就满足
-        long absDiff = Math.abs(diffMinutes);
-        return absDiff > 30;
-    }

    void dispatch() {
        Integer count = mydoJobService.selectMydoJobCount();
@@ -95,7 +79,7 @@ public class CdzThread implements Runnable {
            if (deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() != 3 && deviceSrgv.getChargeFlag() != 2) {
                if (deviceSrgv.getBattery() <= LITTLE_BETTERY) {
                    littleBatterySRgv.add(deviceSrgv);
-                } else if (deviceSrgv.getBattery() <= MIDDLE_BETTERY && isMoreThan30Min(deviceSrgv.getLastTime(),"yyyy-MM-dd HH:mm:ss")) {
+                } else if (deviceSrgv.getBattery() <= MIDDLE_BETTERY && count == 0) {
                    middleBatterySRgv.add(deviceSrgv);
                }
            }
@@ -152,11 +136,11 @@ public class CdzThread implements Runnable {
        }

        //生成断电任务  有任务且电量大于50
+
        List<DeviceCdz> deviceCdzdd = deviceCdzService.selectDeviceCdzHasSRgvList();
        for (DeviceCdz deviceCdz : deviceCdzdd) {
            DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1());
-            //(deviceSrgv.getBattery() >= JOB_BETTERY && count > 0) ||
-            if (( deviceSrgv.getBattery() >= MAX_BETTERY)
+            if (((deviceSrgv.getBattery() >= JOB_BETTERY && count > 0) || deviceSrgv.getBattery() >= MAX_BETTERY)
                    && deviceSrgv.getWorkMode() == 5
                    && deviceSrgv.getChargeFlag() == 2 && deviceCdz.getStatus() == 1) {
                createChargingOutJob(PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1()), deviceCdz);
--- 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
@@ -115,7 +115,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                            createCarOutQueue();
                            // 充电任务队列
                            inCharging(deviceSrgv);
-
+                            // 充电完成调离
+//                            outCharging(deviceSrgv);

                        } else {
                            log.error("小车设备为空");
@@ -190,10 +191,10 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                    wcsSrgvQueue.setEndSite("tsj");
                    wcsSrgvQueue.setDefault02("8");

-//                    Integer count = wcsSagvQueueMapper.selectTsj();
-//                    if (count > 0) {
-//                        return;
-//                    }
+                    Integer count = wcsSagvQueueMapper.selectTsj();
+                    if (count > 0) {
+                        return;
+                    }
                }
                // TODO 如果小车的当前点和小车的充电点位置一样，直接生成已经下发的队列 等着充电就可以
 //                if (deviceSrgv.getCurrSite().equals(chargingSite)) {
@@ -229,19 +230,14 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
     * 生成出库小车队列
     */
    private void createCarOutQueue() {
+
+
        List<MydoJob> mydoJobs = mydoJobService.selectMydoJobOut();
+
        if (!mydoJobs.isEmpty()) {
            for (MydoJob mydoJob1 : mydoJobs) {
-          // 根据 当前层的 出库任务查询是否存在当前层的移库任务，如果有直接return;
-//                String theFloor = mydoJob1.getTheFloor();
-//               Integer count= mydoJobService.selectTheFloorYk(theFloor);
-//               if (count>0){
-//                   return;
-//               }
-
                WcsSrgvQueue wcsSrgvQueue1 = wcsSagvQueueMapper.selectWcsSrgvQueueByTaskNo(mydoJob1.getTaskNo());
                if (wcsSrgvQueue1 == null) {
-
                    ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
                    List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
                            .filter(deviceSrgv -> deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() == 1)
@@ -251,7 +247,18 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                            .collect(Collectors.toList());
                    if (!deviceSrgvList.isEmpty()) {
                        DeviceSrgv deviceSrgv = null;
-
+                        /*for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
+                            //优先出库层，如果没有优先邻近层
+                            if (deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
+                                deviceSrgv = deviceSrgv1;
+                                break;
+                            } else if (deviceSrgv == null || (Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - deviceSrgv1.getCurrFloor())) < (Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - deviceSrgv.getCurrFloor()))) {
+                                WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
+                                if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
+                                    deviceSrgv = deviceSrgv1;
+                                }
+                            }
+                        }*/
                        WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
                        wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId());
                        List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
@@ -259,6 +266,25 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                        String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
                        //先找流程相等的小车
                        List<DeviceSrgv> currentFloorCarList = deviceSrgvList.stream().filter(x -> x.getCurrFloor().toString().equals(mydoJob1.getTheFloor())).collect(Collectors.toList());
+//                        int z = 100000;
+//                        for (DeviceSrgv srgv : currentFloorCarList) {
+//                            // 坐标截取和转换（保留你的原有逻辑）
+//                            Integer startX = Convert.toInt(StrUtil.sub(srgv.getCurrSite(), 0, 2));
+//                            Integer endX = Convert.toInt(StrUtil.sub(cargoPickSite, 0, 2));
+//                            Integer startY = Convert.toInt(StrUtil.sub(srgv.getCurrSite(), 2, 4));
+//                            Integer endY = Convert.toInt(StrUtil.sub(cargoPickSite, 2, 4));
+//
+//                            // 计算当前小车到取货点的曼哈顿距离   TODO  先算Y 再算X  如果Y相等再算X
+////                            int tempZ = Math.abs(startX - endX) + Math.abs(startY - endY);
+//                            int tempZ = Math.abs(startY - endY) != 0 ? Math.abs(startY - endY) : Math.abs(startX - endX);
+//
+//                            // 核心修正：只要当前tempZ比记录的最小z更小，就更新z和对应的小车
+//                            if (tempZ < z) {
+//                                z = tempZ; // 把z更新为当前更小的距离
+//                                deviceSrgv = srgv; // 记录这个更近的小车
+//                                log.info("楼层相等，找到更近小车 距离{} srgv:{}", tempZ, srgv);
+//                            }
+//                        }


                        int minYDistance = 100000; // 记录最小的Y轴距离
@@ -295,6 +321,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {

                        // 最终选中的小车赋值给deviceSrgv（保持原有变量名兼容）
                        deviceSrgv = bestSrgv;
+
+
                        if (deviceSrgv == null) {
                            //如果未选择到小车，再找其他楼层的小车
                            for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
@@ -302,7 +330,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                    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
-                                        log.info("楼层不相等:{}", deviceSrgv);
+                                        log.info("楼层bu相等:{}", deviceSrgv);

                                    }
                                }
@@ -342,8 +370,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                    //终点是提升机
                                    endSite = "tsj";
                                }
-                                String ssj1 = null;
-                                String ssj2 = null;
+//                                if (endSite.equals("tsj")) {
+//                                    Integer count = wcsSagvQueueMapper.selectTsj();
+//                                    if (count > 0) {
+//                                        return;
+//                                    }
+//                                }
+
                                mydoJob1.setExitId(null);
                                WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
                                String cargoPlaceSite = "";
@@ -358,50 +391,21 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                                String ssj = "";
                                                if (deviceSsj1.getName().equals("TD1001")) {
                                                    s = "050101";
-                                                    ssj1 = "L1004";
+                                                    ssj = "L1004";
                                                } else {
                                                    s = "070101";
-                                                    ssj2 = "L1005";
+                                                    ssj = "L1005";
+                                                }
+                                                Integer count = mydoJobService.selectExit(ssj);
+                                                if (count >= 0 && count <= 1) {
+                                                    mydoJob1.setExitId(ssj);
+                                                    mydoJobService.updateMydoJob(mydoJob1);
+                                                    outModelSSJ.add(s);
+                                                    break;
                                                }
-
                                            }
                                        }
                                    }
-                                    Integer count1 = 0;
-                                    Integer count2 = 0;
-                                    if (ssj1 != null) {
-                                        count1 = mydoJobService.selectExit(ssj1);
-                                    }
-                                    if (ssj2 != null) {
-                                        count2 = mydoJobService.selectExit(ssj2);
-                                    }
-                                    if (ssj1 != null && ssj2 != null) {
-                                        if (count1 < count2) {
-                                            mydoJob1.setExitId(ssj1);
-                                            mydoJob1.setStartTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
-                                            mydoJobService.updateMydoJob(mydoJob1);
-                                            outModelSSJ.add("050101");
-                                        } else {
-                                            mydoJob1.setExitId(ssj2);
-                                            mydoJob1.setStartTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
-                                            mydoJobService.updateMydoJob(mydoJob1);
-                                            outModelSSJ.add("070101");
-                                        }
-                                    }
-                                    if (ssj1 != null && ssj2 == null) {
-                                        mydoJob1.setExitId(ssj1);
-                                        mydoJob1.setStartTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
-                                        mydoJobService.updateMydoJob(mydoJob1);
-                                        outModelSSJ.add("050101");
-                                    }
-                                    if (ssj1 == null && ssj2 != null) {
-                                        mydoJob1.setExitId(ssj2);
-                                        mydoJob1.setStartTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
-                                        mydoJobService.updateMydoJob(mydoJob1);
-                                        outModelSSJ.add("070101");
-                                    }
-
-
                                    cargoPlaceSite = wcsSagvQueueMapper.selectMinCountJob(outModelSSJ);
                                    if (Objects.equals(cargoPlaceSite, "")) {
                                        return;
@@ -420,13 +424,37 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                if (!sameSiteDevices.isEmpty() && !Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())) {
                                    WcsSrgvMap wcsSrgvMap3 = new WcsSrgvMap();
                                    wcsSrgvMap3.setRemark("cache");
-
-                                }
-
-                                // 强复合作业控制，如果车在取货放货点，判断是否有要入库的作业，有的话则直接退出，让小车开始进入库的
-                                Integer InJobCount = mydoJobService.selectMydoJobIn();
-                                if (deviceSrgv != null && (deviceSrgv.getCurrSite().equals("070101") || deviceSrgv.getCurrSite().equals("050101")) && InJobCount > 0) {
-                                    return;
+//                                    List<WcsSrgvMap> wcsSrgvMaps3 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap3);
+//                                    for (WcsSrgvMap wcsSrgvMap4 : wcsSrgvMaps3) {
+//                                        //deviceSrgvMap中所有对象的currSite都不等于wcsSrgvMap4的siteId的对象
+//                                        if (deviceSrgvMap.values().stream().noneMatch(d -> d.getCurrSite().equals(wcsSrgvMap4.getSiteId()))) {
+//                                            //生成小车到缓存点队列
+//                                            WcsSrgvQueue wcsSrgvQueue5 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(sameSiteDevices.get(0).getDeviceId().toString());
+//                                            WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
+//                                            wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
+//                                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue);
+//                                            if (wcsSrgvQueue5 == null && wcsSrgvQueues.isEmpty()) {
+//                                                WcsSrgvQueue wcsSrgvQueue3 = new WcsSrgvQueue();
+//                                                wcsSrgvQueue3.setGuid(UUID.randomUUID().toString());
+//                                                wcsSrgvQueue3.setTaskNo("11111");
+//                                                wcsSrgvQueue3.setTaskType("1");
+//                                                wcsSrgvQueue3.setPriority(Long.parseLong("2"));
+//                                                wcsSrgvQueue3.setCargo("1");
+//                                                wcsSrgvQueue3.setIssued(issued);
+//                                                wcsSrgvQueue3.setExecutionStatus(executionStatus);
+//                                                wcsSrgvQueue3.setCargoPickSite(cargoPickSite);
+//                                                wcsSrgvQueue3.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
+//                                                wcsSrgvQueue3.setStartSite(sameSiteDevices.get(0).getCurrSite());
+//                                                wcsSrgvQueue3.setEndSite(wcsSrgvMap4.getSiteId());
+//                                                wcsSrgvQueue3.setTheFloor(sameSiteDevices.get(0).getCurrFloor().toString());
+//                                                wcsSrgvQueue3.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+//                                                wcsSrgvQueue3.setAgvId(sameSiteDevices.get(0).getDeviceId().toString());
+//                                                wcsSrgvQueue3.setDefault02("4");
+//                                                wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString());
+//                                                wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
+//                                            }
+//                                        }
+//                                    }
                                }


@@ -470,6 +498,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                    }
                }
            }
+
+
        }
    }

@@ -511,21 +541,16 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                            return;
                        }
                        List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
+
                        //取货地址
                        String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
+
                        //先找层数相等的小车
                        List<DeviceSrgv> currentFloorCarList = deviceSrgvList.stream().filter(x -> x.getCurrFloor().toString().equals(mydoJob1.getTheFloor())).collect(Collectors.toList());
                        int minYDistance = 100000; // 记录最小的Y轴距离
                        int minXDistance = 100000; // 记录最小的X轴距离
                        DeviceSrgv bestSrgv = null; // 最终选中的最优小车
-                        Integer count = wcsSagvQueueMapper.selectByCaogoPlaceSite("070101");
-                        Integer counts = wcsSagvQueueMapper.selectByCaogoPlaceSite("050101");
-                        // 暂时不加限制
-//                        if (currentFloorCarList.size() == 0 && (counts > 0 || count > 0)) {
-//                            return;
-//                        }

-                        // 先找目标层小车
                        for (DeviceSrgv srgv : currentFloorCarList) {
                            // 坐标截取和转换（保留原有逻辑）
                            Integer startX = Convert.toInt(StrUtil.sub(srgv.getCurrSite(), 0, 2));
@@ -538,17 +563,18 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                            int currentXDistance = Math.abs(startX - endX);

                            // 2. 核心逻辑：优先按Y轴排序，Y轴相同再按X轴排序
-                            // 用 if-else if 合并，互斥判断
                            if (currentYDistance < minYDistance) {
-                                // Y更近
+                                // 情况1：当前Y轴距离更小，直接更新最优解
                                minYDistance = currentYDistance;
                                minXDistance = currentXDistance;
                                bestSrgv = srgv;
+                                log.info("楼层相等，找到更近小车(Y轴更优) Y距离{} X距离{} srgv:{}", currentYDistance, currentXDistance, srgv);
                            } else if (currentYDistance == minYDistance) {
-                                // Y相同，比X
+                                // 情况2：Y轴距离相同，比较X轴距离
                                if (currentXDistance < minXDistance) {
                                    minXDistance = currentXDistance;
                                    bestSrgv = srgv;
+                                    log.info("楼层相等，找到更近小车(X轴更优) Y距离{} X距离{} srgv:{}", currentYDistance, currentXDistance, srgv);
                                }
                            }
                        }
@@ -556,82 +582,32 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                        // 最终选中的小车赋值给deviceSrgv（保持原有变量名兼容）
                        deviceSrgv = bestSrgv;
                        if (deviceSrgv == null) {
-                            //如果没找到目标层小车 先找一层的车
+                            //如果未选择到小车，找目标层小车
                            for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
-                                if (deviceSrgv1.getCurrFloor().toString().equals("1")) {
+                                if (!deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
                                    WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
                                    if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
-                                        Integer startX = Convert.toInt(StrUtil.sub(deviceSrgv1.getCurrSite(), 0, 2));
-                                        Integer endX = Convert.toInt(StrUtil.sub(cargoPickSite, 0, 2));
-                                        Integer startY = Convert.toInt(StrUtil.sub(deviceSrgv1.getCurrSite(), 2, 4));
-                                        Integer endY = Convert.toInt(StrUtil.sub(cargoPickSite, 2, 4));
+                                        deviceSrgv = deviceSrgv1; // 更新为更小楼层的小车
+                                        log.info("楼层bu相等:{}", deviceSrgv);

-                                        // 1. 计算当前小车到目标点的Y轴、X轴绝对距离
-                                        int currentYDistance = Math.abs(startY - endY);
-                                        int currentXDistance = Math.abs(startX - endX);
-
-                                        // 2. 核心逻辑：优先按Y轴排序，Y轴相同再按X轴排序
-                                        // 用 if-else if 合并，互斥判断
-                                        if (currentYDistance < minYDistance) {
-                                            // Y更近
-                                            minYDistance = currentYDistance;
-                                            minXDistance = currentXDistance;
-                                            deviceSrgv = deviceSrgv1;
-                                        } else if (currentYDistance == minYDistance) {
-                                            // Y相同，比X
-                                            if (currentXDistance < minXDistance) {
-                                                minXDistance = currentXDistance;
-                                                deviceSrgv = deviceSrgv1;
-                                            }
-                                        }
-                                    }
-                                    // 一层的车没有 再找不等于作业层的车
-                                } else if (!deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
-                                    WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
-                                    if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
-                                        Integer startX = Convert.toInt(StrUtil.sub(deviceSrgv1.getCurrSite(), 0, 2));
-                                        Integer endX = Convert.toInt(StrUtil.sub(cargoPickSite, 0, 2));
-                                        Integer startY = Convert.toInt(StrUtil.sub(deviceSrgv1.getCurrSite(), 2, 4));
-                                        Integer endY = Convert.toInt(StrUtil.sub(cargoPickSite, 2, 4));
-
-                                        // 1. 计算当前小车到目标点的Y轴、X轴绝对距离
-                                        int currentYDistance = Math.abs(startY - endY);
-                                        int currentXDistance = Math.abs(startX - endX);
-
-                                        // 2. 核心逻辑：优先按Y轴排序，Y轴相同再按X轴排序
-                                        // 用 if-else if 合并，互斥判断
-                                        if (currentYDistance < minYDistance) {
-                                            // Y更近
-                                            minYDistance = currentYDistance;
-                                            minXDistance = currentXDistance;
-                                            deviceSrgv = deviceSrgv1;
-                                        } else if (currentYDistance == minYDistance) {
-                                            // Y相同，比X
-                                            if (currentXDistance < minXDistance) {
-                                                minXDistance = currentXDistance;
-                                                deviceSrgv = deviceSrgv1;
-                                            }
-                                        }
                                    }
                                }
                            }
                        }
-
-                        if (deviceSrgv != null) {
-                            Integer currFloor = deviceSrgv.getCurrFloor();
-                            String currSite = deviceSrgv.getCurrSite();
-                            Integer i = mydoJobService.selectByJobOut(currFloor);
-                            Integer a = mydoJobService.selectByJobOutIsOne(currFloor);
-                            if (i > 0 && currFloor > 1) {
-                                return;
-                            }
-                            // 车在一层 并且一层的出库任务还有，并且车的当前点位不在取货放货点
-                            if (currFloor == 1 && a > 0 && !deviceSrgv.getCurrSite().equals("070101") && !deviceSrgv.getCurrSite().equals("050101")) {
-                                return;
-                            }
-                        }
-
-
+//                        // 如果目标层小车也没有 找其他层小车
+//                        if (deviceSrgv==null){
+//                            for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
+//                                if (!deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
+//                                    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
+//                                        log.info("楼层bu相等:{}", deviceSrgv);
+//
+//                                    }
+//                                }
+//                            }
+//
+//                        }
                        if (deviceSrgv != null) {

                            WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
@@ -658,8 +634,61 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                    // 小车不在1楼
                                    endSite = "tsj";
                                }
+//                                if (endSite.equals("tsj")) {
+//                                    Integer count = wcsSagvQueueMapper.selectTsj();
+//                                    if (count > 0) {
+//                                        return;
+//                                    }
+//                                }


+                                //筛选出deviceSrgvMap中deviceSrgv.getWorkMode() == 4并且deviceSrgv.getStatus() == 1并且deviceSrgv.getCurrSite() == cargoPickSite得对象，并排除掉其中deviceId与deviceSrgv.getDeviceId()相同的对象
+                                // 如果当前有其他小车也要去入库点取货  TODO 判断的是如果当前车要去取货点，但是取货点有车的的情况
+//                                List<DeviceSrgv> sameSiteDevices = deviceSrgvMap.values().stream()
+//                                        .filter(d -> d.getWorkMode() == 5
+//                                                && d.getStatus() == 1
+//                                                && d.getCurrSite().equals(cargoPickSite))
+//                                        .collect(Collectors.toList());
+                                // 和当前小车不是一个 那么就生成一个去离母通道最近的点
+//                                if (!sameSiteDevices.isEmpty() && !Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())) {
+//                                    WcsSrgvMap wcsSrgvMap3 = new WcsSrgvMap();
+//                                    wcsSrgvMap3.setSiteId("07070"+sameSiteDevices.get(0).getCurrFloor());
+//                                    List<WcsSrgvMap> wcsSrgvMaps3 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap3);
+//                                    for (WcsSrgvMap wcsSrgvMap4 : wcsSrgvMaps3) {
+//
+//                                        if (deviceSrgvMap.values().stream().noneMatch(d -> d.getCurrSite().equals(wcsSrgvMap4.getSiteId()))) {
+//                                            WcsSrgvQueue wcsSrgvQueue5 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(sameSiteDevices.get(0).getDeviceId().toString());
+//                                            WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
+//                                            wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
+//                                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue);
+//                                            if (wcsSrgvQueue5 == null && wcsSrgvQueues.isEmpty()) {
+//                                                //生成占位小车到缓存点队列
+//                                                WcsSrgvQueue wcsSrgvQueue3 = new WcsSrgvQueue();
+//                                                wcsSrgvQueue3.setGuid(UUID.randomUUID().toString());
+//                                                wcsSrgvQueue3.setTaskNo(String.valueOf(taskCache));
+//                                                wcsSrgvQueue3.setTaskType("1");
+//                                                wcsSrgvQueue3.setPriority(Long.parseLong("2"));
+//                                                wcsSrgvQueue3.setCargo("1");
+//                                                wcsSrgvQueue3.setIssued(issued);
+//                                                wcsSrgvQueue3.setExecutionStatus(executionStatus);
+//                                                wcsSrgvQueue3.setCargoPickSite(cargoPickSite);
+//                                                wcsSrgvQueue3.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
+//                                                wcsSrgvQueue3.setStartSite(sameSiteDevices.get(0).getCurrSite());
+//                                                wcsSrgvQueue3.setEndSite(wcsSrgvMap4.getSiteId());
+//                                                wcsSrgvQueue3.setTheFloor(sameSiteDevices.get(0).getCurrFloor().toString());
+//                                                wcsSrgvQueue3.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+//                                                wcsSrgvQueue3.setAgvId(sameSiteDevices.get(0).getDeviceId().toString());
+//                                                wcsSrgvQueue3.setDefault02("4");
+//                                                wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString());
+//                                                wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
+//                                                taskCache++;
+//                                                return;
+//                                            }
+//                                        }
+//
+//                                    }
+//                                }
+

                                //生成小车取货队列
                                WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
@@ -687,15 +716,15 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                                }
                                wcsSrgvQueue.setDefault07("1");
                                wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
-                                mydoJob1.setStartTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
-                                mydoJobService.updateMydoJob(mydoJob1);

                            }
                        }
                    }
                }
            }
+
        }
+
    }

    /**
@@ -732,134 +761,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {

    }

-    /**
-     * 公共方法：生成小车避让任务
-     */
-    private void buildAvoidTask(String agvId, DeviceSrgv device, Integer floor) {
-        ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
-        List<DeviceSrgv> deviceSrgvs = deviceSrgvMap.values().stream()
-                .filter(d -> d.getWorkMode() == 5
-                        && d.getStatus() == 1
-                        && d.getCurrFloor().equals(floor))
-                .collect(Collectors.toList());
-        ArrayList<String> sites = new ArrayList<>();
-        for (DeviceSrgv d : deviceSrgvs) {
-            sites.add(d.getCurrSite());
-        }
-        List<WcsSrgvMap> cacheMaps = wcsSrgvMapService.selectNotInsite("cache", floor, sites);
-        if (CollUtil.isEmpty(cacheMaps)) {
-            log.warn("楼层 {} 无可用避让缓存点，无法生成避让任务", floor);
-            return;
-        }
-
-        // 生成阻挡车的避让任务
-        WcsSrgvQueue taskB = new WcsSrgvQueue();
-        taskB.setGuid(UUID.randomUUID().toString());
-        taskB.setTaskNo(String.valueOf(taskCache));
-        taskB.setAgvId(agvId);
-        taskB.setTaskType("4");      // 避让任务
-        taskB.setDefault02("4");     // 业务类型标识为点到点
-        taskB.setPriority(9L);       // 高优先级
-        taskB.setIssued("0");        // 未下发
-        taskB.setExecutionStatus("1");
-        taskB.setStartSite(device.getCurrSite());
-        taskB.setCargoPickSite(device.getCurrSite());
-
-        // 选择避让缓存点
-        if (cacheMaps.size() > 1) {
-            Integer count = wcsSagvQueueMapper.selectByCaogoPlaceSite(cacheMaps.get(0).getSiteId());
-            if (count > 0) {
-                taskB.setCargoPlaceSite(cacheMaps.get(1).getSiteId());
-                taskB.setEndSite(cacheMaps.get(1).getSiteId());
-            } else {
-                taskB.setCargoPlaceSite(cacheMaps.get(0).getSiteId());
-                taskB.setEndSite(cacheMaps.get(0).getSiteId());
-            }
-        } else {
-            taskB.setCargoPlaceSite(cacheMaps.get(0).getSiteId());
-            taskB.setEndSite(cacheMaps.get(0).getSiteId());
-        }
-
-        taskB.setTheFloor(floor.toString());
-        taskB.setDefault07(floor.toString());
-        taskB.setCreateDate(DateUtil.now());
-        wcsSagvQueueMapper.insertWcsSrgvQueue(taskB);
-        taskCache++;
-    }
-
-    /**
-     * 处理通道占用避让：目标通道有其他车则生成避让任务
-     *
-     * @param currDevice   当前调度小车
-     * @param floor        当前楼层
-     * @param shortestPath 最短路径
-     * @return true=已触发避让，当前车需等待；false=通道无占用，正常走后续逻辑
-     */
-    private boolean handleChannelAvoid(DeviceSrgv currDevice, Integer floor, List<int[]> shortestPath) {
-        // 1. 取路径终点坐标
-        int[] lastPoint = shortestPath.get(shortestPath.size() - 1);
-        int x = lastPoint[0];
-        int y = lastPoint[1];
-
-        // 2. 根据坐标查询站点及所属通道
-        WcsSrgvMap queryMap = new WcsSrgvMap();
-        queryMap.setX(x);
-        queryMap.setY(y);
-        queryMap.setZ(floor);
-        List<WcsSrgvMap> siteList = wcsSrgvMapService.selectWcsSrgvMapList(queryMap);
-        if (CollUtil.isEmpty(siteList)) {
-            return false;
-        }
-        // 目标通道ID
-        String targetChannelId = siteList.get(0).getSpaceArea();
-        if (StrUtil.isBlank(targetChannelId)) {
-            return false;
-        }
-
-        // 3. 筛选：同楼层、同通道、非当前车、空闲可调度的小车
-        List<Map.Entry<String, DeviceSrgv>> channelCarList = PlcSrgvRead.deviceSrgvMap.entrySet().stream()
-                .filter(entry -> entry.getValue() != null)
-                // 同楼层
-                .filter(entry -> floor.equals(entry.getValue().getCurrFloor()))
-                // 不是当前调度的车
-                .filter(entry -> !Objects.equals(Convert.toStr(currDevice.getDeviceId()), entry.getKey()))
-                // 空闲可调度状态（和原有避让状态保持一致）
-                .filter(entry -> entry.getValue().getWorkMode() == 5
-                        && entry.getValue().getStatus() == 1)
-                // 车辆当前站点属于目标通道
-                .filter(entry -> {
-                    String currSite = entry.getValue().getCurrSite();
-                    WcsSrgvMap siteParam = new WcsSrgvMap();
-                    siteParam.setSiteId(currSite);
-                    siteParam.setZ(floor);
-                    List<WcsSrgvMap> siteInfos = wcsSrgvMapService.selectWcsSrgvMapList(siteParam);
-                    return CollUtil.isNotEmpty(siteInfos)
-                            && targetChannelId.equals(siteInfos.get(0).getSpaceArea());
-                })
-                .collect(Collectors.toList());
-
-        // 4. 通道内无其他车，无需避让
-        if (CollUtil.isEmpty(channelCarList)) {
-            return false;
-        }
-
-        // 5. 取通道内第一台占用车，生成避让任务
-        Map.Entry<String, DeviceSrgv> blockCar = channelCarList.get(0);
-        String blockAgvId = blockCar.getKey();
-        DeviceSrgv blockDevice = blockCar.getValue();
-
-        // 查询阻挡车是否已有任务，无任务才生成避让
-        WcsSrgvQueue checkQueue = new WcsSrgvQueue();
-        checkQueue.setAgvId(blockAgvId);
-        List<WcsSrgvQueue> existQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(checkQueue);
-        if (CollUtil.isEmpty(existQueues)) {
-            buildAvoidTask(blockAgvId, blockDevice, floor);
-            log.info("通道 {} 内存在小车 {}，已生成通道避让任务", targetChannelId, blockAgvId);
-        }
-        // 触发避让，当前小车等待
-        return true;
-    }
-
    /**
     * 小车发送点对点任务
     */
@@ -904,51 +805,15 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {

        //处理地图
        int[][] emptyMap = roadCacheService.handleMap(arrByRoadSite, deviceSrgv, floor);
+
        //计算最短路径
        List<int[]> shortestPath = PathFinder.findShortestPath(emptyMap, arrByRoadSite.get(startSite).getX(), arrByRoadSite.get(startSite).getY(), arrByRoadSite.get(endSite).getX(), arrByRoadSite.get(endSite).getY());

        // TODO 小车避让 目前只针对同层最多两台车 并且点位设置到了050201   判断地图中取的路径 不能直达说明有车阻挡 直接返回-1 用-1判断小车阻挡调离小车
        if (shortestPath.size() > 0) {
-
-            // ===================== 新增：通道占用避让判断 开始 =====================
-            boolean channelNeedAvoid = handleChannelAvoid(deviceSrgv, floor, shortestPath);
-            if (channelNeedAvoid) {
-                return false;
-            }
-            // ===================== 新增：通道占用避让判断 结束 =====================
-
            if (shortestPath.size() == 1 && shortestPath.get(0)[0] == -1) {
-                // 如果阻挡了 则找一个出库缓存点 让车先过去
-                // 执行队列不是空的 且在一层 并且车在提升机里面 要去的目标点也是队列的目标点，则直接让车先去缓存出库点
-                if (floor == 1 && "090501".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPlaceSite()) && "2".equals(wcsSrgvQueue.getDefault02())) {
-                    WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
-                    wcsSrgvMapParam.setRemark("outCache");
-                    List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMapParam);
-                    List<String> cacheSite = wcsSrgvMaps.stream().sorted(Comparator.comparing(WcsSrgvMap::getSiteId)).map(WcsSrgvMap::getSiteId).collect(Collectors.toList());
-                    List<String> currentSRgvSite = new ArrayList<>();
-                    for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
-                        currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
-                    }
-                    cacheSite.removeAll(currentSRgvSite);
-                    if (CollUtil.isNotEmpty(cacheSite)) {
-                        for (String cache : cacheSite) {
-                            WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
-                            wcsSrgvQueueParam.setEndSite(cache);
-
-                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
-                            if (CollUtil.isEmpty(wcsSrgvQueues)) {
-                                wcsSrgvQueue.setEndSite(cacheSite.get(0));
-                                wcsSrgvQueue.setDefault02("7");
-                                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
-                                shortestPath = null;
-                                break;
-                            }
-                        }
-                    }
-                }
                return false;
            }
-            // 空车避让
            String endBlockAgv = null;
            DeviceSrgv endBlockDevice = null;
            if (arrByRoadSite != null && !arrByRoadSite.isEmpty()) {
@@ -996,7 +861,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
            WcsSrgvQueue wcsSrgvQueueBR = new WcsSrgvQueue();
            wcsSrgvQueueBR.setAgvId(endBlockAgv);
            List<WcsSrgvQueue> wcsSrgvQueueBRS = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueBR);
-            // 如果车无执行队列，可以直接生成避让执行队列
            if (endBlockDevice != null && wcsSrgvQueueBRS.isEmpty()) {
                // 选择当前层最近且可达的缓存点（避让点）
                ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
@@ -1056,65 +920,63 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {


        //判断是否能规划出最短路径
-//        if (shortestPath == null || shortestPath.isEmpty()) {
-//            //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()) && "090501".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPlaceSite())) {
-//                    //1层满车放货
-//                    //修改终点到出库缓存点
-//                    WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
-//                    wcsSrgvMapParam.setRemark("outCache");
-//                    List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMapParam);
-//                    List<String> cacheSite = wcsSrgvMaps.stream().map(WcsSrgvMap::getSiteId).collect(Collectors.toList());
-//                    List<String> currentSRgvSite = new ArrayList<>();
-//                    for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
-//                        currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
-//                    }
-//                    cacheSite.removeAll(currentSRgvSite);
-//                    if (CollUtil.isNotEmpty(cacheSite)) {
-//                        for (String cache : cacheSite) {
-//                            WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
-//                            wcsSrgvQueueParam.setEndSite(cache);
-//
-//                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
-//                            if (CollUtil.isEmpty(wcsSrgvQueues)) {
-//                                wcsSrgvQueue.setEndSite(cacheSite.get(0));
-//                                wcsSrgvQueue.setDefault02("7");
-//                                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
-//                                break;
-//                            }
-//                        }
-//                    }
-//                }
-//                if ("4".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPickSite())) {
-//                    //1层空车取货
-//                    //修改终点到避让点
-//                    WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
-//                    wcsSrgvMapParam.setRemark("cache");
-//                    List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMapParam);
-//                    List<String> cacheSite = wcsSrgvMaps.stream().map(WcsSrgvMap::getSiteId).collect(Collectors.toList());
-//                    List<String> currentSRgvSite = new ArrayList<>();
-//                    for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
-//                        currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
-//                    }
-//                    cacheSite.removeAll(currentSRgvSite);
-//                    if (CollUtil.isNotEmpty(cacheSite)) {
-//                        for (String cache : cacheSite) {
-//                            WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
-//                            wcsSrgvQueueParam.setEndSite(cache);
-//                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
-//                            if (CollUtil.isEmpty(wcsSrgvQueues)) {
-//                                wcsSrgvQueue.setEndSite(cacheSite.get(0));
-//                                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
-//                                break;
-//                            }
-//                        }
-//                    }
-//                }
-//            }
-//            return false;
-//        }
+        if (shortestPath == null || shortestPath.isEmpty()) {
+            //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())) {
+                    //1层满车放货
+                    //修改终点到出库缓存点
+                    WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
+                    wcsSrgvMapParam.setRemark("outCache");
+                    List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMapParam);
+                    List<String> cacheSite = wcsSrgvMaps.stream().map(WcsSrgvMap::getSiteId).collect(Collectors.toList());
+                    List<String> currentSRgvSite = new ArrayList<>();
+                    for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
+                        currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
+                    }
+                    cacheSite.removeAll(currentSRgvSite);
+                    if (CollUtil.isNotEmpty(cacheSite)) {
+                        for (String cache : cacheSite) {
+                            WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
+                            wcsSrgvQueueParam.setEndSite(cache);
+                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
+                            if (CollUtil.isEmpty(wcsSrgvQueues)) {
+                                wcsSrgvQueue.setEndSite(cacheSite.get(0));
+                                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
+                                break;
+                            }
+                        }
+                    }
+                }
+                if ("4".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPickSite())) {
+                    //1层空车取货
+                    //修改终点到避让点
+                    WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
+                    wcsSrgvMapParam.setRemark("cache");
+                    List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMapParam);
+                    List<String> cacheSite = wcsSrgvMaps.stream().map(WcsSrgvMap::getSiteId).collect(Collectors.toList());
+                    List<String> currentSRgvSite = new ArrayList<>();
+                    for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
+                        currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
+                    }
+                    cacheSite.removeAll(currentSRgvSite);
+                    if (CollUtil.isNotEmpty(cacheSite)) {
+                        for (String cache : cacheSite) {
+                            WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
+                            wcsSrgvQueueParam.setEndSite(cache);
+                            List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
+                            if (CollUtil.isEmpty(wcsSrgvQueues)) {
+                                wcsSrgvQueue.setEndSite(cacheSite.get(0));
+                                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
+                                break;
+                            }
+                        }
+                    }
+                }
+            }
+            return false;
+        }


        //获取拐点路径
@@ -1256,6 +1118,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
            }
            //  TODO  这段下发有问题
            if (wcsSrgvQueue.getDefault08().equals("2") && deviceSrgv.getSpare5().equals("1")) {
+
                sendDataList = new ArrayList<>();
                SendData2 path = new SendData2();
                path.setAddress("4404");//地址
@@ -1496,8 +1359,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
     * @return
     */
    private void finishTaskByQueue(String currSite, WcsSrgvQueue wcsSrgvQueue) {
-        //更新小车待机时间
-        deviceSrgvService.updateLastTimeByAgvId(wcsSrgvQueue.getAgvId());
+
        String groupCodingNo = basCargoSpaceService.selecGroupCodingBySite(currSite);
        String siteId = basCargoSpaceService.selectMaxSiteIdByNo(groupCodingNo);
        List<String> sites = new ArrayList<>();
@@ -1515,34 +1377,26 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
            String cargoPickSite = wcsSrgvQueue.getCargoPickSite();
            String cargoPlaceSite = wcsSrgvQueue.getCargoPlaceSite();
            WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
+
            wcsSrgvMap.setRemark("outCache");
            List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
-            // 处理出库缓存点任务  让070301 的先走 走了之后再执行090301的任务 再070301 走完之前不能执行090301的任务
-            if (wcsSrgvMaps.stream().anyMatch(wcsSrgvMap1 -> wcsSrgvMap1.getSiteId().equals(currSite)) && wcsSrgvQueue.getDefault02().equals("7")) {
-                WcsSrgvQueue wcsSrgvQueue1 = new WcsSrgvQueue();
-                wcsSrgvQueue1.setEndSite("070301");
-                List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue1);
-
-                WcsSrgvQueue wcsSrgvQueue2 = new WcsSrgvQueue();
-                wcsSrgvQueue2.setStartSite("070301");
-                List<WcsSrgvQueue> wcsSrgvQueueOut = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue2);
-                // 如果当前站点为090301 判断是否有070301的任务要来 如果要来就等着 等到070301的任务先走了再让小车开始动
-                if (currSite.equals("090301") && CollUtil.isNotEmpty(wcsSrgvQueues) && CollUtil.isNotEmpty(wcsSrgvQueueOut)) {
-                    return;
-                }
-                MydoJob mydoJobyk = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
-                if (!mydoJobyk.getInOrOut().equals("30")) {
-                    wcsSrgvQueue.setEndSite(wcsSrgvQueue.getCargoPlaceSite());
-                    wcsSrgvQueue.setDefault02("2");
-                    wcsSrgvQueue.setIssued("0");
-                    wcsSrgvQueue.setExecutionStatus("1");
-                    wcsSrgvQueue.setTaskType("2");
-                    wcsSrgvQueue.setStartSite(currSite);
-                    wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
-                    wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
-                    return;
-                }
-
+            //当前路径地图map中如果存在小车的站点，返回true
+            if (wcsSrgvMaps.stream().anyMatch(wcsSrgvMap1 -> wcsSrgvMap1.getSiteId().equals(currSite))) {
+                //生成小车从避让点到放货/取货位置，如果是空车就到取货位置，如果是满车就到放货位置
+//                wcsSrgvQueue.setExecutionStatus("4");
+//                wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+//                wcsSrgvQueue.setIssued("0");
+//                wcsSrgvQueue.setExecutionStatus("1");
+//                wcsSrgvQueue.setStartSite(currSite);
+//                if ("1".equals(taskType)) {
+//                    wcsSrgvQueue.setEndSite(cargoPickSite);
+//                } else if ("2".equals(taskType)) {
+//                    wcsSrgvQueue.setEndSite(cargoPlaceSite);
+//                }
+//                wcsSrgvQueue.setTheFloor("1");
+//                wcsSrgvQueue.setDefault07("1");
+//                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
+//                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) || (wcsSrgvQueue.getDefault06() != null && wcsSrgvQueue.getDefault06().equals(currSite)) || sites.contains(currSite))) {
@@ -1596,9 +1450,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                        //请求wms生成库存 插入回传表
                        MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
                        if (mydoJob != null) {
-                            mydoJob.setFinishTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
-                            mydoJob.setStatus("4");
-                            mydoJobService.updateMydoJob(mydoJob);
                            JobCallBack jobCallBack = new JobCallBack();
                            jobCallBack.setType(wcsSrgvQueue.getDefault02());
                            jobCallBack.setMydojobId(mydoJob.getJobId());
@@ -1608,19 +1459,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                            jobCallBackService.insertJobCallBack(jobCallBack);
                            mydoJobService.insertHistory(mydoJob.getJobId());
                            mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId());
-                            wcsSrgvQueue.setExecutionStatus("4");
-                            wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
-                            wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
                        }
                        break;

                    case "2":
                        MydoJob mydoJobOut = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
                        if (mydoJobOut != null && (cargoPlaceSite.equals(currSite))) {
-                            mydoJobOut.setFinishTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
-                            mydoJobOut.setStatus("4");
-                            mydoJobService.updateMydoJob(mydoJobOut);
-                            log.info("1471 taskNo:[{}],currSite:[{}],cargoPlaceSite:[{}]", wcsSrgvQueue.getTaskNo(), currSite, cargoPlaceSite);
+                            log.info("1471 taskNo:[{}],currSite:[{}],cargoPlaceSite:[{}]",wcsSrgvQueue.getTaskNo(),currSite,cargoPlaceSite);
                            JobCallBack jobCallBack = new JobCallBack();
                            jobCallBack.setType(wcsSrgvQueue.getDefault02());
                            jobCallBack.setMydojobId(mydoJobOut.getJobId());
@@ -1628,63 +1473,12 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                            jobCallBack.setTaskNo(Convert.toLong(mydoJobOut.getTaskNo()));
                            jobCallBack.setCreateTime(new Date());
                            jobCallBackService.insertJobCallBack(jobCallBack);
-                            if (!mydoJobOut.getInOrOut().equals("22")) {
-                                mydoJobService.insertHistory(mydoJobOut.getJobId());
-                                mydoJobService.deleteMydoJobByJobId(mydoJobOut.getJobId());
-                            }
-//
-
-                            wcsSrgvQueue.setExecutionStatus("4");
-                            wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
-                            wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
+                            mydoJobService.insertHistory(mydoJobOut.getJobId());
+                            mydoJobService.deleteMydoJobByJobId(mydoJobOut.getJobId());
                        }
-                        if (mydoJobOut != null && wcsSrgvQueue.getDefault06() != null && !wcsSrgvQueue.getDefault06().equals("") && siteId != null && !wcsSrgvQueue.getCargoPlaceSite().equals(siteId) && siteId.equals(wcsSrgvQueue.getDefault06())) {
-                            String endSite = "";
-                            String xfType = "";
-                            WcsSrgvMap wcsSrgvMapq = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPickSite);
-                            WcsSrgvMap wcsSrgvMapf = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPlaceSite);
-                            // 取货点地图和放货点地图不为空
-                            if (wcsSrgvMapq != null && wcsSrgvMapf != null) {
-
-                                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.setDefault06(null);
-                                wcsSrgvQueue.setExecutionStatus("1");
-                                wcsSrgvQueue.setTaskType("2");
-                            }
-                            wcsSrgvQueue.setStartSite(currSite);
-                            wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
-                            wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
-                        }
-
                    case "7"://移库，变动库存
                        MydoJob mydoJobyk = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
-                        if (mydoJobyk != null && mydoJobyk.getInOrOut().equals("30")) {
-                            mydoJobyk.setFinishTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
-                            mydoJobyk.setStatus("4");
-                            mydoJobService.updateMydoJob(mydoJobyk);
+                        if (mydoJobyk != null) {
                            JobCallBack jobCallBack = new JobCallBack();
                            jobCallBack.setType(wcsSrgvQueue.getDefault02());
                            jobCallBack.setMydojobId(mydoJobyk.getJobId());
@@ -1694,17 +1488,15 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                            jobCallBackService.insertJobCallBack(jobCallBack);
                            mydoJobService.insertHistory(mydoJobyk.getJobId());
                            mydoJobService.deleteMydoJobByJobId(mydoJobyk.getJobId());
-                            wcsSrgvQueue.setExecutionStatus("4");
-                            wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
-                            wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
                        }
-                        break;

                    default:
                        break;
                }
                //删除队列，插入历史表
-
+                wcsSrgvQueue.setExecutionStatus("4");
+                wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
+                wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());

                // 充电任务  并且小车也是充电任务
            } else if ("3".equals(taskType) && wcsSrgvQueue.getDefault02().equals("3")) {
@@ -1721,16 +1513,16 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                {
                    wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
                }
-                // 如果是空车且 任务是点到点并且目标点是“070301”
-            } else if ("1".equals(taskType) && wcsSrgvQueue.getDefault02().equals("4") && wcsSrgvQueue.getEndSite().equals("070301")) {
+              // 如果是空车且 任务是点到点并且目标点是“070301”
+            }else if ("1".equals(taskType)&&wcsSrgvQueue.getDefault02().equals("4")&&wcsSrgvQueue.getEndSite().equals("070301")){
                String endSite = "";
                String xfType = "";
                WcsSrgvMap wcsSrgvMapq = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPickSite);
                WcsSrgvMap wcsSrgvMapf = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPlaceSite);
                // 取货点地图和放货点地图不为空
                if (wcsSrgvMapq != null && wcsSrgvMapf != null) {
-                    //如果是同层，终点为取货点
-                    endSite = cargoPickSite;
+                        //如果是同层，终点为取货点
+                        endSite = cargoPickSite;
                    // 更新目标点，修改执行队列
                    wcsSrgvQueue.setEndSite(endSite);
                    wcsSrgvQueue.setDefault02("4");
@@ -1743,7 +1535,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
                wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
            }

-
+            //更新小车待机时间
+//            deviceSrgvService.updateLastTimeByAgvId(wcsSrgvQueue.getAgvId());
        }

    }
--- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/SsjThread.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/SsjThread.java
@@ -46,13 +46,6 @@ public class SsjThread implements Runnable {
        ssjCodes2.add("L1004");
        ssjCodes2.add("L1005");
        ssjCodeList.put("road", ssjCodes2);
-
-        ArrayList<String> ssjCodes4 = new ArrayList<>();
-        ssjCodes4.add("L1006");
-        ssjCodes4.add("L1003");
-        ssjCodeList.put("error", ssjCodes4);
-
-
        mydoJobService = SpringUtils.getBean(IMydoJobService.class);
        jobCallBackService = SpringUtils.getBean(IJobCallBackService.class);
        apiService = SpringUtils.getBean(IApiService.class);
@@ -104,70 +97,28 @@ public class SsjThread implements Runnable {
                                log.error(e.getMessage(), e);
                            }
                        }
-
-
-                    case "error":
-                        for (String ssjCode : ssjCodeList.get("error")) {
-                            try {
-                                if (PlcSsjRead.deviceSsjMap.containsKey(ssjCode)) {
-                                    inDispatchError(PlcSsjRead.deviceSsjMap.get(ssjCode));
-                                } else {
-                                    log.error("设备不存在 ssjCode{}", ssjCode);
-                                }
-                            } catch (RuntimeException e) {
-                                log.error(e.getMessage(), e);
-                            }
-                        }
-
                }
            }
        }
    }

-    private void inDispatchError(DeviceSsj deviceSsj) {
-        if (deviceSsj.getErrorCode() > 0) {
-            if (deviceSsj.getDeviceCode().equals("L1003")) {
-                String code = "TD1001";
-                String errorCode = String.valueOf(deviceSsj.getErrorCode());
-                HashMap<String, Object> objectObjectHashMap = new HashMap<>();
-                objectObjectHashMap.put("deviceCode", code);
-                objectObjectHashMap.put("errorCode", errorCode);
-                apiService.updateLedError(objectObjectHashMap);
-            }
-            if (deviceSsj.getDeviceCode().equals("L1006")) {
-                String code = "TD1008";
-                String errorCode = String.valueOf(deviceSsj.getErrorCode());
-                HashMap<String, Object> objectObjectHashMap = new HashMap<>();
-                objectObjectHashMap.put("deviceCode", code);
-                objectObjectHashMap.put("errorCode", errorCode);
-                apiService.updateLedError(objectObjectHashMap);
-            }
-        }
-    }
-

    void inDispatch(DeviceSsj deviceSsj) {
        //出库到位
        if (deviceSsj.getDw() == 1 && deviceSsj.getTaskNo() > 0) {
-            HashMap<String, Object> objectObjectHashMap = new HashMap<>();
-            objectObjectHashMap.put("deviceCode", deviceSsj.getDeviceCode());
-            objectObjectHashMap.put("taskNo", deviceSsj.getTaskNo());
-            apiService.updateLed(objectObjectHashMap);

            MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(deviceSsj.getTaskNo()));
-            if (mydoJob != null && mydoJob.getInOrOut().equals("22")) {
-                // 新增agv执行队列，以及调用wms后台任务过账
-                AjaxResult ajaxResult1 = apiService.insertAgvQuene(objectObjectHashMap);
-                if (ajaxResult1.get("code").equals("200")) {
-                    HashMap<String, Object> map = new HashMap<>();
-                    map.put("trayCode", mydoJob.getTrayCode());
-                    //拉取
-                    AjaxResult ajaxResult = apiService.OutMakeSure(map);
-                    if (ajaxResult.get("code").equals("200")) {
-                        mydoJobService.insertHistory(mydoJob.getJobId());
-                        mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId());
-                    }
-                }
+            if (mydoJob != null) {
+                log.info("设备：{}  位置：{}  任务号：{}  出库到位", "输送线", deviceSsj.getDeviceCode(), mydoJob.getTaskNo());
+                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);
            }
        }
    }
@@ -176,22 +127,14 @@ public class SsjThread implements Runnable {
        if (deviceSsj.getRkqq() == 1 && StrUtil.isNotBlank(deviceSsj.getTrayCode().trim())) {
            String trayCode = deviceSsj.getTrayCode().trim();
            MydoJob getMydoJob = mydoJobService.selectMydoJobByTrayCode(trayCode);
-            if (getMydoJob == null && deviceSsj.getTaskNo() < 1000) {
-                String exit = "";
-                if (deviceSsj.getDeviceCode().equals("GS1002")) {
-                    exit = "L1004";
-                }
-                if (deviceSsj.getDeviceCode().equals("GS1007")) {
-                    exit = "L1005";
-                }
-                Integer count = mydoJobService.selectMydoJobExit(exit);
-                if (count > 0) {
-                    int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), "0", 2, 2);
-                    if (i == 1) {
-                        log.info(deviceSsj.getDeviceCode() + "有相应入口的出库作业，下发退回，去向2 条码" + deviceSsj.getTrayCode());
-                        return;
-                    }
+            if (getMydoJob != null && deviceSsj.getTaskNo() < 1000) {
+                int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), getMydoJob.getTaskNo(), 1, 1);
+                if (i == 1) {
+                    getMydoJob.setStatus("3");
+                    mydoJobService.updateMydoJob(getMydoJob);
+                    log.info(deviceSsj.getDeviceCode() + "输送机下发任务号成功:{}", getMydoJob.getTaskNo());
                }
+            } else {
                //todo 查是否为入库模式，不是退回，是否超重
                HashMap<String, Object> map = new HashMap<>();
                map.put("trayCode", deviceSsj.getTrayCode());
@@ -241,28 +184,27 @@ public class SsjThread implements Runnable {
        if (deviceSsj.getDw() == 1 && deviceSsj.getTaskNo() > 1000) {

            MydoJob mydoJob1 = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(deviceSsj.getTaskNo()));
-            if (mydoJob1 != null && mydoJob1.getCargoSpaceId() != null) {
+            if (mydoJob1.getCargoSpaceId() != null) {
                return;
            }
-            if (mydoJob1 != null && Integer.parseInt(mydoJob1.getInOrOut()) < 20) {
-                HashMap<String, Object> map = new HashMap<>();
-                map.put("taskNo", deviceSsj.getTaskNo());
-                map.put("deviceCode", deviceSsj.getDeviceCode());
-                //拉取
-                AjaxResult ajaxResult = apiService.sendCargoSpace(map);
-                if (ajaxResult.isSuccess()) {
-                    MydoJob data = BeanUtil.toBean(ajaxResult.get("data"), MydoJob.class);
-                    String cargoSpaceId = data.getCargoSpaceId();
-                    String theFloor = data.getClassId();
-                    MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo((long) deviceSsj.getTaskNo());
-                    if (mydoJob != null && cargoSpaceId != null && !cargoSpaceId.equals("")) {
-                        mydoJob.setTheFloor(theFloor);
-                        mydoJob.setCargoSpaceId(cargoSpaceId);
-                        mydoJob.setExecutionPhase("2");
-                        mydoJobService.updateMydoJob(mydoJob);
-                    }
+
+            HashMap<String, Object> map = new HashMap<>();
+            map.put("taskNo", deviceSsj.getTaskNo());
+            //拉取
+            AjaxResult ajaxResult = apiService.sendCargoSpace(map);
+            if (ajaxResult.isSuccess()) {
+                MydoJob data = BeanUtil.toBean(ajaxResult.get("data"), MydoJob.class);
+                String cargoSpaceId = data.getCargoSpaceId();
+                String theFloor = data.getClassId();
+                MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo((long) deviceSsj.getTaskNo());
+                if (mydoJob != null) {
+                    mydoJob.setTheFloor(theFloor);
+                    mydoJob.setCargoSpaceId(cargoSpaceId);
+                    mydoJob.setExecutionPhase("2");
+                    mydoJobService.updateMydoJob(mydoJob);
                }
            }
+
        }
    }
 }
--- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/tsj/TsjThread.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/tsj/TsjThread.java
@@ -26,7 +26,9 @@ import com.ruoyi.schedule.plcRead.tsj.PlcTsjRead;
 import com.ruoyi.schedule.plcRead.util.Tools;
 import lombok.extern.slf4j.Slf4j;

-import java.util.*;
+import java.util.Date;
+import java.util.Iterator;
+import java.util.List;
 import java.util.stream.Collectors;

@Slf4j
@@ -39,7 +41,7 @@ public class TsjThread implements Runnable {
    private IWcsSrgvQueueService wcsSrgvQueueService;
    private IMydoJobService mydoJobService;
    private IWcsSrgvMapService wcsSrgvMapService;
-    public IWcsSrgvQueueService wcsSagvQueueMapper;
+

    public void init() {
        tsjDeviceExecutionQueueService = SpringUtils.getBean(ITsjDeviceExecutionQueueService.class);
@@ -48,7 +50,6 @@ public class TsjThread implements Runnable {
        wcsSrgvQueueService = SpringUtils.getBean(IWcsSrgvQueueService.class);
        wcsSrgvMapService = SpringUtils.getBean(IWcsSrgvMapService.class);

-
    }

    @Override
@@ -103,10 +104,6 @@ public class TsjThread implements Runnable {
        if (czfs == 2 && sbzt == 2 && jdbz == 2 && rwh > 500) {
            createSRgvQueueTsjQd(rwh, tsj);
        }
-        // 提升机放货途中 取消当前小车的路径
-        if (czfs == 2 && sbzt == 2 && jdbz == 3 && rwh > 500) {
-            removePathCar(rwh, tsj);
-        }

        /*
         * 2、任务完成
@@ -129,15 +126,6 @@ public class TsjThread implements Runnable {

    }

-    private void removePathCar(Long rwh, DeviceTsj tsj) {
-        WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueueService.selectWcsSrgvQueueByTaskNo(String.valueOf(rwh));
-        DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(wcsSrgvQueue.getAgvId());
-        if (!deviceSrgv.getCurrSite().equals("07050"+wcsSrgvQueue.getTheFloor()) && tsj.getHczt() == 1 && !wcsSrgvQueue.getPathInfo().isEmpty() && java.util.Arrays.asList(wcsSrgvQueue.getPathInfo().trim().replaceAll(",$", "").split(",")).contains("07050"+wcsSrgvQueue.getTheFloor())&&wcsSrgvQueue.getEndSite().equals("tsj")) {
-            wcsSrgvQueue.setPathInfo("");
-            wcsSrgvQueueService.updateWcsSrgvQueue(wcsSrgvQueue);
-        }
-    }
-
    // 下发提升机启动
    private void createSRgvQueueTsjQd(Long rwh, DeviceTsj tsj) {
        for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
@@ -198,42 +186,9 @@ public class TsjThread implements Runnable {
                    break;
                case "2":
                    //出库
+//                    startSite="tsj";
                    startSite = "09050" + tsj.getDqcs();
-                    // 如果提升机当前层等于1 并且是出库任务，更新出库点位为出库缓存点
-//                    Integer i = mydoJobService.selectMydoJobCountOut();
-                    if (tsj.getDqcs() == 1 && "2".equals(wcsSrgvQueue.getDefault02())) {
-                        WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
-                        wcsSrgvMapParam.setRemark("outCache");
-                        List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMapParam);
-                        List<String> cacheSite = wcsSrgvMaps.stream().sorted(Comparator.comparing(WcsSrgvMap::getSiteId)).map(WcsSrgvMap::getSiteId).collect(Collectors.toList());
-                        List<String> currentSRgvSite = new ArrayList<>();
-                        // 判断是否有车是在一样的位置
-                        for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) {
-                            currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
-                        }
-                        cacheSite.removeAll(currentSRgvSite);
-                        if (CollUtil.isNotEmpty(cacheSite)) {
-                            for (String cache : cacheSite) {
-                                WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
-                                wcsSrgvQueueParam.setEndSite(cache);
-                                // 判断是否有车要去这个缓存点  没有就更新
-                                List<WcsSrgvQueue> wcsSrgvQueues1 = wcsSrgvQueueService.selectWcsSrgvQueueList(wcsSrgvQueueParam);
-//                                WcsSrgvQueue wcsSrgvQueueParam1 = new WcsSrgvQueue();
-//                                wcsSrgvQueueParam1.setStartSite(cache);
-//                                // 并且从缓存点走的
-//                                List<WcsSrgvQueue> wcsSrgvQueues2 = wcsSrgvQueueService.selectWcsSrgvQueueList(wcsSrgvQueueParam1);
-                                if (CollUtil.isEmpty(wcsSrgvQueues1)) {
-                                    wcsSrgvQueue.setStartSite(startSite);
-                                    wcsSrgvQueue.setEndSite(cacheSite.get(0));
-                                    wcsSrgvQueue.setDefault02("7");
-                                    wcsSrgvQueueService.updateWcsSrgvQueue(wcsSrgvQueue);
-                                    return;
-                                }
-                            }
-                        }
-                    } else {
-                        endSite = wcsSrgvQueue.getCargoPlaceSite();
-                    }
+                    endSite = wcsSrgvQueue.getCargoPlaceSite();
                    break;
                case "3":
                    break;
@@ -263,7 +218,7 @@ public class TsjThread implements Runnable {
                                List<DeviceSrgv> collect = PlcSrgvRead.deviceSrgvMap.values().stream().filter(d ->
                                                d.getCurrSite().equals(cargoPickSite))
                                        .collect(Collectors.toList());
-                                if ((count > 0 || !collect.isEmpty()) && tsj.getDqcs() == 1) {
+                                if (count > 0 || !collect.isEmpty()) {
                                    wcsSrgvQueue.setEndSite("070301");
                                } else {
                                    wcsSrgvQueue.setEndSite(cargoPickSite);
@@ -312,8 +267,7 @@ public class TsjThread implements Runnable {
        for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
            DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(sRgv);
            Integer count = tsjDeviceExecutionQueueService.selectCount();
-            WcsSrgvQueue wcsSrgvQueue1 = wcsSrgvQueueService.selectWcsSrgvQueueByTaskNo(String.valueOf(deviceSrgv.getTaskNo()));
-            if (deviceSrgv.getSpare2().equals("1") && deviceSrgv.getTaskNo() > 0 && count == 0 && wcsSrgvQueue1.getEndSite().equals("tsj")) {
+            if (deviceSrgv.getSpare2().equals("1") && deviceSrgv.getTaskNo() > 0 && count == 0) {
                //请求进入输送机
                WcsSrgvQueue sRgvQueueParam = new WcsSrgvQueue();
                sRgvQueueParam.setAgvId(Convert.toStr(deviceSrgv.getDeviceId()));
--- a/ruoyi-admin/src/main/java/com/ruoyi/system/controller/AgvContainerTaskController.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/system/controller/AgvContainerTaskController.java
@@ -1,104 +0,0 @@
-package com.ruoyi.system.controller;
-
-import java.util.List;
-import javax.servlet.http.HttpServletResponse;
-import org.springframework.security.access.prepost.PreAuthorize;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.web.bind.annotation.GetMapping;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.PutMapping;
-import org.springframework.web.bind.annotation.DeleteMapping;
-import org.springframework.web.bind.annotation.PathVariable;
-import org.springframework.web.bind.annotation.RequestBody;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
-import com.ruoyi.common.annotation.Log;
-import com.ruoyi.common.core.controller.BaseController;
-import com.ruoyi.common.core.domain.AjaxResult;
-import com.ruoyi.common.enums.BusinessType;
-import com.ruoyi.system.domain.AgvContainerTask;
-import com.ruoyi.system.service.IAgvContainerTaskService;
-import com.ruoyi.common.utils.poi.ExcelUtil;
-import com.ruoyi.common.core.page.TableDataInfo;
-
-/**
- * agv料架搬运任务Controller
- * 
- * @author ruoyi
- * @date 2026-05-15
- */
-@RestController
-@RequestMapping("/system/task")
-public class AgvContainerTaskController extends BaseController
-{
-    @Autowired
-    private IAgvContainerTaskService agvContainerTaskService;
-
-    /**
-     * 查询agv料架搬运任务列表
-     */
-    @PreAuthorize("@ss.hasPermi('system:task:list')")
-    @GetMapping("/list")
-    public TableDataInfo list(AgvContainerTask agvContainerTask)
-    {
-        startPage();
-        List<AgvContainerTask> list = agvContainerTaskService.selectAgvContainerTaskList(agvContainerTask);
-        return getDataTable(list);
-    }
-
-    /**
-     * 导出agv料架搬运任务列表
-     */
-    @PreAuthorize("@ss.hasPermi('system:task:export')")
-    @Log(title = "agv料架搬运任务", businessType = BusinessType.EXPORT)
-    @PostMapping("/export")
-    public void export(HttpServletResponse response, AgvContainerTask agvContainerTask)
-    {
-        List<AgvContainerTask> list = agvContainerTaskService.selectAgvContainerTaskList(agvContainerTask);
-        ExcelUtil<AgvContainerTask> util = new ExcelUtil<AgvContainerTask>(AgvContainerTask.class);
-        util.exportExcel(response, list, "agv料架搬运任务数据");
-    }
-
-    /**
-     * 获取agv料架搬运任务详细信息
-     */
-    @PreAuthorize("@ss.hasPermi('system:task:query')")
-    @GetMapping(value = "/{id}")
-    public AjaxResult getInfo(@PathVariable("id") Long id)
-    {
-        return success(agvContainerTaskService.selectAgvContainerTaskById(id));
-    }
-
-    /**
-     * 新增agv料架搬运任务
-     */
-    @PreAuthorize("@ss.hasPermi('system:task:add')")
-    @Log(title = "agv料架搬运任务", businessType = BusinessType.INSERT)
-    @PostMapping
-    public AjaxResult add(@RequestBody AgvContainerTask agvContainerTask)
-    {
-        return toAjax(agvContainerTaskService.insertAgvContainerTask(agvContainerTask));
-    }
-
-    /**
-     * 修改agv料架搬运任务
-     */
-    @PreAuthorize("@ss.hasPermi('system:task:edit')")
-    @Log(title = "agv料架搬运任务", businessType = BusinessType.UPDATE)
-    @PutMapping
-    public AjaxResult edit(@RequestBody AgvContainerTask agvContainerTask)
-    {
-        return toAjax(agvContainerTaskService.updateAgvContainerTask(agvContainerTask));
-    }
-
-    /**
-     * 删除agv料架搬运任务
-     */
-    @PreAuthorize("@ss.hasPermi('system:task:remove')")
-    @Log(title = "agv料架搬运任务", businessType = BusinessType.DELETE)
-	@DeleteMapping("/{ids}")
-    public AjaxResult remove(@PathVariable Long[] ids)
-    {
-        return toAjax(agvContainerTaskService.deleteAgvContainerTaskByIds(ids));
-    }
-}
--- a/ruoyi-admin/src/main/java/com/ruoyi/system/domain/AgvContainerTask.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/system/domain/AgvContainerTask.java
@@ -1,173 +0,0 @@
-package com.ruoyi.system.domain;
-
-import org.apache.commons.lang3.builder.ToStringBuilder;
-import org.apache.commons.lang3.builder.ToStringStyle;
-import com.ruoyi.common.annotation.Excel;
-import com.ruoyi.common.core.domain.BaseEntity;
-
-/**
- * agv料架搬运任务对象 agv_container_task
- * 
- * @author ruoyi
- * @date 2026-05-15
- */
-public class AgvContainerTask extends BaseEntity
-{
-    private static final long serialVersionUID = 1L;
-
-    /** $column.columnComment */
-    private Long id;
-
-    /** 作业编码 */
-    @Excel(name = "作业编码")
-    private String container;
-
-    /** 起点 */
-    @Excel(name = "起点")
-    private String startPoint;
-
-    /** 终点 */
-    @Excel(name = "终点")
-    private String endPoint;
-
-    /** 开始时间 */
-    @Excel(name = "开始时间")
-    private String startTime;
-
-    /** 结束时间 */
-    @Excel(name = "结束时间")
-    private String finishTime;
-
-    /** 任务号 */
-    @Excel(name = "任务号")
-    private String taskNo;
-
-    /** 任务状态 0-创建 1-执行中 2-完成 */
-    @Excel(name = "任务状态 0-创建 1-执行中 2-完成")
-    private String status;
-
-    /** 任务类型 */
-    @Excel(name = "任务类型")
-    private String spare1;
-
-    /** 托盘码 */
-    @Excel(name = "托盘码")
-    private String spare2;
-
-    public void setId(Long id) 
-    {
-        this.id = id;
-    }
-
-    public Long getId() 
-    {
-        return id;
-    }
-
-    public void setContainer(String container) 
-    {
-        this.container = container;
-    }
-
-    public String getContainer() 
-    {
-        return container;
-    }
-
-    public void setStartPoint(String startPoint) 
-    {
-        this.startPoint = startPoint;
-    }
-
-    public String getStartPoint() 
-    {
-        return startPoint;
-    }
-
-    public void setEndPoint(String endPoint) 
-    {
-        this.endPoint = endPoint;
-    }
-
-    public String getEndPoint() 
-    {
-        return endPoint;
-    }
-
-    public void setStartTime(String startTime) 
-    {
-        this.startTime = startTime;
-    }
-
-    public String getStartTime() 
-    {
-        return startTime;
-    }
-
-    public void setFinishTime(String finishTime) 
-    {
-        this.finishTime = finishTime;
-    }
-
-    public String getFinishTime() 
-    {
-        return finishTime;
-    }
-
-    public void setTaskNo(String taskNo) 
-    {
-        this.taskNo = taskNo;
-    }
-
-    public String getTaskNo() 
-    {
-        return taskNo;
-    }
-
-    public void setStatus(String status) 
-    {
-        this.status = status;
-    }
-
-    public String getStatus() 
-    {
-        return status;
-    }
-
-    public void setSpare1(String spare1) 
-    {
-        this.spare1 = spare1;
-    }
-
-    public String getSpare1() 
-    {
-        return spare1;
-    }
-
-    public void setSpare2(String spare2) 
-    {
-        this.spare2 = spare2;
-    }
-
-    public String getSpare2() 
-    {
-        return spare2;
-    }
-
-    @Override
-    public String toString() {
-        return new ToStringBuilder(this,ToStringStyle.MULTI_LINE_STYLE)
-            .append("id", getId())
-            .append("container", getContainer())
-            .append("startPoint", getStartPoint())
-            .append("endPoint", getEndPoint())
-            .append("createTime", getCreateTime())
-            .append("startTime", getStartTime())
-            .append("finishTime", getFinishTime())
-            .append("taskNo", getTaskNo())
-            .append("status", getStatus())
-            .append("spare1", getSpare1())
-            .append("spare2", getSpare2())
-            .toString();
-    }
-}
--- a/ruoyi-admin/src/main/java/com/ruoyi/system/mapper/AgvContainerTaskMapper.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/system/mapper/AgvContainerTaskMapper.java
@@ -1,68 +0,0 @@
-package com.ruoyi.system.mapper;
-
-import java.util.List;
-import com.ruoyi.system.domain.AgvContainerTask;
-
-/**
- * agv料架搬运任务Mapper接口
- * 
- * @author ruoyi
- * @date 2026-05-15
- */
-public interface AgvContainerTaskMapper 
-{
-    /**
-     * 查询agv料架搬运任务
-     * 
-     * @param id agv料架搬运任务主键
-     * @return agv料架搬运任务
-     */
-    public AgvContainerTask selectAgvContainerTaskById(Long id);
-
-    /**
-     * 查询agv料架搬运任务列表
-     * 
-     * @param agvContainerTask agv料架搬运任务
-     * @return agv料架搬运任务集合
-     */
-    public List<AgvContainerTask> selectAgvContainerTaskList(AgvContainerTask agvContainerTask);
-
-    /**
-     * 新增agv料架搬运任务
-     * 
-     * @param agvContainerTask agv料架搬运任务
-     * @return 结果
-     */
-    public int insertAgvContainerTask(AgvContainerTask agvContainerTask);
-
-    /**
-     * 修改agv料架搬运任务
-     * 
-     * @param agvContainerTask agv料架搬运任务
-     * @return 结果
-     */
-    public int updateAgvContainerTask(AgvContainerTask agvContainerTask);
-
-    /**
-     * 删除agv料架搬运任务
-     * 
-     * @param id agv料架搬运任务主键
-     * @return 结果
-     */
-    public int deleteAgvContainerTaskById(Long id);
-
-    public int deleteAgvContainerTaskByContainer(String orderId);
-    /**
-     * 批量删除agv料架搬运任务
-     * 
-     * @param ids 需要删除的数据主键集合
-     * @return 结果
-     */
-    public int deleteAgvContainerTaskByIds(Long[] ids);
-
-    void insertAgvContainerTaskFinish(String orderId);
-
-    void updateAgvContainerTaskByOrder(String orderId);
-
-    AgvContainerTask selectAgvContainerFinishOne();
-}
--- a/ruoyi-admin/src/main/java/com/ruoyi/system/service/IAgvContainerTaskService.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/system/service/IAgvContainerTaskService.java
@@ -1,63 +0,0 @@
-package com.ruoyi.system.service;
-
-import java.util.List;
-import com.ruoyi.system.domain.AgvContainerTask;
-
-/**
- * agv料架搬运任务Service接口
- * 
- * @author ruoyi
- * @date 2026-05-15
- */
-public interface IAgvContainerTaskService 
-{
-    /**
-     * 查询agv料架搬运任务
-     * 
-     * @param id agv料架搬运任务主键
-     * @return agv料架搬运任务
-     */
-    public AgvContainerTask selectAgvContainerTaskById(Long id);
-
-    /**
-     * 查询agv料架搬运任务列表
-     * 
-     * @param agvContainerTask agv料架搬运任务
-     * @return agv料架搬运任务集合
-     */
-    public List<AgvContainerTask> selectAgvContainerTaskList(AgvContainerTask agvContainerTask);
-
-    /**
-     * 新增agv料架搬运任务
-     * 
-     * @param agvContainerTask agv料架搬运任务
-     * @return 结果
-     */
-    public int insertAgvContainerTask(AgvContainerTask agvContainerTask);
-
-    /**
-     * 修改agv料架搬运任务
-     * 
-     * @param agvContainerTask agv料架搬运任务
-     * @return 结果
-     */
-    public int updateAgvContainerTask(AgvContainerTask agvContainerTask);
-
-    /**
-     * 批量删除agv料架搬运任务
-     * 
-     * @param ids 需要删除的agv料架搬运任务主键集合
-     * @return 结果
-     */
-    public int deleteAgvContainerTaskByIds(Long[] ids);
-
-    /**
-     * 删除agv料架搬运任务信息
-     * 
-     * @param id agv料架搬运任务主键
-     * @return 结果
-     */
-    public int deleteAgvContainerTaskById(Long id);
-
-    void deleteAgvContainerTaskByOrderId(String container);
-}
--- a/ruoyi-admin/src/main/java/com/ruoyi/system/service/impl/AgvContainerTaskServiceImpl.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/system/service/impl/AgvContainerTaskServiceImpl.java
@@ -1,100 +0,0 @@
-package com.ruoyi.system.service.impl;
-
-import java.util.List;
-import com.ruoyi.common.utils.DateUtils;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Service;
-import com.ruoyi.system.mapper.AgvContainerTaskMapper;
-import com.ruoyi.system.domain.AgvContainerTask;
-import com.ruoyi.system.service.IAgvContainerTaskService;
-
-/**
- * agv料架搬运任务Service业务层处理
- * 
- * @author ruoyi
- * @date 2026-05-15
- */
-@Service
-public class AgvContainerTaskServiceImpl implements IAgvContainerTaskService 
-{
-    @Autowired
-    private AgvContainerTaskMapper agvContainerTaskMapper;
-
-    /**
-     * 查询agv料架搬运任务
-     * 
-     * @param id agv料架搬运任务主键
-     * @return agv料架搬运任务
-     */
-    @Override
-    public AgvContainerTask selectAgvContainerTaskById(Long id)
-    {
-        return agvContainerTaskMapper.selectAgvContainerTaskById(id);
-    }
-
-    /**
-     * 查询agv料架搬运任务列表
-     * 
-     * @param agvContainerTask agv料架搬运任务
-     * @return agv料架搬运任务
-     */
-    @Override
-    public List<AgvContainerTask> selectAgvContainerTaskList(AgvContainerTask agvContainerTask)
-    {
-        return agvContainerTaskMapper.selectAgvContainerTaskList(agvContainerTask);
-    }
-
-    /**
-     * 新增agv料架搬运任务
-     * 
-     * @param agvContainerTask agv料架搬运任务
-     * @return 结果
-     */
-    @Override
-    public int insertAgvContainerTask(AgvContainerTask agvContainerTask)
-    {
-        agvContainerTask.setCreateTime(DateUtils.getNowDate());
-        return agvContainerTaskMapper.insertAgvContainerTask(agvContainerTask);
-    }
-
-    /**
-     * 修改agv料架搬运任务
-     * 
-     * @param agvContainerTask agv料架搬运任务
-     * @return 结果
-     */
-    @Override
-    public int updateAgvContainerTask(AgvContainerTask agvContainerTask)
-    {
-        return agvContainerTaskMapper.updateAgvContainerTask(agvContainerTask);
-    }
-
-    /**
-     * 批量删除agv料架搬运任务
-     * 
-     * @param ids 需要删除的agv料架搬运任务主键
-     * @return 结果
-     */
-    @Override
-    public int deleteAgvContainerTaskByIds(Long[] ids)
-    {
-        return agvContainerTaskMapper.deleteAgvContainerTaskByIds(ids);
-    }
-
-    /**
-     * 删除agv料架搬运任务信息
-     * 
-     * @param id agv料架搬运任务主键
-     * @return 结果
-     */
-    @Override
-    public int deleteAgvContainerTaskById(Long id)
-    {
-        return agvContainerTaskMapper.deleteAgvContainerTaskById(id);
-    }
-
-    @Override
-    public void deleteAgvContainerTaskByOrderId(String container) {
-         agvContainerTaskMapper.deleteAgvContainerTaskByContainer(container);
-    }
-}
--- a/ruoyi-admin/src/main/resources/mapper/bas/BasCargoSpaceMapper.xml
+++ b/ruoyi-admin/src/main/resources/mapper/bas/BasCargoSpaceMapper.xml
@@ -60,26 +60,6 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
        <include refid="selectBasCargoSpaceVo"/>
        where cargo_space_id = #{cargoSpaceId}
    </select>
-
-    <select id="countOutboundBlockingPositions" resultType="int">
-        SELECT COUNT(1)
-        FROM bas_cargo_space outer_space
-        INNER JOIN bas_cargo_space requested
-            ON requested.cargo_space_id = #{cargoSpaceId}
-           AND outer_space.the_floor = requested.the_floor
-           AND outer_space.group_coding_no = requested.group_coding_no
-           AND outer_space.group_coding &gt; requested.group_coding
-        WHERE NULLIF(LTRIM(RTRIM(outer_space.tray_code)), '') IS NOT NULL
-           OR ISNULL(NULLIF(LTRIM(RTRIM(outer_space.status)), ''), '0') &lt;&gt; '0'
-           OR ISNULL(NULLIF(LTRIM(RTRIM(outer_space.locked)), ''), '0') &lt;&gt; '0'
-           OR EXISTS (
-                SELECT 1
-                FROM mydo_job_wcs pending
-                WHERE pending.cargo_space_id = outer_space.cargo_space_id
-                  AND pending.in_or_out &gt;= 20
-                  AND ISNULL(pending.status, '') &lt;&gt; '4'
-           )
-    </select>
    <select id="selectBasCargoSpaceByWmsCargoSpaceId"
            resultMap="BasCargoSpaceResult">
        <include refid="selectBasCargoSpaceVo"/>
--- a/ruoyi-admin/src/main/resources/mapper/device/AgvQueueMapper.xml
+++ b/ruoyi-admin/src/main/resources/mapper/device/AgvQueueMapper.xml
@@ -62,6 +62,11 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
        where task_code = #{taskCode}
    </select>

+    <select id="selectAgvQueueByStatus" resultMap="AgvQueueResult">
+        select top(1)* from agv_queue
+        where status=0
+    </select>
+
    <insert id="insertAgvQueue" parameterType="AgvQueue">
        insert into agv_queue
        <trim prefix="(" suffix=")" suffixOverrides=",">
@@ -144,13 +149,4 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
            #{reqCode}
        </foreach>
    </delete>
-    <select id="selectKx" parameterType="java.util.Map" statementType="CALLABLE">
-        {call proc_select_kx(#{v_position,mode=IN,jdbcType=VARCHAR},
-                                   #{v_orderId,mode=IN,jdbcType=VARCHAR},
-                                   #{v_type,mode=IN,jdbcType=VARCHAR},
-                                   #{v_result,mode=OUT,jdbcType=INTEGER},
-                                   #{v_result_msg,mode=OUT,jdbcType=VARCHAR})}
-    </select>
-
-
 </mapper>
--- a/ruoyi-admin/src/main/resources/mapper/device/DeviceSrgvMapper.xml
+++ b/ruoyi-admin/src/main/resources/mapper/device/DeviceSrgvMapper.xml
@@ -182,7 +182,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
        <trim prefix="SET" suffixOverrides=",">
            <if test="setFloor != null">set_floor = #{setFloor},</if>
            <if test="powerTime != null">power_time = #{powerTime},</if>
-
+            <if test="lastTime != null">last_time = #{lastTime},</if>
            <if test="agvStatus != null">agv_status = #{agvStatus},</if>
            <if test="taskNo != null">task_no = #{taskNo},</if>
            <if test="srcSite != null">src_site = #{srcSite},</if>
@@ -227,6 +227,6 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
    </delete>

    <update id="updateLastTimeByAgvId" parameterType="String">
-        update  device_srgv set last_time =convert(varchar,getdate(),120) where guid=#{agvId}
+        update  device_srgv set last_time =getdate() where agv_id=#{agvId}
    </update>
 </mapper>
--- a/ruoyi-admin/src/main/resources/mapper/job/MydoJobMapper.xml
+++ b/ruoyi-admin/src/main/resources/mapper/job/MydoJobMapper.xml
@@ -47,8 +47,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
            <if test="priority != null "> and priority = #{priority}</if>
            <if test="executionPhase != null  and executionPhase != ''"> and execution_phase = #{executionPhase}</if>
            <if test="inOrOut != null  and inOrOut != ''"> and in_or_out = #{inOrOut}</if>
-            <if test="startTime != null  and startTime != ''"> and finish_time &gt;= #{startTime}</if>
-            <if test="finishTime != null  and finishTime != ''"> and finish_time &lt;= #{finishTime}</if>
+            <if test="startTime != null  and startTime != ''"> and start_time = #{startTime}</if>
+            <if test="finishTime != null  and finishTime != ''"> and finish_time = #{finishTime}</if>
            <if test="entranceId != null  and entranceId != ''"> and entrance_id = #{entranceId}</if>
            <if test="exitId != null  and exitId != ''"> and exit_id = #{exitId}</if>
            <if test="warehouseId != null  and warehouseId != ''"> and warehouse_id = #{warehouseId}</if>
@@ -229,8 +229,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
            <if test="priority != null "> and priority = #{priority}</if>
            <if test="executionPhase != null  and executionPhase != ''"> and execution_phase = #{executionPhase}</if>
            <if test="inOrOut != null  and inOrOut != ''"> and in_or_out = #{inOrOut}</if>
-            <if test="startTime != null  and startTime != ''"> and finish_time &gt;= #{startTime}</if>
-            <if test="finishTime != null  and finishTime != ''"> and finish_time &lt;= #{finishTime}</if>
+            <if test="startTime != null  and startTime != ''"> and start_time = #{startTime}</if>
+            <if test="finishTime != null  and finishTime != ''"> and finish_time = #{finishTime}</if>
            <if test="entranceId != null  and entranceId != ''"> and entrance_id = #{entranceId}</if>
            <if test="exitId != null  and exitId != ''"> and exit_id = #{exitId}</if>
            <if test="warehouseId != null  and warehouseId != ''"> and warehouse_id = #{warehouseId}</if>
@@ -251,40 +251,50 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"

    <select id="selectMydoJobOut"  resultMap="MydoJobResult">
        WITH floor_group AS (
-            SELECT
-                b.cargo_space_id,
-                b.group_coding_no,
-                b.the_floor,
-                b.group_coding,
-                a.task_no,
-                a.job_id,
-                a.in_or_out,
-                a.target_cargo_space_id,
-                ROW_NUMBER() OVER (
-                    PARTITION BY b.the_floor, b.group_coding_no
-                    ORDER BY b.group_coding DESC,
-                             CASE WHEN a.in_or_out = 30 THEN 0 ELSE 1 END,
-                             a.create_time ASC,
-                             a.job_id ASC
-                    ) AS rn
-            FROM mydo_job_wcs a
-                     INNER JOIN bas_cargo_space b
-                                ON a.cargo_space_id = b.cargo_space_id
-                                    AND a.the_floor = b.the_floor
-            WHERE a.in_or_out >= 20
+        SELECT
+        b.cargo_space_id,
+        b.group_coding_no,
+        b.the_floor,
+        b.group_coding,
+        a.task_no AS task_no,
+        a.job_id AS job_id,
+        a.in_or_out,  -- 之前新增的字段
+        a.target_cargo_space_id,  -- 新增字段：加入target_cargo_space_id
+        ROW_NUMBER() OVER (PARTITION BY b.the_floor ORDER BY b.group_coding DESC) AS rn
+        FROM
+        mydo_job_wcs a
+        INNER JOIN bas_cargo_space b
+        ON a.cargo_space_id = b.cargo_space_id
+        AND a.the_floor = b.the_floor
+        WHERE
+        a.in_or_out >= 20
+        AND a.status = '1'
+        GROUP BY
+        b.group_coding_no,
+        b.cargo_space_id,
+        b.the_floor,
+        b.group_coding,
+        a.task_no,
+        a.job_id,
+        a.create_time,
+        a.in_or_out,  -- 之前新增的分组字段
+        a.target_cargo_space_id  -- 分组字段中新增：必须加入GROUP BY
        )
        SELECT
-            cargo_space_id,
-            group_coding_no,
-            the_floor,
-            group_coding,
-            task_no,
-            job_id,
-            in_or_out,
-            target_cargo_space_id
-        FROM floor_group
-        WHERE rn = 1          -- ✅ 每次每层每个通道只取 1 条
-        ORDER BY group_coding DESC;
+        cargo_space_id,
+        group_coding_no,
+        the_floor,
+        task_no,
+        job_id,
+        in_or_out,  -- 之前新增的展示字段
+        target_cargo_space_id  -- 最终查询结果中显示该字段
+        FROM
+        floor_group
+        WHERE
+        rn &lt;= 1
+        ORDER BY
+        group_coding DESC;
+
    </select>
    <select id="selectMydoJobByTrayCode" resultMap="MydoJobResult">
        <include refid="selectMydoJobVo"/>
@@ -300,37 +310,5 @@ select count(1) from mydo_job_wcs where in_or_out>=20 and  exit_id = #{exitId}
        select count(1) from mydo_job_wcs

    </select>
-    <select id="selectMydoJobIn" resultType="java.lang.Integer">
-        select count(1) from mydo_job_wcs where in_or_out &lt;20 and cargo_space_id is null and status='3' and execution_phase='1'
-    </select>
-
-    <select id="selectMydoJobCountOut" resultType="java.lang.Integer">
-        select count(1) from mydo_job_wcs where in_or_out>20
-    </select>
-    <select id="selectByJobOut" parameterType="java.lang.Integer" resultType="java.lang.Integer">
-        select count(1)
-        from mydo_job_wcs
-        where in_or_out > 20
-          and status = '1'
-    </select>
-
-    <select id="selectByJobOutIsOne" parameterType="java.lang.Integer" resultType="java.lang.Integer">
-        select count(1) from mydo_job_wcs where in_or_out>20 and status='1' and the_floor=1
-    </select>
-
-    <select id="selectMydoJobExit" parameterType="string" resultType="integer">
-        select count(1) from mydo_job_wcs where in_or_out>20 and exit_id=#{exit}
-    </select>
-
-    <select id="selectTheFloorYk" parameterType="string" resultType="java.lang.Integer">
-        select count(1) from mydo_job_wcs where the_floor=#{theFloor} and in_or_out=30
-    </select>
-
-    <delete id="deleteMydoJobByTaskNos">
-        delete from mydo_job_wcs where task_no in
-        <foreach item="taskNo" collection="taskNos" open="(" separator="," close=")">
-            #{taskNo}
-        </foreach>
-    </delete>

 </mapper>
--- a/ruoyi-admin/src/main/resources/mapper/queue/WcsSrgvQueueMapper.xml
+++ b/ruoyi-admin/src/main/resources/mapper/queue/WcsSrgvQueueMapper.xml
@@ -227,10 +227,5 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
    </select>


-    <select id="selectTaskNosByGuids" parameterType="String" resultType="string">
-        select task_no from wcs_srgv_queue where guid in
-        <foreach item="guid" collection="array" open="(" separator="," close=")">
-            #{guid}
-        </foreach>
-    </select>
+
 </mapper>
--- a/ruoyi-admin/src/main/resources/mapper/system/AgvContainerTaskMapper.xml
+++ b/ruoyi-admin/src/main/resources/mapper/system/AgvContainerTaskMapper.xml
@@ -1,116 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!DOCTYPE mapper
-PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
-"http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.ruoyi.system.mapper.AgvContainerTaskMapper">
-    
-    <resultMap type="AgvContainerTask" id="AgvContainerTaskResult">
-        <result property="id"    column="id"    />
-        <result property="container"    column="container"    />
-        <result property="startPoint"    column="start_point"    />
-        <result property="endPoint"    column="end_point"    />
-        <result property="createTime"    column="create_time"    />
-        <result property="startTime"    column="start_time"    />
-        <result property="finishTime"    column="finish_time"    />
-        <result property="taskNo"    column="task_no"    />
-        <result property="status"    column="status"    />
-        <result property="spare1"    column="spare1"    />
-        <result property="spare2"    column="spare2"    />
-    </resultMap>
-
-    <sql id="selectAgvContainerTaskVo">
-        select id, container, start_point, end_point, create_time, start_time, finish_time, task_no, status, spare1, spare2 from agv_container_task
-    </sql>
-
-    <select id="selectAgvContainerTaskList" parameterType="AgvContainerTask" resultMap="AgvContainerTaskResult">
-        <include refid="selectAgvContainerTaskVo"/>
-        <where>  
-            <if test="container != null  and container != ''"> and container = #{container}</if>
-            <if test="startPoint != null  and startPoint != ''"> and start_point = #{startPoint}</if>
-            <if test="endPoint != null  and endPoint != ''"> and end_point = #{endPoint}</if>
-            <if test="startTime != null  and startTime != ''"> and start_time = #{startTime}</if>
-            <if test="finishTime != null  and finishTime != ''"> and finish_time = #{finishTime}</if>
-            <if test="taskNo != null  and taskNo != ''"> and task_no = #{taskNo}</if>
-            <if test="status != null  and status != ''"> and status = #{status}</if>
-            <if test="spare1 != null  and spare1 != ''"> and spare1 = #{spare1}</if>
-            <if test="spare2 != null  and spare2 != ''"> and spare2 = #{spare2}</if>
-        </where>
-    </select>
-    
-    <select id="selectAgvContainerTaskById" parameterType="Long" resultMap="AgvContainerTaskResult">
-        <include refid="selectAgvContainerTaskVo"/>
-        where id = #{id}
-    </select>
-
-    <insert id="insertAgvContainerTask" parameterType="AgvContainerTask" useGeneratedKeys="true" keyProperty="id">
-        insert into agv_container_task
-        <trim prefix="(" suffix=")" suffixOverrides=",">
-            <if test="container != null">container,</if>
-            <if test="startPoint != null">start_point,</if>
-            <if test="endPoint != null">end_point,</if>
-            <if test="createTime != null">create_time,</if>
-            <if test="startTime != null">start_time,</if>
-            <if test="finishTime != null">finish_time,</if>
-            <if test="taskNo != null">task_no,</if>
-            <if test="status != null">status,</if>
-            <if test="spare1 != null">spare1,</if>
-            <if test="spare2 != null">spare2,</if>
-         </trim>
-        <trim prefix="values (" suffix=")" suffixOverrides=",">
-            <if test="container != null">#{container},</if>
-            <if test="startPoint != null">#{startPoint},</if>
-            <if test="endPoint != null">#{endPoint},</if>
-            <if test="createTime != null">#{createTime},</if>
-            <if test="startTime != null">#{startTime},</if>
-            <if test="finishTime != null">#{finishTime},</if>
-            <if test="taskNo != null">#{taskNo},</if>
-            <if test="status != null">#{status},</if>
-            <if test="spare1 != null">#{spare1},</if>
-            <if test="spare2 != null">#{spare2},</if>
-         </trim>
-    </insert>
-
-    <update id="updateAgvContainerTask" parameterType="AgvContainerTask">
-        update agv_container_task
-        <trim prefix="SET" suffixOverrides=",">
-            <if test="container != null">container = #{container},</if>
-            <if test="startPoint != null">start_point = #{startPoint},</if>
-            <if test="endPoint != null">end_point = #{endPoint},</if>
-            <if test="createTime != null">create_time = #{createTime},</if>
-            <if test="startTime != null">start_time = #{startTime},</if>
-            <if test="finishTime != null">finish_time = #{finishTime},</if>
-            <if test="taskNo != null">task_no = #{taskNo},</if>
-            <if test="status != null">status = #{status},</if>
-            <if test="spare1 != null">spare1 = #{spare1},</if>
-            <if test="spare2 != null">spare2 = #{spare2},</if>
-        </trim>
-        where id = #{id}
-    </update>
-
-    <delete id="deleteAgvContainerTaskById" parameterType="Long">
-        delete from agv_container_task where id = #{id}
-    </delete>
-    <delete id="deleteAgvContainerTaskByContainer" parameterType="string">
-        delete from agv_container_task where container = #{container}
-    </delete>
-
-    <delete id="deleteAgvContainerTaskByIds" parameterType="String">
-        delete from agv_container_task where id in 
-        <foreach item="id" collection="array" open="(" separator="," close=")">
-            #{id}
-        </foreach>
-    </delete>
-
-    <select id="insertAgvContainerTaskFinish" parameterType="string">
-        insert into agv_container_task_finish select * from  agv_container_task  where container=#{orderId}
-    </select>
-
-    <update id="updateAgvContainerTaskByOrder" parameterType="string">
-        update agv_container_task set status='2' where  container=#{orderId}
-    </update>
-
-    <select id="selectAgvContainerFinishOne" resultMap="AgvContainerTaskResult">
-        select top 1 *  from agv_container_task where status='2'
-    </select>
-
-</mapper>
--- a/ruoyi-admin/src/test/java/com/ruoyi/api/service/impl/ApiServiceImplTest.java
+++ b/ruoyi-admin/src/test/java/com/ruoyi/api/service/impl/ApiServiceImplTest.java
@@ -1,113 +0,0 @@
-package com.ruoyi.api.service.impl;
-
-import com.ruoyi.api.domain.wcs2wms.ReceiveJob;
-import com.ruoyi.bas.cargospace.domain.BasCargoSpace;
-import com.ruoyi.bas.cargospace.mapper.BasCargoSpaceMapper;
-import com.ruoyi.common.core.domain.AjaxResult;
-import com.ruoyi.job.service.IMydoJobService;
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-import org.junit.jupiter.api.extension.ExtendWith;
-import org.mockito.Mock;
-import org.mockito.junit.jupiter.MockitoExtension;
-import org.springframework.test.util.ReflectionTestUtils;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.mockito.ArgumentMatchers.any;
-import static org.mockito.Mockito.never;
-import static org.mockito.Mockito.verify;
-import static org.mockito.Mockito.when;
-
-@ExtendWith(MockitoExtension.class)
-class ApiServiceImplTest {
-    @Mock
-    private IMydoJobService mydoJobService;
-    @Mock
-    private BasCargoSpaceMapper basCargoSpaceMapper;
-
-    private ApiServiceImpl service;
-
-    @BeforeEach
-    void setUp() {
-        service = new ApiServiceImpl();
-        ReflectionTestUtils.setField(service, "mydoJobService", mydoJobService);
-        ReflectionTestUtils.setField(service, "basCargoSpaceMapper", basCargoSpaceMapper);
-    }
-
-    @Test
-    void blockedOrdinaryOutboundIsNotInserted() {
-        ReceiveJob job = outbound("60979", "130803", "20");
-        when(basCargoSpaceMapper.selectBasCargoSpaceByCargoSpaceId("130803"))
-                .thenReturn(cargoSpace("130803"));
-        when(basCargoSpaceMapper.countOutboundBlockingPositions("130803")).thenReturn(1);
-
-        AjaxResult result = service.receiveOutMydoJob(job);
-
-        assertEquals(500, result.get(AjaxResult.CODE_TAG));
-        assertEquals("同通道外侧货位尚未清空，等待前置移库完成", result.get(AjaxResult.MSG_TAG));
-        verify(mydoJobService, never()).insertMydoJob(any());
-    }
-
-    @Test
-    void moveJobBypassesOutboundGuard() {
-        ReceiveJob job = outbound("80183", "120703", "30");
-        when(mydoJobService.insertMydoJob(any())).thenReturn(1);
-
-        AjaxResult result = service.receiveOutMydoJob(job);
-
-        assertEquals(200, result.get(AjaxResult.CODE_TAG));
-        verify(basCargoSpaceMapper, never()).countOutboundBlockingPositions(any());
-        verify(mydoJobService).insertMydoJob(any());
-    }
-
-    @Test
-    void unblockedOrdinaryOutboundIsInserted() {
-        ReceiveJob job = outbound("60979", "130803", "20");
-        when(basCargoSpaceMapper.selectBasCargoSpaceByCargoSpaceId("130803"))
-                .thenReturn(cargoSpace("130803"));
-        when(basCargoSpaceMapper.countOutboundBlockingPositions("130803")).thenReturn(0);
-        when(mydoJobService.insertMydoJob(any())).thenReturn(1);
-
-        AjaxResult result = service.receiveOutMydoJob(job);
-
-        assertEquals(200, result.get(AjaxResult.CODE_TAG));
-        verify(mydoJobService).insertMydoJob(any());
-    }
-
-    @Test
-    void unknownCargoSpaceIsRejectedInsteadOfAssumedSafe() {
-        ReceiveJob job = outbound("60979", "UNKNOWN", "20");
-
-        AjaxResult result = service.receiveOutMydoJob(job);
-
-        assertEquals(500, result.get(AjaxResult.CODE_TAG));
-        assertEquals("WCS 未找到出库货位 UNKNOWN，任务未接收", result.get(AjaxResult.MSG_TAG));
-        verify(mydoJobService, never()).insertMydoJob(any());
-    }
-
-    @Test
-    void invalidOutboundTypeIsRejectedInsteadOfBypassingGuard() {
-        ReceiveJob job = outbound("60979", "130803", "invalid");
-
-        AjaxResult result = service.receiveOutMydoJob(job);
-
-        assertEquals(500, result.get(AjaxResult.CODE_TAG));
-        assertEquals("WCS 无法识别作业类型 invalid，任务未接收", result.get(AjaxResult.MSG_TAG));
-        verify(mydoJobService, never()).insertMydoJob(any());
-    }
-
-    private ReceiveJob outbound(String jobId, String cargoSpaceId, String inOrOut) {
-        ReceiveJob job = new ReceiveJob();
-        job.setJobId(jobId);
-        job.setCargoSpaceId(cargoSpaceId);
-        job.setInOrOut(inOrOut);
-        job.setClassId("1");
-        return job;
-    }
-
-    private BasCargoSpace cargoSpace(String cargoSpaceId) {
-        BasCargoSpace cargoSpace = new BasCargoSpace();
-        cargoSpace.setCargoSpaceId(cargoSpaceId);
-        return cargoSpace;
-    }
-}
--- a/ruoyi-common/src/main/java/com/ruoyi/common/core/domain/AjaxResult.java
+++ b/ruoyi-common/src/main/java/com/ruoyi/common/core/domain/AjaxResult.java
@@ -26,7 +26,9 @@ public class AjaxResult extends HashMap<String, Object>
    /**
     * 初始化一个新创建的 AjaxResult 对象，使其表示一个空消息。
     */
-
+    public AjaxResult()
+    {
+    }

    /**
     * 初始化一个新创建的 AjaxResult 对象
--- a/ruoyi-framework/src/main/java/com/ruoyi/framework/config/SecurityConfig.java
+++ b/ruoyi-framework/src/main/java/com/ruoyi/framework/config/SecurityConfig.java
@@ -116,9 +116,10 @@ public class SecurityConfig
                            .antMatchers(HttpMethod.GET, "/", "/*.html", "/**/*.html", "/**/*.css", "/**/*.js", "/profile/**").permitAll()
                            .antMatchers("/swagger-ui.html", "/changeLanguage", "/swagger-resources/**", "/webjars/**", "/*/api-docs", "/druid/**", "/pda/**").permitAll()
                            .antMatchers("/device/operation/**").permitAll()
-                            .antMatchers("/api/agv/**").permitAll()
+                            .antMatchers("/agv/api/**").permitAll()
                            .antMatchers("/device/api/**").permitAll()
                            .antMatchers("/wcs2Wms/api/**").permitAll()
+                            .antMatchers("/agv/api/**").permitAll()
                            .antMatchers("/test/**").permitAll()
                            .antMatchers("/largeScreen/monitor/**").permitAll()
                            // 除上面外的所有请求全部需要鉴权认证
--- a/ruoyi-ui/src/views/device/ssj/index.vue
+++ b/ruoyi-ui/src/views/device/ssj/index.vue
@@ -157,7 +157,6 @@ export default {
          { key: 'kx', label: '空闲', value: d.kx, dict: 'ssj_kx' },
          { key: 'dw', label: '到位', value: d.dw, dict: 'ssj_dw' },
          { key: 'exception', label: '异常', value: d.exception, dict: 'ssj_ex'},
-
        ]
      }
      if (dev.kind === 'srgv') {
--- a/ruoyi-ui/vue.config.js
+++ b/ruoyi-ui/vue.config.js
@@ -9,7 +9,7 @@ const CompressionPlugin = require('compression-webpack-plugin')

 const name = process.env.VUE_APP_TITLE || 'FORTUCKY WCS SYSTEM' // 网页标题

-const baseUrl = 'http://localhost:8081' // 后端接口地址（你的后端端口是8081）
+const baseUrl = 'http://192.168.188.236:8081' // 后端接口地址（你的后端端口是8081）

 const port = process.env.port || process.env.npm_config_port || 80 // 前端端口
Author	SHA1	Message	Date
张怡蓉	ad9f8d87fd	小车	2026-03-19 15:08:50 +08:00
1009473166@qq.com	cafcde4a35	2026.3.18	2026-03-18 14:26:26 +08:00
1009473166@qq.com	24eaaa2823	2026.3.18	2026-03-18 14:22:57 +08:00
猫猫guowen	24fb696a67	数字孪生：修改输送机入库时到位信号为到位，出库时为空闲	2026-03-18 14:13:14 +08:00
liuhanqing	9b008f5fe7	现场调度修改	2026-03-11 09:02:58 +08:00
liuhanqing	03e30d1db0	现场调度修改	2026-03-02 08:40:01 +08:00
liuhanqing	9c6c32b7ed	现场调度修改	2026-02-26 09:46:54 +08:00