From 379cf50bff98863d6eac76e8c3549ec27249e9e5 Mon Sep 17 00:00:00 2001
From: Comair <1464848666@qq.com>
Date: Thu, 17 Jul 2025 15:47:53 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=BB=BB=E5=8A=A1=E6=9F=A5?=
 =?UTF-8?q?=E8=AF=A2=E5=92=8C=E9=87=8D=E6=96=B0=E4=B8=8B=E5=8F=91?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../main/java/com/shkj/ShkjApplication.java   |   2 +-
 .../src/main/resources/application-pro.yml    |   6 +-
 shkj-admin/src/main/resources/application.yml |   2 +-
 .../shkj/common/constant/RedisConstant.java   |   3 +
 .../com/shkj/common/utils/MessageUtils.java   |   2 +-
 .../shkj/framework/config/SecurityConfig.java |   4 +-
 .../service/impl/SysDictTypeServiceImpl.java  |   5 +-
 .../mapper/system/SysDictDataMapper.xml       |   2 +-
 .../com/shkj/wcs/bo/AGVFeedbackDepBo.java     |  34 ++
 .../main/java/com/shkj/wcs/bo/AGVTaskBo.java  |  48 ---
 .../controller/busin/AgvTaskContorller.java   |  15 +
 .../controller/busin/BusinTaskController.java |  53 +++
 .../controller/busin/WcsTaskController.java   |  18 +-
 .../java/com/shkj/wcs/domain/BusinTask.java   | 107 +++++
 .../com/shkj/wcs/mapper/BusinTaskMapper.java  |  14 +
 .../java/com/shkj/wcs/plc/PlcEventTask.java   | 400 ++++++++----------
 .../wcs/service/IBusinDataTaskService.java    |  23 +
 .../shkj/wcs/service/IBusinTaskService.java   |  36 ++
 .../impl/BusinDataTaskServiceImpl.java        | 299 +++++++++----
 .../service/impl/BusinTaskServiceImpl.java    | 117 +++++
 .../shkj/wcs/third/workbinWcs/WCSUtil.java    |  38 +-
 .../java/com/shkj/wcs/vo/BusinTaskVo.java     |  18 +
 .../com/shkj/wms/bo/BusinTaskQueryBo.java     |  14 +-
 .../com/shkj/wms/enums/TaskStatusEnum.java    |   6 +-
 .../main/java/com/shkj/wms/enums/WayEnum.java |  38 ++
 25 files changed, 899 insertions(+), 405 deletions(-)
 create mode 100644 shkj-wms/src/main/java/com/shkj/wcs/bo/AGVFeedbackDepBo.java
 delete mode 100644 shkj-wms/src/main/java/com/shkj/wcs/bo/AGVTaskBo.java
 create mode 100644 shkj-wms/src/main/java/com/shkj/wcs/controller/busin/BusinTaskController.java
 create mode 100644 shkj-wms/src/main/java/com/shkj/wcs/domain/BusinTask.java
 create mode 100644 shkj-wms/src/main/java/com/shkj/wcs/mapper/BusinTaskMapper.java
 create mode 100644 shkj-wms/src/main/java/com/shkj/wcs/service/IBusinTaskService.java
 create mode 100644 shkj-wms/src/main/java/com/shkj/wcs/service/impl/BusinTaskServiceImpl.java
 create mode 100644 shkj-wms/src/main/java/com/shkj/wcs/vo/BusinTaskVo.java
 create mode 100644 shkj-wms/src/main/java/com/shkj/wms/enums/WayEnum.java

diff --git a/shkj-admin/src/main/java/com/shkj/ShkjApplication.java b/shkj-admin/src/main/java/com/shkj/ShkjApplication.java
index 54bc98e..5ee2cff 100644
--- a/shkj-admin/src/main/java/com/shkj/ShkjApplication.java
+++ b/shkj-admin/src/main/java/com/shkj/ShkjApplication.java
@@ -12,7 +12,7 @@ import org.springframework.scheduling.annotation.EnableAsync;
  *
  * @author lch
  */
-@SpringBootApplication(exclude = { SecurityAutoConfiguration.class,DataSourceAutoConfiguration.class, MongoAutoConfiguration.class},scanBasePackages = {"org.jeecg.modules.jmreport", "com.shkj"})
+@SpringBootApplication(exclude = {DataSourceAutoConfiguration.class, MongoAutoConfiguration.class},scanBasePackages = {"org.jeecg.modules.jmreport", "com.shkj"})
 //@SpringBootApplication(exclude = { DataSourceAutoConfiguration.class, MongoAutoConfiguration.class},scanBasePackages = {"org.jeecg.modules.jmreport", "com.shkj"})
 @EnableAsync
 public class ShkjApplication {
diff --git a/shkj-admin/src/main/resources/application-pro.yml b/shkj-admin/src/main/resources/application-pro.yml
index 5e86dce..3b0c6bf 100644
--- a/shkj-admin/src/main/resources/application-pro.yml
+++ b/shkj-admin/src/main/resources/application-pro.yml
@@ -12,9 +12,9 @@ spring:
     druid:
       # 主库数据源
       master:
-        url: jdbc:mysql://127.0.0.1:3306/sc_wcs?useUnicode=true&characterEncoding=utf8&zeroDateTimeBehavior=convertToNull&useSSL=true&serverTimezone=GMT%2B7
+        url: jdbc:mysql://10.0.152.244:3306/sc_wcs?useUnicode=true&characterEncoding=utf8&zeroDateTimeBehavior=convertToNull&useSSL=true&serverTimezone=GMT%2B7
         username: root
-        password: root
+        password: sc@2025
       # 从库数据源
       slave:
         # 从数据源开关/默认关闭
@@ -64,7 +64,7 @@ spring:
   # redis 配置
   redis:
     # 地址
-    host: 127.0.0.1
+    host: 10.0.152.244
     # 端口，默认为6379
     port: 6379
     # 数据库索引
diff --git a/shkj-admin/src/main/resources/application.yml b/shkj-admin/src/main/resources/application.yml
index 949a21f..d7e7999 100644
--- a/shkj-admin/src/main/resources/application.yml
+++ b/shkj-admin/src/main/resources/application.yml
@@ -45,7 +45,7 @@ spring:
     # 国际化资源文件路径
     basename: i18n/messages
   profiles:
-    active: dev
+    active: pro
   # 文件上传
   servlet:
      multipart:
diff --git a/shkj-common/src/main/java/com/shkj/common/constant/RedisConstant.java b/shkj-common/src/main/java/com/shkj/common/constant/RedisConstant.java
index 60f255e..1ce40f7 100644
--- a/shkj-common/src/main/java/com/shkj/common/constant/RedisConstant.java
+++ b/shkj-common/src/main/java/com/shkj/common/constant/RedisConstant.java
@@ -6,6 +6,9 @@ public class RedisConstant {
     public static  String redisGoods ="Goods:";
     public static  String redisVin ="Vin:";
 
+    //agv
+    public static String redisAgvAreaStatus = "AgvAreaStatus";
+
     //PLC连接点位
     public static  String redisPlcListConnect ="PlcList:";
 
diff --git a/shkj-common/src/main/java/com/shkj/common/utils/MessageUtils.java b/shkj-common/src/main/java/com/shkj/common/utils/MessageUtils.java
index cc6dc54..f736cd1 100644
--- a/shkj-common/src/main/java/com/shkj/common/utils/MessageUtils.java
+++ b/shkj-common/src/main/java/com/shkj/common/utils/MessageUtils.java
@@ -26,7 +26,7 @@ public class MessageUtils {
             MessageSource messageSource = SpringUtils.getBean(MessageSource.class);
             return messageSource.getMessage(code, args, LocaleContextHolder.getLocale());
         } catch (Exception e) {
-        //  log.error("国际化出错了 = {}", e.getMessage());
+          log.error("国际化出错了 = {}", e.getMessage());
         }
         return code;
     }
diff --git a/shkj-framework/src/main/java/com/shkj/framework/config/SecurityConfig.java b/shkj-framework/src/main/java/com/shkj/framework/config/SecurityConfig.java
index a063c4e..99d6f4f 100644
--- a/shkj-framework/src/main/java/com/shkj/framework/config/SecurityConfig.java
+++ b/shkj-framework/src/main/java/com/shkj/framework/config/SecurityConfig.java
@@ -113,10 +113,10 @@ public class SecurityConfig extends WebSecurityConfigurerAdapter {
                 .antMatchers("/jmreport/**").anonymous()
                 .antMatchers("/**/common/**").permitAll()
                 /*第三方回调接口   这里修改为permitAll 目的是不管请求的时候头部是否带了token都可以请求 不然的话anonymous时如果有token但是不对会报403*/
-                .antMatchers("/**/third/**").permitAll()
+                .antMatchers("/api/**/**").permitAll()
 
 //                .antMatchers("/**/wms/**").permitAll()
-                .antMatchers("/wcs/**").permitAll()
+                .antMatchers("/agvapi/**").permitAll()
                 .antMatchers("/**/largeScreen/**").permitAll()
 //                .antMatchers("/**/system/**").permitAll()
 
diff --git a/shkj-system/src/main/java/com/shkj/system/service/impl/SysDictTypeServiceImpl.java b/shkj-system/src/main/java/com/shkj/system/service/impl/SysDictTypeServiceImpl.java
index 67058b0..379315d 100644
--- a/shkj-system/src/main/java/com/shkj/system/service/impl/SysDictTypeServiceImpl.java
+++ b/shkj-system/src/main/java/com/shkj/system/service/impl/SysDictTypeServiceImpl.java
@@ -80,9 +80,6 @@ public class SysDictTypeServiceImpl implements ISysDictTypeService {
         List<SysDictData> dictDatas = DictUtils.getDictCache(dictType);
 
         if (StringUtils.isNotEmpty(dictDatas)) {
-            for (SysDictData dictData : dictDatas) {
-                dictData.setDictLabel(MessageUtils.message(dictData.getDictLabel()));
-            }
             return dictDatas;
         }
         dictDatas = dictDataMapper.selectDictDataByType(dictType, SecurityUtils.getCurrentBranchId());
@@ -90,7 +87,7 @@ public class SysDictTypeServiceImpl implements ISysDictTypeService {
         if (StringUtils.isNotEmpty(dictDatas)) {
             DictUtils.setDictCache(dictType, dictDatas);
             for (SysDictData dictData : dictDatas) {
-                dictData.setDictLabel(MessageUtils.message(dictData.getDictLabel()));
+                dictData.setDictLabel(dictData.getDictLabel());
             }
             return dictDatas;
         }
diff --git a/shkj-system/src/main/resources/mapper/system/SysDictDataMapper.xml b/shkj-system/src/main/resources/mapper/system/SysDictDataMapper.xml
index 6ba6b67..3a568dd 100644
--- a/shkj-system/src/main/resources/mapper/system/SysDictDataMapper.xml
+++ b/shkj-system/src/main/resources/mapper/system/SysDictDataMapper.xml
@@ -47,7 +47,7 @@
 
     <select id="selectDictDataByType" parameterType="SysDictData" resultMap="SysDictDataResult">
         <include refid="selectDictDataVo"/>
-        where status = '0' and dict_type = #{dictType} and branch_id = #{branchId} order by dict_sort asc
+        where status = '0' and dict_type = #{dictType}  order by dict_sort asc
     </select>
 
     <select id="selectDictLabel" resultType="String">
diff --git a/shkj-wms/src/main/java/com/shkj/wcs/bo/AGVFeedbackDepBo.java b/shkj-wms/src/main/java/com/shkj/wcs/bo/AGVFeedbackDepBo.java
new file mode 100644
index 0000000..02b1e42
--- /dev/null
+++ b/shkj-wms/src/main/java/com/shkj/wcs/bo/AGVFeedbackDepBo.java
@@ -0,0 +1,34 @@
+package com.shkj.wcs.bo;
+
+import lombok.Data;
+import lombok.NoArgsConstructor;
+import lombok.experimental.Accessors;
+
+import java.io.Serializable;
+
+/**
+ * agv同dps握手信息  修改
+ *
+ * @author zjx
+ * @date 2022-05-01
+ */
+@Data
+@NoArgsConstructor
+@Accessors(chain = true)
+public class AGVFeedbackDepBo implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+
+    /**
+     * 坐标
+     */
+    private String areaInLocation;
+
+
+    /**
+     * 状态 0-无车 1-有车
+     */
+    private int status;
+
+}
diff --git a/shkj-wms/src/main/java/com/shkj/wcs/bo/AGVTaskBo.java b/shkj-wms/src/main/java/com/shkj/wcs/bo/AGVTaskBo.java
deleted file mode 100644
index 69832ce..0000000
--- a/shkj-wms/src/main/java/com/shkj/wcs/bo/AGVTaskBo.java
+++ /dev/null
@@ -1,48 +0,0 @@
-package com.shkj.wcs.bo;
-
-import lombok.Data;
-import lombok.NoArgsConstructor;
-import lombok.experimental.Accessors;
-
-import javax.validation.constraints.NotBlank;
-import java.io.Serializable;
-
-/**
- * agv同dps握手信息  修改
- *
- * @author zjx
- * @date 2022-05-01
- */
-@Data
-@NoArgsConstructor
-@Accessors(chain = true)
-public class AGVTaskBo implements Serializable {
-
-    private static final long serialVersionUID = 1L;
-
-
-    /**
-     * 起始点位
-     */
-    private String tempLocation;
-
-    /**
-     * 起始点位
-     */
-    private String fromLocation;
-
-    /**
-     * 目标点位
-     */
-    private String toLocation;
-
-    /**
-     * 任务类型
-     */
-    private int taskType;
-
-    /**
-     * 任务编号
-     */
-    private Long taskId;
-}
diff --git a/shkj-wms/src/main/java/com/shkj/wcs/controller/busin/AgvTaskContorller.java b/shkj-wms/src/main/java/com/shkj/wcs/controller/busin/AgvTaskContorller.java
index 452d0f3..c7ce83f 100644
--- a/shkj-wms/src/main/java/com/shkj/wcs/controller/busin/AgvTaskContorller.java
+++ b/shkj-wms/src/main/java/com/shkj/wcs/controller/busin/AgvTaskContorller.java
@@ -2,12 +2,15 @@ package com.shkj.wcs.controller.busin;
 
 import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.fasterxml.jackson.core.JsonProcessingException;
 import com.shkj.common.annotation.Log;
 import com.shkj.common.annotation.RepeatSubmit;
+import com.shkj.common.constant.RedisConstant;
 import com.shkj.common.core.domain.Result;
 import com.shkj.common.enums.BusinessType;
 import com.shkj.common.utils.DateUtils;
 import com.shkj.wcs.bo.AGVFeedbackBo;
+import com.shkj.wcs.bo.AGVFeedbackDepBo;
 import com.shkj.wcs.bo.ExtraData;
 import com.shkj.wcs.bo.WcsRequestBo;
 import com.shkj.wcs.domain.BusinDataTask;
@@ -40,6 +43,7 @@ import java.util.List;
 @RequiredArgsConstructor(onConstructor_ =@Autowired)
 @RestController
 @RequestMapping("/agvapi")
+
 public class AgvTaskContorller {
 
     @Autowired
@@ -85,4 +89,15 @@ public class AgvTaskContorller {
         return iBusinDataTaskService.rcsFeedbackTask(bo);
     }
 
+    /**
+     * 入库存放点反馈
+     */
+    @Log(title = "任务执行过程回馈接口",businessType = BusinessType.UPDATE)
+    @PostMapping("/toKjWcs/rcsFeedBackDep")
+    @RepeatSubmit
+    public RcsResponseVo rcsFeedBackDep(@RequestBody AGVFeedbackBo bo) throws JsonProcessingException {
+        log.info("agv入库存放点反馈数据："+bo);
+        return iBusinDataTaskService.rcsFeedBackDep(bo);
+    }
+
 }
diff --git a/shkj-wms/src/main/java/com/shkj/wcs/controller/busin/BusinTaskController.java b/shkj-wms/src/main/java/com/shkj/wcs/controller/busin/BusinTaskController.java
new file mode 100644
index 0000000..3f22eeb
--- /dev/null
+++ b/shkj-wms/src/main/java/com/shkj/wcs/controller/busin/BusinTaskController.java
@@ -0,0 +1,53 @@
+package com.shkj.wcs.controller.busin;
+
+
+import com.shkj.common.core.controller.BaseController;
+import com.shkj.common.core.domain.Result;
+import com.shkj.common.core.page.TableDataInfo;
+import com.shkj.wcs.service.IBusinTaskService;
+import com.shkj.wcs.vo.BusinTaskVo;
+import com.shkj.wms.bo.BusinTaskQueryBo;
+import lombok.RequiredArgsConstructor;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 作业任务Controller
+ *
+ * @menu 作业任务管理
+ * @author lch
+ * @date 2023-02-27
+ */
+@RequiredArgsConstructor(onConstructor_ = @Autowired)
+@RestController
+@RequestMapping("/wms/task")
+public class BusinTaskController extends BaseController {
+
+    private final IBusinTaskService iBusinTaskService;
+
+    /**
+     * 查询作业任务列表
+     */
+    @GetMapping("/list")
+    public TableDataInfo<BusinTaskVo> list(BusinTaskQueryBo bo) {
+        startPage();
+        List<BusinTaskVo> list = iBusinTaskService.queryList(bo);
+        return getDataTable(list);
+    }
+
+
+    /**
+     * 重新下发
+     *
+     * @param taskCode
+     * @return {@code Result<Boolean>}
+     * @throws Exception 异常
+     */
+    @PostMapping("/redistribution/{taskCode}")
+    public Result<Boolean> redistribution(@PathVariable("taskCode") String taskCode){
+        return iBusinTaskService.redistribution(taskCode);
+    }
+
+}
diff --git a/shkj-wms/src/main/java/com/shkj/wcs/controller/busin/WcsTaskController.java b/shkj-wms/src/main/java/com/shkj/wcs/controller/busin/WcsTaskController.java
index 00aa90e..f8cb692 100644
--- a/shkj-wms/src/main/java/com/shkj/wcs/controller/busin/WcsTaskController.java
+++ b/shkj-wms/src/main/java/com/shkj/wcs/controller/busin/WcsTaskController.java
@@ -2,6 +2,7 @@ package com.shkj.wcs.controller.busin;
 
 import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.fasterxml.jackson.core.JsonProcessingException;
 import com.shkj.common.annotation.Log;
 import com.shkj.common.annotation.RepeatSubmit;
 import com.shkj.common.enums.BusinessType;
@@ -65,22 +66,11 @@ public class WcsTaskController {
     }
 
 
-    @Log(title = "查询每个库区状态测试接口", businessType = BusinessType.UPDATE)
+    @Log(title = "查询每个库区状态测试接口")
     @PostMapping("/toKjWcs/queryAreaStatus")
     @RepeatSubmit
-    public WcsResponseVo queryAreaStatus(@RequestBody WCSQueryAreaStatusDto dto) {
-        //测试使用
-        List<WCSQueryAreaStatusBody> areaStatusBodyList = new ArrayList<>();
-        String[] areaCodes = {"SC-A2", "SC-B2", "SC-C2", "SC-D2"};
-        int[] statusValues = {0, 1, 1, 1};
-        for (int i = 0; i < 4; i++) {
-            WCSQueryAreaStatusBody queryAreaStatusBody = new WCSQueryAreaStatusBody();
-            queryAreaStatusBody.setAreaInLocation(areaCodes[i]);
-            queryAreaStatusBody.setStatus(statusValues[i]);
-            areaStatusBodyList.add(queryAreaStatusBody);
-        }
-        log.info("查询结果及返回结果："+ JSONObject.toJSONString(areaStatusBodyList));
-        return WcsResponseVo.success(areaStatusBodyList);
+    public WcsResponseVo queryAreaStatus(@RequestBody WCSQueryAreaStatusDto dto) throws JsonProcessingException {
+        return iBusinDataTaskService.queryAreaStatus(dto);
     }
 
 
diff --git a/shkj-wms/src/main/java/com/shkj/wcs/domain/BusinTask.java b/shkj-wms/src/main/java/com/shkj/wcs/domain/BusinTask.java
new file mode 100644
index 0000000..296fe8b
--- /dev/null
+++ b/shkj-wms/src/main/java/com/shkj/wcs/domain/BusinTask.java
@@ -0,0 +1,107 @@
+package com.shkj.wcs.domain;
+
+import com.baomidou.mybatisplus.annotation.*;
+import com.fasterxml.jackson.annotation.JsonFormat;
+import com.shkj.common.annotation.Excel;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+import lombok.experimental.Accessors;
+
+import java.io.Serializable;
+import java.util.Date;
+
+/**
+ * 作业任务对象 busin_task
+ *
+ * @author lch
+ * @date 2023-02-27
+ */
+@Data
+@NoArgsConstructor
+@Accessors(chain = true)
+@TableName("busin_task")
+public class BusinTask implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+
+    /**
+     * $column.columnComment
+     */
+    @TableId(value = "id", type = IdType.AUTO)
+    @Excel(name = "${comment}", width = 15)
+    private Long id;
+
+
+    /**
+     * 任务编号
+     */
+    @Excel(name = "任务编号", width = 20)
+    private String taskCode;
+
+
+
+
+    /**
+     * 状态 未下发=0 执行中=1 下发成功=2 下发失败=-1
+     */
+    @Excel(name = "状态 未下发 执行中 下发成功 下发失败", width = 20)
+    private String status;
+
+
+    /**
+     * 类型 入库=in 出库=out 搬运=move
+     */
+    @Excel(name = "类型 入库 出库 搬运", width = 20)
+    private String type;
+
+
+    /**
+     *
+     */
+    @Excel(name = "下发类型", width = 50)
+    private String way;
+
+
+
+    /**
+     * 异常信息
+     */
+    @TableField(updateStrategy = FieldStrategy.IGNORED)
+    private String errMsg;
+
+
+
+    /**
+     * 创建时间
+     */
+    @TableField(fill = FieldFill.INSERT)
+    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss", timezone = "GMT+8")
+    private Date createTime;
+
+
+    /**
+     * 创建人
+     */
+    @TableField(fill = FieldFill.INSERT)
+    @Excel(name = "创建人", width = 20)
+    private String createBy;
+
+
+    /**
+     * 修改时间
+     */
+    @TableField(fill = FieldFill.INSERT_UPDATE)
+    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss", timezone = "GMT+8")
+    private Date updateTime;
+
+
+    /**
+     * 修改人
+     */
+    @TableField(fill = FieldFill.INSERT_UPDATE)
+    @Excel(name = "修改人", width = 20)
+    private String updateBy;
+
+
+}
diff --git a/shkj-wms/src/main/java/com/shkj/wcs/mapper/BusinTaskMapper.java b/shkj-wms/src/main/java/com/shkj/wcs/mapper/BusinTaskMapper.java
new file mode 100644
index 0000000..1e46f65
--- /dev/null
+++ b/shkj-wms/src/main/java/com/shkj/wcs/mapper/BusinTaskMapper.java
@@ -0,0 +1,14 @@
+package com.shkj.wcs.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.shkj.wcs.domain.BusinTask;
+
+/**
+ * 作业任务Mapper接口
+ *
+ * @author lch
+ * @date 2023-02-27
+ */
+public interface BusinTaskMapper extends BaseMapper<BusinTask> {
+
+}
diff --git a/shkj-wms/src/main/java/com/shkj/wcs/plc/PlcEventTask.java b/shkj-wms/src/main/java/com/shkj/wcs/plc/PlcEventTask.java
index d39d755..60c844b 100644
--- a/shkj-wms/src/main/java/com/shkj/wcs/plc/PlcEventTask.java
+++ b/shkj-wms/src/main/java/com/shkj/wcs/plc/PlcEventTask.java
@@ -10,6 +10,7 @@ import com.shkj.common.enums.BusinessType;
 import com.shkj.common.utils.DateUtils;
 import com.shkj.plc.sdk.device.PlcOperate;
 import com.shkj.system.service.ISysParameterService;
+import com.shkj.wcs.bo.AGVFeedbackDepBo;
 import com.shkj.wcs.bo.WcsPlcConnectQueryBo;
 import com.shkj.wcs.domain.BusinDataTask;
 import com.shkj.wcs.domain.WcsPlcConnect;
@@ -104,7 +105,7 @@ public class PlcEventTask {
 
 
     //输送线心跳
-    @Scheduled(fixedDelay = 2000)
+    @Scheduled(fixedDelay = 5000)
     public void writePlcheartbeatDps() {
         PlcOperate plcOperate = plcInit.getPlcOperate_dps();
         if (plcOperate != null) {
@@ -135,7 +136,7 @@ public class PlcEventTask {
     }
 
     //叠盘机心跳
-    @Scheduled(fixedDelay = 2000)
+    @Scheduled(fixedDelay = 5000)
     public void writePlcheartbeatStk() {
         //根据连接的plcId获取属性
         PlcOperate plcOperate = plcInit.getPlcOperate_dpj();
@@ -402,10 +403,6 @@ public class PlcEventTask {
                 Map<String, Integer> seriaMap = new HashMap<>(1);
                 seriaMap.put(reqInCfmSeriaVt, bCR01SeriaV);
                 allMap.put(reqInCfmSeria, seriaMap);
-
-//                Map<String, String> barcodMap = new HashMap<>(1);
-//                barcodMap.put(reqInCfmBarcod00000Vt, s1);
-//                allMap.put(reqInCfmBarcod, barcodMap);
                 //成功直行 失败回退
                 if (Result.isOk(vo.getHeader().getMsgCode())) {
                     Map<String, Integer> destMap = new HashMap<>(1);
@@ -429,25 +426,26 @@ public class PlcEventTask {
                 body.setBussinessType(BusinTaskTypeEnum.stockOut.getValue());
                 body.setCreateDt(getNowDate());
                 //调用agv接口查询库区状态
-                Map<String, Object> map1 = new HashMap<>();
-                map1.put("areaInLocation", "SC-A2");
-                map1.put("status", 0);
-
-                Map<String, Object> map2 = new HashMap<>();
-                map2.put("areaInLocation", "SC-B2");
-                map2.put("status", 1);
-
-                Map<String, Object> map3 = new HashMap<>();
-                map3.put("areaInLocation", "SC-C2");
-                map3.put("status", 1);
-
-                Map<String, Object> map4 = new HashMap<>();
-                map4.put("areaInLocation", "SC-D2");
-                map4.put("status", 1);
-
-                Object[] areaStatus = new Object[]{map1, map2, map3, map4};
-                log.info("每个库区的状态:" + Arrays.toString(areaStatus));
-                body.setAreaStatus(areaStatus);
+//                Map<String, Object> map1 = new HashMap<>();
+//                map1.put("areaInLocation", "SC-A2");
+//                map1.put("status", 0);
+//
+//                Map<String, Object> map2 = new HashMap<>();
+//                map2.put("areaInLocation", "SC-B2");
+//                map2.put("status", 1);
+//
+//                Map<String, Object> map3 = new HashMap<>();
+//                map3.put("areaInLocation", "SC-C2");
+//                map3.put("status", 1);
+//
+//                Map<String, Object> map4 = new HashMap<>();
+//                map4.put("areaInLocation", "SC-D2");
+//                map4.put("status", 1);
+//
+//                Object[] areaStatus = new Object[]{map1, map2, map3, map4};
+//                log.info("每个库区的状态:" + Arrays.toString(areaStatus));
+//                body.setAreaStatus(areaStatus);
+                log.info("空托申请wz-wcs参数："+JSONObject.toJSONString(body));
                 WcsResponseVo vo = wcsUtil.wcsIncomingTaskRequest(body);
                 log.info("空托申请wz-wcs返回：" + vo.getHeader());
                 Map<String, Object> allMap = new HashMap<>(1);
@@ -485,27 +483,12 @@ public class PlcEventTask {
                 body.setTrayCode(s);
                 body.setCreateDt(getNowDate());
                 //调用agv接口查询库区状态
-                Map<String, Object> map1 = new HashMap<>();
-                map1.put("areaInLocation", "SC-A2");
-                map1.put("status", 0);
-
-                Map<String, Object> map2 = new HashMap<>();
-                map2.put("areaInLocation", "SC-B2");
-                map2.put("status", 1);
-
-                Map<String, Object> map3 = new HashMap<>();
-                map3.put("areaInLocation", "SC-C2");
-                map3.put("status", 1);
-
-                Map<String, Object> map4 = new HashMap<>();
-                map4.put("areaInLocation", "SC-D2");
-                map4.put("status", 1);
-
-                Object[] areaStatus = new Object[]{map1, map2, map3, map4};
-                log.info("每个库区的状态:" + Arrays.toString(areaStatus));
-                body.setAreaStatus(areaStatus);
+                List<AGVFeedbackDepBo> orInitializeAreaStatus = iBusinDataTaskService.getOrInitializeAreaStatus();
+                log.info("每个库区的状态:" + Arrays.toString(orInitializeAreaStatus.toArray()));
+                body.setAreaStatus(orInitializeAreaStatus.toArray());
+                log.info("上层实盘出口入库请求wz-wcs参数："+JSONObject.toJSONString(body));
                 WcsResponseVo vo = wcsUtil.wcsIncomingTaskRequest(body);
-                log.info("实盘出口上报wz-wcs返回：" + vo.getHeader());
+                log.info("上层实盘出口入库请求wz-wcs返回：" + vo.getHeader());
                 Map<String, Object> allMap = new HashMap<>(1);
                 Map<String, Integer> seriaMap = new HashMap<>(1);
                 seriaMap.put(rptOutCfmSeriaVt, outSeria);
@@ -523,9 +506,9 @@ public class PlcEventTask {
                 }
                 allMap.put(retOut, reqMap);
                 String allMapJson = JsonUtil.toJSONString(allMap);
-                log.info("出口上报时，给输送线写命令数据：{}", allMapJson);
+                log.info("上层出口上报时，给输送线写命令数据：{}", allMapJson);
                 Boolean rptOutBoolean = plcReadAndWrite.execWrite(plcOperate, allMapJson);
-                log.info("出口上报时，写入的命令返回结果：" + rptOutBoolean.toString());
+                log.info("上层出口上报时，写入的命令返回结果：" + rptOutBoolean.toString());
             }
 
             //实盘出口上报
@@ -540,7 +523,7 @@ public class PlcEventTask {
                 String barcodeValueOne = Objects.toString(pointMap.get(rptOutBarcod1), "");
                 String s = barcodeValueOne.replaceAll("[^A-Za-z0-9]", "");
 
-                log.info("实盘出口上报时，读取的条码内容：" + s);
+                log.info("下层实盘出口上报时，读取的条码内容：" + s);
                 //调用wz-wcs接口
                 WcsIncomingTaskRequestBody body = new WcsIncomingTaskRequestBody();
                 body.setStation(MapEnum.twoUpIn.getValue());
@@ -549,27 +532,12 @@ public class PlcEventTask {
                 body.setTrayCode(s);
                 body.setCreateDt(getNowDate());
                 //调用agv接口查询库区状态
-                Map<String, Object> map1 = new HashMap<>();
-                map1.put("areaInLocation", "SC-A2");
-                map1.put("status", 0);
-
-                Map<String, Object> map2 = new HashMap<>();
-                map2.put("areaInLocation", "SC-B2");
-                map2.put("status", 1);
-
-                Map<String, Object> map3 = new HashMap<>();
-                map3.put("areaInLocation", "SC-C2");
-                map3.put("status", 1);
-
-                Map<String, Object> map4 = new HashMap<>();
-                map4.put("areaInLocation", "SC-D2");
-                map4.put("status", 1);
-
-                Object[] areaStatus = new Object[]{map1, map2, map3, map4};
-                log.info("每个库区的状态:" + Arrays.toString(areaStatus));
-                body.setAreaStatus(areaStatus);
+                List<AGVFeedbackDepBo> orInitializeAreaStatus = iBusinDataTaskService.getOrInitializeAreaStatus();
+                log.info("每个库区的状态:" + Arrays.toString(orInitializeAreaStatus.toArray()));
+                body.setAreaStatus(orInitializeAreaStatus.toArray());
+                log.info("下层实盘出口入库请求wz-wcs参数："+JSONObject.toJSONString(body));
                 WcsResponseVo vo = wcsUtil.wcsIncomingTaskRequest(body);
-                log.info("agv扫码处申请wz-wcs返回：" + vo.getHeader());
+                log.info("下层实盘出口入库请求wz-wcs返回：" + vo.getHeader());
                 Map<String, Object> allMap = new HashMap<>(1);
                 Map<String, Integer> seriaMap = new HashMap<>(1);
                 seriaMap.put(rptOutCfmSeriaVt1, outSeria);
@@ -583,9 +551,9 @@ public class PlcEventTask {
                 }
                 allMap.put(retOut1, reqMap);
                 String allMapJson = JsonUtil.toJSONString(allMap);
-                log.info("出口上报时，给输送线写命令数据：{}", allMapJson);
+                log.info("下层出口上报时，给输送线写命令数据：{}", allMapJson);
                 Boolean rptOutBoolean = plcReadAndWrite.execWrite(plcOperate, allMapJson);
-                log.info("出口上报时，写入的命令返回结果：" + rptOutBoolean.toString());
+                log.info("下层出口上报时，写入的命令返回结果：" + rptOutBoolean.toString());
             }
 
 
@@ -806,25 +774,10 @@ public class PlcEventTask {
                 body.setBussinessType(BusinTaskTypeEnum.stockIn.getValue());
                 body.setCreateDt(getNowDate());
                 //调用agv接口查询库区状态
-                Map<String, Object> map1 = new HashMap<>();
-                map1.put("areaInLocation", "SC-A2");
-                map1.put("status", 0);
-
-                Map<String, Object> map2 = new HashMap<>();
-                map2.put("areaInLocation", "SC-B2");
-                map2.put("status", 1);
-
-                Map<String, Object> map3 = new HashMap<>();
-                map3.put("areaInLocation", "SC-C2");
-                map3.put("status", 1);
-
-                Map<String, Object> map4 = new HashMap<>();
-                map4.put("areaInLocation", "SC-D2");
-                map4.put("status", 1);
-
-                Object[] areaStatus = new Object[]{map1, map2, map3, map4};
-                log.info("每个库区的状态:" + Arrays.toString(areaStatus));
-                body.setAreaStatus(areaStatus);
+                List<AGVFeedbackDepBo> orInitializeAreaStatus = iBusinDataTaskService.getOrInitializeAreaStatus();
+                log.info("每个库区的状态:" + Arrays.toString(orInitializeAreaStatus.toArray()));
+                body.setAreaStatus(orInitializeAreaStatus.toArray());
+                log.info("叠盘机满入库任务申请WZ-WCS参数：" + body);
                 WcsResponseVo vo = wcsUtil.wcsIncomingTaskRequest(body);
                 log.info("叠盘机满入库任务申请WZ-WCS返回：" + vo.getHeader());
                 Map<String, Object> allMap = new HashMap<>(1);
@@ -850,155 +803,105 @@ public class PlcEventTask {
 
             //叠盘机搬运1
             if (pointMap.containsKey(dpjGw1) && !pointMap.get(dpjGw1).equals("0")) {
-                BusinDataTask businDataTask;
-                boolean save = true;
-                Map<String, Object> allMap = new HashMap<>(1);
-                Map<String, Integer> reqMap = new HashMap<>(1);
-                LambdaQueryWrapper<BusinDataTask> lqwTask = new LambdaQueryWrapper<BusinDataTask>()
-                        .eq(BusinDataTask::getFromSide,MapEnum.dpjGw1.getValue())
-                        .eq(BusinDataTask::getTaskStatus,TaskStatusEnum.wait_put);
-                businDataTask = iBusinDataTaskService.getOne(lqwTask);
-                if(businDataTask != null){
-                    log.info("还未下发的任务："+businDataTask.getTaskCode());
-                }else{
-                    String taskCode = IntIdUtil.generateIntId().toString();
-                    businDataTask.setTaskCode(taskCode);
-                    businDataTask.setTaskStatus(TaskStatusEnum.wait_put.getValue());
-                    businDataTask.setTaskType(TaskTypeEnum.Carry.getValue());
-                    businDataTask.setTaskPath(MapEnum.dpj.getValue());
-                    businDataTask.setPriority("1");
-                    businDataTask.setFromSide(MapEnum.dpjGw1.getValue());
-                    businDataTask.setToSide(MapEnum.dpj.getValue());
-                    businDataTask.setCreateTime(DateUtils.getNowDate());
-                    businDataTask.setAgvType("B113");
-                    save = iBusinDataTaskService.save(businDataTask);
-                }
-                if (!save) {
-                    log.info("叠盘工位1，任务存储失败！");
-                    reqMap.put(retDpjGw1Vt, 2);
-                    allMap.put(retDpjGw1, reqMap);
-                }else{
+                log.info("叠盘机工位1搬运流程开始");
+
+                try {
+                    // 检查是否有未完成的任务
+                    BusinDataTask businDataTask = checkExistingTask(MapEnum.dpjGw1.getValue());
+
+                    // 如果没有现有任务，创建新任务
+                    if (businDataTask == null) {
+                        businDataTask = createNewTask(MapEnum.dpjGw1.getValue());
+                        boolean saveSuccess = iBusinDataTaskService.save(businDataTask);
+                        if (!saveSuccess) {
+                            handleFailure(retDpjGw1Vt, retDpjGw1, "叠盘工位1，任务存储失败！",plcReadAndWrite, plcOperate);
+                            return;
+                        }
+                    }
+
+                    // 下发任务到RCS
                     Result result = iBusinDataTaskService.rcsTaskIssued(businDataTask);
                     if (!Result.isOk(result)) {
-                        log.info("叠盘工位1，给rcs下发任务失败！");
-                        reqMap.put(retDpjGw1Vt, 2);
-                        allMap.put(retDpjGw1, reqMap);
-                    }else{
-                        log.info("叠盘工位1，给rcs下发任务成功！");
-                        reqMap.put(retDpjGw1Vt, 1);
-                        allMap.put(retDpjGw1, reqMap);
-                        businDataTask.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
-                        businDataTask.setTaskStarttime(DateUtils.getNowDate());
-                        businDataTask.setUpdateTime(DateUtils.getNowDate());
-                        iBusinDataTaskService.updateById(businDataTask);
+                        handleFailure(retDpjGw1Vt, retDpjGw1, "叠盘工位1，给rcs下发任务失败！",plcReadAndWrite, plcOperate);
+                        return;
                     }
+
+                    // 任务下发成功后的处理
+                    handleSuccess(businDataTask, retDpjGw1Vt, retDpjGw1,plcReadAndWrite, plcOperate);
+
+                } catch (Exception e) {
+                    log.error("叠盘工位1处理过程中发生异常", e);
+                    handleFailure(retDpjGw1Vt, retDpjGw1, "叠盘工位1，处理过程中发生异常！",plcReadAndWrite, plcOperate);
                 }
-                String allMapJson = JsonUtil.toJSONString(allMap);
-                log.info("叠盘工位1叠盘请求时，给输送线写命令数据：{}", allMapJson);
-                Boolean bCR01Boolean = plcReadAndWrite.execWrite(plcOperate, allMapJson);
-                log.info("叠盘工位1叠盘请求时，写入的命令返回结果：" + bCR01Boolean.toString());
             }
 
+
             //叠盘机搬运2
             if (pointMap.containsKey(dpjGw2) && !pointMap.get(dpjGw2).equals("0")) {
-                BusinDataTask businDataTask;
-                boolean save = true;
-                Map<String, Object> allMap = new HashMap<>(1);
-                Map<String, Integer> reqMap = new HashMap<>(1);
-                LambdaQueryWrapper<BusinDataTask> lqwTask = new LambdaQueryWrapper<BusinDataTask>()
-                        .eq(BusinDataTask::getFromSide,MapEnum.dpjGw2.getValue())
-                        .eq(BusinDataTask::getTaskStatus,TaskStatusEnum.wait_put);
-                businDataTask = iBusinDataTaskService.getOne(lqwTask);
-                if(businDataTask != null){
-                    log.info("还未下发的任务："+businDataTask.getTaskCode());
-                }else{
-                    String taskCode = IntIdUtil.generateIntId().toString();
-                    businDataTask.setTaskCode(taskCode);
-                    businDataTask.setTaskStatus(TaskStatusEnum.wait_put.getValue());
-                    businDataTask.setTaskType(TaskTypeEnum.Carry.getValue());
-                    businDataTask.setTaskPath(MapEnum.dpj.getValue());
-                    businDataTask.setPriority("1");
-                    businDataTask.setFromSide(MapEnum.dpjGw2.getValue());
-                    businDataTask.setToSide(MapEnum.dpj.getValue());
-                    businDataTask.setCreateTime(DateUtils.getNowDate());
-                    businDataTask.setAgvType("B113");
-                    save = iBusinDataTaskService.save(businDataTask);
-                }
-                if (!save) {
-                    log.info("叠盘工位2，任务存储失败！");
-                    reqMap.put(retDpjGw2Vt, 2);
-                    allMap.put(retDpjGw2, reqMap);
-                }else{
+                log.info("叠盘机工位2搬运流程开始");
+
+                try {
+                    // 检查是否有未完成的任务
+                    BusinDataTask businDataTask = checkExistingTask(MapEnum.dpjGw2.getValue());
+
+                    // 如果没有现有任务，创建新任务
+                    if (businDataTask == null) {
+                        businDataTask = createNewTask(MapEnum.dpjGw2.getValue());
+                        boolean saveSuccess = iBusinDataTaskService.save(businDataTask);
+                        if (!saveSuccess) {
+                            handleFailure(retDpjGw2Vt, retDpjGw2, "叠盘工位2，任务存储失败！",plcReadAndWrite, plcOperate);
+                            return;
+                        }
+                    }
+
+                    // 下发任务到RCS
                     Result result = iBusinDataTaskService.rcsTaskIssued(businDataTask);
                     if (!Result.isOk(result)) {
-                        log.info("叠盘工位2，给rcs下发任务失败！");
-                        reqMap.put(retDpjGw2Vt, 2);
-                        allMap.put(retDpjGw2, reqMap);
-                    }else{
-                        log.info("叠盘工位2，给rcs下发任务成功！");
-                        reqMap.put(retDpjGw2Vt, 1);
-                        allMap.put(retDpjGw2, reqMap);
-                        businDataTask.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
-                        businDataTask.setTaskStarttime(DateUtils.getNowDate());
-                        businDataTask.setUpdateTime(DateUtils.getNowDate());
-                        iBusinDataTaskService.updateById(businDataTask);
+                        handleFailure(retDpjGw2Vt, retDpjGw2, "叠盘工位2，给rcs下发任务失败！",plcReadAndWrite, plcOperate);
+                        return;
                     }
+
+                    // 任务下发成功后的处理
+                    handleSuccess(businDataTask, retDpjGw2Vt, retDpjGw2,plcReadAndWrite, plcOperate);
+
+                } catch (Exception e) {
+                    log.error("叠盘工位2处理过程中发生异常", e);
+                    handleFailure(retDpjGw2Vt, retDpjGw2, "叠盘工位2，处理过程中发生异常！",plcReadAndWrite, plcOperate);
                 }
-                String allMapJson = JsonUtil.toJSONString(allMap);
-                log.info("叠盘工位2叠盘请求时，给输送线写命令数据：{}", allMapJson);
-                Boolean bCR01Boolean = plcReadAndWrite.execWrite(plcOperate, allMapJson);
-                log.info("叠盘工位2叠盘请求时，写入的命令返回结果：" + bCR01Boolean.toString());
             }
 
             //叠盘机搬运3
             if (pointMap.containsKey(dpjGw3) && !pointMap.get(dpjGw3).equals("0")) {
-                BusinDataTask businDataTask;
-                boolean save = true;
-                Map<String, Object> allMap = new HashMap<>(1);
-                Map<String, Integer> reqMap = new HashMap<>(1);
-                LambdaQueryWrapper<BusinDataTask> lqwTask = new LambdaQueryWrapper<BusinDataTask>()
-                        .eq(BusinDataTask::getFromSide,MapEnum.dpjGw3.getValue())
-                        .eq(BusinDataTask::getTaskStatus,TaskStatusEnum.wait_put);
-                businDataTask = iBusinDataTaskService.getOne(lqwTask);
-                if(businDataTask != null){
-                        log.info("还未下发的任务："+businDataTask.getTaskCode());
-                }else{
-                    String taskCode = IntIdUtil.generateIntId().toString();
-                    businDataTask.setTaskCode(taskCode);
-                    businDataTask.setTaskStatus(TaskStatusEnum.wait_put.getValue());
-                    businDataTask.setTaskType(TaskTypeEnum.Carry.getValue());
-                    businDataTask.setTaskPath(MapEnum.dpj.getValue());
-                    businDataTask.setPriority("1");
-                    businDataTask.setFromSide(MapEnum.dpjGw3.getValue());
-                    businDataTask.setToSide(MapEnum.dpj.getValue());
-                    businDataTask.setCreateTime(DateUtils.getNowDate());
-                    businDataTask.setAgvType("B113");
-                    save = iBusinDataTaskService.save(businDataTask);
-                }
-                if (!save) {
-                    log.info("叠盘工位3，任务存储失败！");
-                    reqMap.put(retDpjGw3Vt, 2);
-                    allMap.put(retDpjGw3, reqMap);
-                }else{
+                log.info("叠盘机工位3搬运流程开始");
+
+                try {
+                    // 检查是否有未完成的任务
+                    BusinDataTask businDataTask = checkExistingTask(MapEnum.dpjGw3.getValue());
+
+                    // 如果没有现有任务，创建新任务
+                    if (businDataTask == null) {
+                        businDataTask = createNewTask(MapEnum.dpjGw3.getValue());
+                        boolean saveSuccess = iBusinDataTaskService.save(businDataTask);
+                        if (!saveSuccess) {
+                            handleFailure(retDpjGw3Vt, retDpjGw3, "叠盘工位2，任务存储失败！",plcReadAndWrite, plcOperate);
+                            return;
+                        }
+                    }
+
+                    // 下发任务到RCS
                     Result result = iBusinDataTaskService.rcsTaskIssued(businDataTask);
                     if (!Result.isOk(result)) {
-                        log.info("叠盘工位3，给rcs下发任务失败！");
-                        reqMap.put(retDpjGw3Vt, 2);
-                        allMap.put(retDpjGw3, reqMap);
-                    }else{
-                        log.info("叠盘工位3，给rcs下发任务成功！");
-                        reqMap.put(retDpjGw3Vt, 1);
-                        allMap.put(retDpjGw3, reqMap);
-                        businDataTask.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
-                        businDataTask.setTaskStarttime(DateUtils.getNowDate());
-                        businDataTask.setUpdateTime(DateUtils.getNowDate());
-                        iBusinDataTaskService.updateById(businDataTask);
+                        handleFailure(retDpjGw3Vt, retDpjGw3, "叠盘工位3，给rcs下发任务失败！",plcReadAndWrite, plcOperate);
+                        return;
                     }
+
+                    // 任务下发成功后的处理
+                    handleSuccess(businDataTask, retDpjGw3Vt, retDpjGw3,plcReadAndWrite, plcOperate);
+
+                } catch (Exception e) {
+                    log.error("叠盘工位3处理过程中发生异常", e);
+                    handleFailure(retDpjGw3Vt, retDpjGw3, "叠盘工位3，处理过程中发生异常！",plcReadAndWrite, plcOperate);
                 }
-                String allMapJson = JsonUtil.toJSONString(allMap);
-                log.info("叠盘工位3叠盘请求时，给输送线写命令数据：{}", allMapJson);
-                Boolean bCR01Boolean = plcReadAndWrite.execWrite(plcOperate, allMapJson);
-                log.info("叠盘工位3叠盘请求时，写入的命令返回结果：" + bCR01Boolean.toString());
             }
 
 
@@ -1009,6 +912,67 @@ public class PlcEventTask {
 
     }
 
+    private BusinDataTask checkExistingTask(String fromSide) {
+        LambdaQueryWrapper<BusinDataTask> lqwTask = new LambdaQueryWrapper<BusinDataTask>()
+                .eq(BusinDataTask::getFromSide, fromSide)
+                .eq(BusinDataTask::getTaskStatus, TaskStatusEnum.wait_put.getValue());
+        BusinDataTask task = iBusinDataTaskService.getOne(lqwTask);
+        if (task != null) {
+            log.info("发现未下发的任务，任务编码：{}", task.getTaskCode());
+        }
+        return task;
+    }
+
+    private void handleSuccess(BusinDataTask task, String retVt, String ret,PLCReadAndWrite plcReadAndWrite, PlcOperate plcOperate) {
+        // 更新任务状态
+        task.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
+        task.setTaskStarttime(DateUtils.getNowDate());
+        task.setUpdateTime(DateUtils.getNowDate());
+        iBusinDataTaskService.updateById(task);
+
+        // 准备成功响应
+        Map<String, Object> allMap = new HashMap<>();
+        Map<String, Integer> reqMap = new HashMap<>();
+        reqMap.put(retVt, 1);
+        allMap.put(ret, reqMap);
+
+        sendToPLC(allMap, "叠盘工位1，给rcs下发任务成功！",plcReadAndWrite,plcOperate);
+    }
+
+    private void sendToPLC(Map<String, Object> allMap, String logMsg,PLCReadAndWrite plcReadAndWrite, PlcOperate plcOperate) {
+        String allMapJson = JsonUtil.toJSONString(allMap);
+        log.info("{} 给输送线写命令数据：{}", logMsg, allMapJson);
+        Boolean writeResult = plcReadAndWrite.execWrite(plcOperate, allMapJson);
+        log.info("写入命令返回结果：{}", writeResult);
+    }
+
+    private BusinDataTask createNewTask(String fromSide) {
+        BusinDataTask task = new BusinDataTask();
+        String taskCode = IntIdUtil.generateIntId().toString();
+        task.setTaskCode(taskCode);
+        task.setTaskStatus(TaskStatusEnum.wait_put.getValue());
+        task.setTaskType(TaskTypeEnum.Carry.getValue());
+        task.setTaskPath(MapEnum.dpj.getValue());
+        task.setPriority("1");
+        task.setFromSide(fromSide);
+        task.setToSide(MapEnum.dpj.getValue());
+        task.setCreateTime(DateUtils.getNowDate());
+        task.setAgvType("B113");
+        log.info("创建新任务，任务编码：{}", taskCode);
+        return task;
+    }
+
+
+    private void handleFailure(String retVt, String ret, String errorMsg,PLCReadAndWrite plcReadAndWrite, PlcOperate plcOperate) {
+        log.warn(errorMsg);
+
+        Map<String, Object> allMap = new HashMap<>();
+        Map<String, Integer> reqMap = new HashMap<>();
+        reqMap.put(retVt, 2);
+        allMap.put(ret, reqMap);
+
+        sendToPLC(allMap, errorMsg,plcReadAndWrite,plcOperate);
+    }
 
 
 
diff --git a/shkj-wms/src/main/java/com/shkj/wcs/service/IBusinDataTaskService.java b/shkj-wms/src/main/java/com/shkj/wcs/service/IBusinDataTaskService.java
index 643482e..e4f138b 100644
--- a/shkj-wms/src/main/java/com/shkj/wcs/service/IBusinDataTaskService.java
+++ b/shkj-wms/src/main/java/com/shkj/wcs/service/IBusinDataTaskService.java
@@ -1,13 +1,18 @@
 package com.shkj.wcs.service;
 
 import com.baomidou.mybatisplus.extension.service.IService;
+import com.fasterxml.jackson.core.JsonProcessingException;
 import com.shkj.common.core.domain.Result;
 import com.shkj.wcs.bo.AGVFeedbackBo;
+import com.shkj.wcs.bo.AGVFeedbackDepBo;
 import com.shkj.wcs.domain.BusinDataTask;
 import com.shkj.wcs.third.rcs.vo.RcsResponseVo;
+import com.shkj.wcs.third.workbinWcs.dto.WCSQueryAreaStatusDto;
 import com.shkj.wcs.third.workbinWcs.dto.WcsCreateTaskDto;
 import com.shkj.wcs.vo.WcsResponseVo;
 
+import java.util.List;
+
 /**
  * @author Comair
  * @date 2025年04月18日 9:11
@@ -26,6 +31,16 @@ public interface IBusinDataTaskService extends IService<BusinDataTask> {
      */
     RcsResponseVo rcsFeedbackTask(AGVFeedbackBo bo);
 
+    /**
+     * agv存放点位反馈
+     * @param bo
+     * @return
+     */
+    RcsResponseVo rcsFeedBackDep(AGVFeedbackBo bo) throws JsonProcessingException;
+
+    WcsResponseVo queryAreaStatus(WCSQueryAreaStatusDto dto) throws JsonProcessingException;
+
+    List<AGVFeedbackDepBo> getOrInitializeAreaStatus() throws JsonProcessingException;
     /**
      * agv任务下发
      * @param businDataTask
@@ -34,5 +49,13 @@ public interface IBusinDataTaskService extends IService<BusinDataTask> {
     Result rcsTaskIssued(BusinDataTask businDataTask);
 
 
+    /**
+     * wcs任务反馈
+     * @param businDataTask
+     * @return
+     */
+    RcsResponseVo wcsFeedbackTask(BusinDataTask businDataTask);
+
+
 
 }
diff --git a/shkj-wms/src/main/java/com/shkj/wcs/service/IBusinTaskService.java b/shkj-wms/src/main/java/com/shkj/wcs/service/IBusinTaskService.java
new file mode 100644
index 0000000..3352e1c
--- /dev/null
+++ b/shkj-wms/src/main/java/com/shkj/wcs/service/IBusinTaskService.java
@@ -0,0 +1,36 @@
+package com.shkj.wcs.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.shkj.common.core.domain.Result;
+import com.shkj.wcs.domain.BusinTask;
+import com.shkj.wcs.vo.BusinTaskVo;
+import com.shkj.wms.bo.BusinTaskQueryBo;
+
+
+import java.util.List;
+
+/**
+ * 作业任务Service接口
+ *
+ * @author lch
+ * @date 2023-02-27
+ */
+public interface IBusinTaskService extends IService<BusinTask> {
+
+
+    /**
+     * 查询列表
+     *
+     * @param bo
+     * @return
+     */
+    List<BusinTaskVo> queryList(BusinTaskQueryBo bo);
+
+
+    /**
+     * 重新下发
+     * @param taskCode
+     * @return
+     */
+    Result<Boolean> redistribution(String taskCode);
+}
diff --git a/shkj-wms/src/main/java/com/shkj/wcs/service/impl/BusinDataTaskServiceImpl.java b/shkj-wms/src/main/java/com/shkj/wcs/service/impl/BusinDataTaskServiceImpl.java
index 1f59577..be5ec73 100644
--- a/shkj-wms/src/main/java/com/shkj/wcs/service/impl/BusinDataTaskServiceImpl.java
+++ b/shkj-wms/src/main/java/com/shkj/wcs/service/impl/BusinDataTaskServiceImpl.java
@@ -3,9 +3,14 @@ package com.shkj.wcs.service.impl;
 import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.core.type.TypeReference;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.shkj.common.constant.RedisConstant;
 import com.shkj.common.core.domain.Result;
 import com.shkj.common.utils.DateUtils;
 import com.shkj.wcs.bo.AGVFeedbackBo;
+import com.shkj.wcs.bo.AGVFeedbackDepBo;
 import com.shkj.wcs.bo.ExtraData;
 import com.shkj.wcs.bo.WcsPlcPropertyQueryBo;
 import com.shkj.wcs.domain.BusinDataTask;
@@ -14,6 +19,7 @@ import com.shkj.wcs.mapper.BusinDataTaskMapper;
 import com.shkj.wcs.mapper.WcsPlcPropertyMapper;
 import com.shkj.wcs.plc.PlcEventTask;
 import com.shkj.wcs.service.IBusinDataTaskService;
+import com.shkj.wcs.service.IBusinTaskService;
 import com.shkj.wcs.service.IWcsPlcPropertyService;
 import com.shkj.wcs.third.rcs.CounterService;
 import com.shkj.wcs.third.rcs.RCSUtil;
@@ -26,10 +32,12 @@ import com.shkj.wcs.third.rcs.enums.RCSTaskTypeEnum;
 import com.shkj.wcs.third.rcs.vo.RcsResponseVo;
 import com.shkj.wcs.third.workbinWcs.WCSUtil;
 import com.shkj.wcs.third.workbinWcs.dto.*;
+import com.shkj.wcs.vo.WcsPlcConnectVo;
 import com.shkj.wcs.vo.WcsResponseVo;
 import com.shkj.wms.enums.MapEnum;
 import com.shkj.wms.enums.TaskStatusEnum;
 import com.shkj.wms.enums.TaskTypeEnum;
+import com.shkj.wms.enums.WayEnum;
 import com.shkj.wms.utils.JsonUtil;
 import lombok.extern.slf4j.Slf4j;
 import org.apache.ibatis.exceptions.TooManyResultsException;
@@ -38,7 +46,9 @@ import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import javax.annotation.Resource;
 import java.util.*;
+import java.util.stream.Collectors;
 
 /**
  * PLC连接属性Service业务层处理
@@ -62,6 +72,13 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
     @Autowired
     private PlcEventTask plcEventTask;
 
+    @Resource
+    RedisTemplate redisTemplate;
+
+    @Autowired
+    IBusinTaskService iBusinTaskService;
+
+
     @Override
     public WcsResponseVo doTaskGeneratePickTask(WcsCreateTaskDto bo) {
         if (bo != null) {
@@ -81,11 +98,20 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                             .eq(BusinDataTask::getContainerCode, trayCode)
                             .in(BusinDataTask::getTaskStatus, TaskStatusEnum.wait_put.getValue(), TaskStatusEnum.wait_callback.getValue());
                     BusinDataTask one = this.getOne(lqwDataTask);
+
+                    LambdaQueryWrapper<BusinDataTask> lqwDataTask1 = new LambdaQueryWrapper<BusinDataTask>()
+                            .eq(BusinDataTask::getTaskCode, taskId)
+                            .in(BusinDataTask::getTaskStatus, TaskStatusEnum.wait_put.getValue(), TaskStatusEnum.wait_callback.getValue());
+                    BusinDataTask one1 = this.getOne(lqwDataTask1);
                     if (dataChange.equals("1")) {
                         if (one != null) {
                             log.info("该托盘" + trayCode + "存在未完成的任务");
                             return WcsResponseVo.error(500, "该托盘" + trayCode + "存在未完成的任务");
                         }
+                        if (one1 != null) {
+                            log.info("该任务id" + taskId + "存在未完成的任务");
+                            return WcsResponseVo.error(500, "该任务id" + taskId + "存在未完成的任务");
+                        }
                         BusinDataTask businDataTask = new BusinDataTask();
                         businDataTask.setTaskCode(taskId);
                         businDataTask.setTaskType(taskType);
@@ -105,6 +131,8 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                             log.info("任务储存成功！");
                             Result result = rcsTaskIssued(businDataTask);
                             if (!Result.isOk(result)) {
+                                businDataTask.setExceptionMsg(WayEnum.agv_task_put.getValue());
+                                iBusinDataTaskService.updateById(businDataTask);
                                 return WcsResponseVo.error(200, "接受成功但给rcs下发任务失败");
                             }
                             businDataTask.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
@@ -116,9 +144,9 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                                     return WcsResponseVo.error(200, "接受成功但给plc回传任务失败");
                                 }
                             }
-
+                        }else{
+                            return WcsResponseVo.error(500, "任务存储失败");
                         }
-                        return WcsResponseVo.error(500, "任务存储失败");
                         //任务取消
                     } else if (dataChange.equals("2")) {
                         if (one == null) {
@@ -126,21 +154,17 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                         }
 
                         //推送给下游
-                        RcsCancelTaskDto rcsCancelTaskDto = new RcsCancelTaskDto();
-                        rcsCancelTaskDto.setRobotTaskCode(taskId);
-//                        if (one.getTaskStatus().equals(TaskStatusEnum.wait_put.getValue())) {
-//                            //软取消
-//                            rcsCancelTaskDto.setCancelType("CANCEL");
-//                        } else {
-                            //硬取消（人工介入）
+                        if(one.getTaskStatus().equals(TaskStatusEnum.wait_callback.getValue())){
+                            RcsCancelTaskDto rcsCancelTaskDto = new RcsCancelTaskDto();
+                            rcsCancelTaskDto.setRobotTaskCode(taskId);
                             rcsCancelTaskDto.setCancelType("DROP");
-
-//                        }
-                        Result result = rcsUtil.rcsTaskCancel(rcsCancelTaskDto);
-                        if (!Result.isOk(result)) {
-                            return WcsResponseVo.error(500, "给rcs取消任务失败");
+                            Result result = rcsUtil.rcsTaskCancel(rcsCancelTaskDto);
+                            if (!Result.isOk(result)) {
+                                one.setExceptionMsg(WayEnum.agv_task_cancel.getValue());
+                                return WcsResponseVo.error(500, "给rcs取消任务失败");
+                            }
                         }
-                        one.setTaskStatus("3");
+                        one.setTaskStatus(TaskStatusEnum.clean.getValue());
                         this.updateById(one);
                     }
                     return WcsResponseVo.success();
@@ -160,6 +184,9 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
         String carrierCode = values.getCarrierCode();
         String method = values.getMethod();
         String slotName = values.getSlotName();
+        if (slotName.equals("0187000XY0234215")) {
+            slotName = "SC-G2-00-00-43022";
+        }
         LambdaQueryWrapper<BusinDataTask> queryWrapper = new LambdaQueryWrapper<BusinDataTask>()
                 .eq(BusinDataTask::getTaskCode, robotTaskCode);
 //                .eq(BusinDataTask::getContainerCode, carrierCode);
@@ -184,72 +211,36 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
             return RcsResponseVo.error("任务状态更新失败");
         }
         log.info("agv任务状态更新成功，任务号：{}", robotTaskCode);
-        if(!businDataTask.getTaskType().equals(TaskTypeEnum.Out.getValue())){
-        switch (method) {
-            case "start":
-                businDataTask.setTaskStarttime(new Date());
-                businDataTask.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
-                break;
-            case "outbin":
-                businDataTask.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
-                break;
-            case "end":
-                businDataTask.setTaskStatus(TaskStatusEnum.finished.getValue());
-                businDataTask.setDestination(slotName);
-                businDataTask.setTaskEntime(new Date());
-                break;
-            case "cancel":
-                businDataTask.setTaskStatus(TaskStatusEnum.clean.getValue());
-                businDataTask.setDestination(slotName);
-                break;
-            default:
-                return RcsResponseVo.error("任务状态未知！");
-        }
-            boolean bool = iBusinDataTaskService.updateById(businDataTask);
-            if (!bool) {
-                log.error("总任务状态更新失败，任务号：{}", robotTaskCode);
-                return RcsResponseVo.error("总任务状态更新失败");
-            }
-            log.info("总任务状态更新成功，任务号：{}", robotTaskCode);
-            UploadWCSTaskStatusDto uploadWCSTaskStatusDto = new UploadWCSTaskStatusDto();
-            WcsCreateTaskHeader header = new WcsCreateTaskHeader();
-            String taskType = businDataTask.getTaskType();
-            switch (taskType) {
-                case "1":
-                    header.setBusinessType("stockOutReturn");
+        if (!businDataTask.getToSide().equals(MapEnum.oneOut.getValue())) {
+            switch (method) {
+                case "start":
+                    businDataTask.setTaskStarttime(new Date());
+                    businDataTask.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
                     break;
-                case "2":
-                    header.setBusinessType("stockInReturn");
+                case "outbin":
+                    businDataTask.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
                     break;
-                case "3":
-                    header.setBusinessType("transferReturn");
+                case "end":
+                    businDataTask.setTaskStatus(TaskStatusEnum.finished.getValue());
+                    businDataTask.setDestination(slotName);
+                    businDataTask.setTaskEntime(new Date());
+                    break;
+                case "cancel":
+                    businDataTask.setTaskStatus(TaskStatusEnum.clean.getValue());
+                    businDataTask.setDestination(slotName);
                     break;
                 default:
-                    return RcsResponseVo.error("未知任务类型！");
+                    return RcsResponseVo.error("任务状态未知！");
             }
-            uploadWCSTaskStatusDto.setHeader(header);
-            UploadWCSTaskStatusBody body = new UploadWCSTaskStatusBody();
-            List<UploadWCSTaskStatusBody> bodyList = new ArrayList<>();
-            body.setTaskId(businDataTask.getTaskCode());
-            body.setTrayCode(carrierCode);
-            body.setTaskType(taskType);
-            body.setStatus(businDataTask.getTaskStatus());
-//        if (businDataTask.getTaskStatus().equals(TaskStatusEnum.finished.getValue())) {
-            if(slotName.equals("0187000XY0234215")){
-                slotName = "SC-G2-00-00-43022";
+            boolean bool = iBusinDataTaskService.updateById(businDataTask);
+            if (!bool) {
+                log.error("总任务状态更新失败，任务号：{}", robotTaskCode);
+                return RcsResponseVo.error("总任务状态更新失败");
             }
-            body.setDestination(slotName);
-//        }
-            body.setMsgCode("200");
-            bodyList.add(body);
-            uploadWCSTaskStatusDto.setBody(bodyList);
-            log.info("请求zk-wcs参数{}", JSONObject.toJSONString(uploadWCSTaskStatusDto));
-            try {
-                WcsResponseVo vo = wcsUtil.uploadWCSTaskStatus(uploadWCSTaskStatusDto);
-                log.info("WZ-WCS状态上报反馈："+ JSONObject.toJSONString(vo));
-            } catch (TooManyResultsException e) {
-                log.error("WZ-WCS状态上报异常，任务号：{}", robotTaskCode, e);
-                return RcsResponseVo.error("KJ-WCS状态上报异常");
+            log.info("总任务状态更新成功，任务号：{}", robotTaskCode);
+            if(!method.equals("start")){
+                RcsResponseVo rcsResponseVo = wcsFeedbackTask(businDataTask);
+                return rcsResponseVo;
             }
         }
 
@@ -257,6 +248,105 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
         return RcsResponseVo.success(new JSONObject().fluentPut("data", robotTaskCode));
     }
 
+    @Override
+    public RcsResponseVo rcsFeedBackDep(AGVFeedbackBo bo) {
+        try {
+            // 从Redis获取数据并转换
+            List<AGVFeedbackDepBo> agvAreaStatus = getOrInitializeAreaStatus();
+
+            // 记录当前状态
+            logCurrentStatus(agvAreaStatus);
+
+            // 处理本次修改状态
+            processFeedback(bo, agvAreaStatus);
+
+            // 更新Redis数据
+            updateRedisStatus(agvAreaStatus);
+
+            return RcsResponseVo.success();
+        } catch (JsonProcessingException e) {
+            log.error("JSON处理异常", e);
+            return RcsResponseVo.error("数据处理失败");
+        } catch (Exception e) {
+            log.error("处理AGV反馈异常", e);
+            return RcsResponseVo.error("系统异常");
+        }
+    }
+
+    @Override
+    public WcsResponseVo queryAreaStatus(WCSQueryAreaStatusDto dto) throws JsonProcessingException {
+        List<AGVFeedbackDepBo> orInitializeAreaStatus = getOrInitializeAreaStatus();
+        return WcsResponseVo.success(orInitializeAreaStatus);
+    }
+
+    @Override
+    public List<AGVFeedbackDepBo> getOrInitializeAreaStatus() throws JsonProcessingException {
+        Object redisData = redisTemplate.opsForValue().get(RedisConstant.redisAgvAreaStatus);
+
+        if (redisData instanceof String) {
+            // 处理JSON字符串
+            ObjectMapper mapper = new ObjectMapper();
+            return mapper.readValue((String) redisData, new TypeReference<List<AGVFeedbackDepBo>>() {});
+        } else if (redisData instanceof List && !((List<?>) redisData).isEmpty()) {
+            // 处理直接存储List
+            return ((List<?>) redisData).stream()
+                    .filter(AGVFeedbackDepBo.class::isInstance)
+                    .map(AGVFeedbackDepBo.class::cast)
+                    .collect(Collectors.toList());
+        }
+
+        // 初始化默认状态
+        return initializeDefaultAreaStatus();
+    }
+
+
+    private List<AGVFeedbackDepBo> initializeDefaultAreaStatus() {
+        List<AGVFeedbackDepBo> defaultStatus = new ArrayList<>();
+
+        String[] locations = {"SC-A2", "SC-B2", "SC-C2", "SC-D2"};
+        for (String location : locations) {
+            AGVFeedbackDepBo status = new AGVFeedbackDepBo();
+            status.setAreaInLocation(location);
+            status.setStatus(0);
+            defaultStatus.add(status);
+        }
+
+        return defaultStatus;
+    }
+
+
+    private void logCurrentStatus(List<AGVFeedbackDepBo> agvAreaStatus) {
+        if (log.isInfoEnabled()) {
+            log.info("当前AGV入库储存点位状态：{}", agvAreaStatus.stream()
+                    .map(s -> s.getAreaInLocation() + "=" + s.getStatus())
+                    .collect(Collectors.joining(", ")));
+        }
+    }
+
+    private void processFeedback(AGVFeedbackBo bo, List<AGVFeedbackDepBo> agvAreaStatus) {
+        String slotName = bo.getExtra().getValues().getSlotName();
+        String method = bo.getExtra().getValues().getMethod();
+        int status = "inbin".equals(method) ? 1 : 0;
+
+        agvAreaStatus.stream()
+                .filter(s -> s.getAreaInLocation().equals(slotName))
+                .findFirst()
+                .ifPresent(s -> {
+                    s.setStatus(status);
+                    log.info("更新存放点位：{} 状态为：{}", slotName, status);
+                });
+    }
+
+    private void updateRedisStatus(List<AGVFeedbackDepBo> agvAreaStatus) throws JsonProcessingException {
+        ObjectMapper mapper = new ObjectMapper();
+        String json = mapper.writeValueAsString(agvAreaStatus);
+        redisTemplate.opsForValue().set(RedisConstant.redisAgvAreaStatus, json);
+
+        if (log.isInfoEnabled()) {
+            log.info("更新后的点位状态：{}", json);
+        }
+    }
+
     @Override
     public Result rcsTaskIssued(BusinDataTask businDataTask) {
         String toSide = businDataTask.getToSide();
@@ -277,7 +367,7 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                 rcsIdList.setOperation(RCSOperation.OT_COLLECT.getValue());
             } else {
                 rcsIdList.setSeq(1);
-                if(toSide.equals(MapEnum.oneOut.getValue())){
+                if (toSide.equals(MapEnum.oneOut.getValue())) {
                     toSide = MapEnum.twoDownIn.getValue();
                 }
                 rcsIdList.setCode(toSide);
@@ -291,8 +381,10 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
         String substring = toSide.substring(4, 5);
         int number = Integer.parseInt(substring);
         int carrierCode = 0;
-        if(number ==2){
+        if (number == 2) {
             carrierCode = CounterService.incrementAndGet(2);
+        } else if (number == 3) {
+            carrierCode = CounterService.incrementAndGet(3);
         }
 
         carrierInfoList.setCarrierCode(String.valueOf(carrierCode));
@@ -303,7 +395,58 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
         Map<String, Object> extra = new HashMap<>();
         extra.put("carrierInfo", carrierInfoLists);
         rcsCreateTaskDto.setExtra(extra);
-        return  rcsUtil.rcsCreateTask(rcsCreateTaskDto);
+        return rcsUtil.rcsCreateTask(rcsCreateTaskDto);
+    }
+
+    @Override
+    public RcsResponseVo wcsFeedbackTask(BusinDataTask businDataTask) {
+        UploadWCSTaskStatusDto uploadWCSTaskStatusDto = new UploadWCSTaskStatusDto();
+        WcsCreateTaskHeader header = new WcsCreateTaskHeader();
+        String taskType = businDataTask.getTaskType();
+        switch (taskType) {
+            case "1":
+                header.setBusinessType("stockOutReturn");
+                break;
+            case "2":
+                header.setBusinessType("stockInReturn");
+                break;
+            case "3":
+                header.setBusinessType("transferReturn");
+                break;
+            default:
+                return RcsResponseVo.error("未知任务类型！");
+        }
+        uploadWCSTaskStatusDto.setHeader(header);
+        UploadWCSTaskStatusBody body = new UploadWCSTaskStatusBody();
+        List<UploadWCSTaskStatusBody> bodyList = new ArrayList<>();
+        body.setTaskId(businDataTask.getTaskCode());
+        body.setTrayCode(businDataTask.getContainerCode());
+        body.setTaskType(taskType);
+        body.setStatus(businDataTask.getTaskStatus());
+//        if (businDataTask.getTaskStatus().equals(TaskStatusEnum.finished.getValue())) {
+
+        body.setDestination(businDataTask.getDestination());
+//        }
+        body.setMsgCode(String.valueOf(Result.ok().getCode()));
+        bodyList.add(body);
+        uploadWCSTaskStatusDto.setBody(bodyList);
+        log.info("请求zk-wcs参数{}", JSONObject.toJSONString(uploadWCSTaskStatusDto));
+        String message = "";
+        try {
+            WcsResponseVo vo = wcsUtil.uploadWCSTaskStatus(uploadWCSTaskStatusDto);
+            log.info("WZ-WCS状态上报反馈：" + JSONObject.toJSONString(vo));
+            message = vo.getHeader().getMessage();
+            if(!vo.getHeader().getMsgCode().equals(Result.ok().getCode())){
+                businDataTask.setExceptionMsg(WayEnum.wcs_feedback.getValue());
+                iBusinDataTaskService.updateById(businDataTask);
+                return RcsResponseVo.error("KJ-WCS状态上报异常");
+            }
+        } catch (TooManyResultsException e) {
+            businDataTask.setExceptionMsg(WayEnum.wcs_feedback.getValue());
+            iBusinDataTaskService.updateById(businDataTask);
+            return RcsResponseVo.error("KJ-WCS状态上报异常");
+        }
+        return RcsResponseVo.success();
     }
 
 
diff --git a/shkj-wms/src/main/java/com/shkj/wcs/service/impl/BusinTaskServiceImpl.java b/shkj-wms/src/main/java/com/shkj/wcs/service/impl/BusinTaskServiceImpl.java
new file mode 100644
index 0000000..af3c2cb
--- /dev/null
+++ b/shkj-wms/src/main/java/com/shkj/wcs/service/impl/BusinTaskServiceImpl.java
@@ -0,0 +1,117 @@
+package com.shkj.wcs.service.impl;
+
+import cn.hutool.core.bean.BeanUtil;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.toolkit.Wrappers;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.github.pagehelper.Page;
+
+import com.shkj.common.core.domain.Result;
+import com.shkj.common.utils.DateUtils;
+import com.shkj.wcs.domain.BusinDataTask;
+import com.shkj.wcs.domain.BusinTask;
+import com.shkj.wcs.mapper.BusinTaskMapper;
+import com.shkj.wcs.service.IBusinDataTaskService;
+import com.shkj.wcs.service.IBusinTaskService;
+import com.shkj.wcs.third.rcs.vo.RcsResponseVo;
+import com.shkj.wcs.vo.BusinTaskVo;
+import com.shkj.wms.bo.BusinTaskQueryBo;
+import com.shkj.wms.enums.TaskStatusEnum;
+import com.shkj.wms.enums.WayEnum;
+import com.shkj.wms.service.ISysThirdExceptionRequestService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import java.util.Collection;
+import java.util.List;
+import java.util.concurrent.CompletableFuture;
+import java.util.stream.Collectors;
+
+/**
+ * 作业任务Service业务层处理
+ *
+ * @author lch
+ * @date 2023-02-27
+ */
+@Slf4j
+@Service
+public class BusinTaskServiceImpl extends ServiceImpl<BusinTaskMapper, BusinTask> implements IBusinTaskService {
+
+
+    @Autowired
+    private IBusinDataTaskService iBusinDataTaskService;
+
+
+
+    @Override
+    public List<BusinTaskVo> queryList(BusinTaskQueryBo bo) {
+        LambdaQueryWrapper<BusinDataTask> lqw = Wrappers.lambdaQuery();
+        lqw.eq(StrUtil.isNotBlank(bo.getTaskCode()), BusinDataTask::getTaskCode, bo.getTaskCode());
+        lqw.eq(StrUtil.isNotBlank(bo.getTaskStatus()), BusinDataTask::getTaskStatus, bo.getTaskStatus());
+        lqw.eq(StrUtil.isNotBlank(bo.getTaskType()), BusinDataTask::getTaskType, bo.getTaskType());
+        lqw.eq(StrUtil.isNotBlank(bo.getContainerCode()), BusinDataTask::getContainerCode, bo.getContainerCode());
+        lqw.ge(bo.getBeginDate() != null, BusinDataTask::getCreateTime, bo.getBeginDate());
+        lqw.orderByDesc(BusinDataTask::getCreateTime);
+        List<BusinTaskVo> voList = entity2Vo(iBusinDataTaskService.list(lqw));
+        return voList;
+
+    }
+
+
+
+
+    @Override
+    public Result<Boolean> redistribution(String taskCode) {
+
+        LambdaQueryWrapper<BusinDataTask> eq = new LambdaQueryWrapper<BusinDataTask>()
+                .eq(BusinDataTask::getTaskCode, taskCode);
+        BusinDataTask dataTask = iBusinDataTaskService.getOne(eq);
+        if (dataTask == null) {
+            return Result.err().msg("未查询到该任务信息");
+        }
+        if (dataTask.getExceptionMsg().isEmpty() || dataTask.getExceptionMsg().equals("5")) {
+            return Result.err().msg("只有任务异常才能重复推送");
+        }
+        if(dataTask.getExceptionMsg().equals(WayEnum.agv_task_put.getValue())){
+            Result result = iBusinDataTaskService.rcsTaskIssued(dataTask);
+            if (Result.isOk(result)){
+                dataTask.setExceptionMsg(WayEnum.re_push.getValue());
+                iBusinDataTaskService.updateById(dataTask);
+            }
+            return  result;
+        }else if(dataTask.getExceptionMsg().equals(WayEnum.wcs_feedback.getValue())){
+            RcsResponseVo rcsResponseVo = iBusinDataTaskService.wcsFeedbackTask(dataTask);
+            if(rcsResponseVo.getCode().equals("SUCCESS")){
+                dataTask.setExceptionMsg(WayEnum.re_push.getValue());
+                iBusinDataTaskService.updateById(dataTask);
+            }else{
+                 return Result.err().msg(rcsResponseVo.getMessage());
+            }
+        }
+        return Result.ok();
+    }
+
+
+    /**
+     * 实体类转化成视图对象
+     *
+     * @param collection 实体类集合
+     * @return
+     */
+    private List<BusinTaskVo> entity2Vo(Collection<BusinDataTask> collection) {
+        List<BusinTaskVo> voList = collection.stream()
+                .map(any -> BeanUtil.toBean(any, BusinTaskVo.class))
+                .collect(Collectors.toList());
+        if (collection instanceof Page) {
+            Page<BusinDataTask> page = (Page<BusinDataTask>) collection;
+            Page<BusinTaskVo> pageVo = new Page<>();
+            BeanUtil.copyProperties(page, pageVo);
+            pageVo.addAll(voList);
+            voList = pageVo;
+        }
+        return voList;
+    }
+
+}
diff --git a/shkj-wms/src/main/java/com/shkj/wcs/third/workbinWcs/WCSUtil.java b/shkj-wms/src/main/java/com/shkj/wcs/third/workbinWcs/WCSUtil.java
index 0410c94..c086e9f 100644
--- a/shkj-wms/src/main/java/com/shkj/wcs/third/workbinWcs/WCSUtil.java
+++ b/shkj-wms/src/main/java/com/shkj/wcs/third/workbinWcs/WCSUtil.java
@@ -2,36 +2,16 @@ package com.shkj.wcs.third.workbinWcs;
 
 import cn.hutool.http.HttpRequest;
 import com.alibaba.fastjson.JSONObject;
-import com.shkj.common.constant.RedisConstant;
-import com.shkj.common.core.domain.Result;
-
-import com.shkj.system.service.ISysParameterService;
-import com.shkj.wcs.bo.AGVStatesBo;
-import com.shkj.wcs.bo.AGVUploadStatusBo;
-import com.shkj.wcs.domain.WcsPlcConnect;
-import com.shkj.wcs.domain.WcsPlcProperty;
-import com.shkj.wcs.mapper.BusinDataTaskMapper;
-import com.shkj.wcs.plc.PlcInit;
-import com.shkj.wcs.service.IWcsPlcConnectService;
-import com.shkj.wcs.service.IWcsPlcPropertyService;
-import com.shkj.wcs.third.rcs.dto.RcsCancelTaskDto;
-import com.shkj.wcs.third.rcs.dto.RcsCreateTaskDto;
-import com.shkj.wcs.third.rcs.dto.RcsIdList;
-import com.shkj.wcs.third.rcs.dto.RcsThirdResult;
+
 import com.shkj.wcs.third.workbinWcs.dto.*;
 import com.shkj.wcs.vo.WcsResponseVo;
-import com.shkj.wms.bo.AGVMoveBo;
+
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
-import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Component;
 
-import javax.annotation.Resource;
 import java.util.ArrayList;
-import java.util.HashMap;
 import java.util.List;
-import java.util.Map;
 
 /**
  * AGV 接口文档
@@ -129,23 +109,27 @@ public class WCSUtil {
     public WcsResponseVo wcsIncomingTaskRequest(WcsIncomingTaskRequestBody body) {
         JSONObject jsonObject = new JSONObject();
         JSONObject header = new JSONObject();
-        header.put("businessType",body.getBussinessType());
+        String bussinessType = body.getBussinessType();
+        header.put("businessType",bussinessType);
         jsonObject.put("header",header);
         List<WcsIncomingTaskRequestBody> incomingTaskRequestBodies = new ArrayList<>();
         incomingTaskRequestBodies.add(body);
         jsonObject.put("body",incomingTaskRequestBodies);
         String json = JSONObject.toJSONString(jsonObject);
-
-        log.info("KJ向WZ入库申请参数"+json);
+        String type = "入库";
+        if(bussinessType.equals("stockOut")){
+            type= "呼叫空托";
+        }
+        log.info("KJ向WZ{}申请参数{}",type,json);
         try {
             String res = HttpRequest.post(wcsIncomingTaskRequestUrl)
                     .body(json)
                     .execute().body();
-            log.info("KJ向WZ入库申请返回：" + res);
+            log.info("KJ向WZ{}申请返回：{}",type,res);
             return parseThirdRcsResult(res);
         } catch (Exception e) {
             e.printStackTrace();
-            log.error("KJ向WZ入库申请 方法出错了 = {}", e.getMessage());
+            log.error("KJ向WZ{}申请 方法出错了 = {}",type, e.getMessage());
             return WcsResponseVo.error(500,e.getMessage());
         }
     }
diff --git a/shkj-wms/src/main/java/com/shkj/wcs/vo/BusinTaskVo.java b/shkj-wms/src/main/java/com/shkj/wcs/vo/BusinTaskVo.java
new file mode 100644
index 0000000..aef9f34
--- /dev/null
+++ b/shkj-wms/src/main/java/com/shkj/wcs/vo/BusinTaskVo.java
@@ -0,0 +1,18 @@
+package com.shkj.wcs.vo;
+
+import com.shkj.wcs.domain.BusinDataTask;
+import com.shkj.wcs.domain.BusinTask;
+import lombok.Data;
+
+
+/**
+ * 作业任务视图对象
+ *
+ * @author lch
+ * @date 2023-02-27
+ */
+@Data
+public class BusinTaskVo extends BusinDataTask {
+	private static final long serialVersionUID = 1L;
+
+}
diff --git a/shkj-wms/src/main/java/com/shkj/wms/bo/BusinTaskQueryBo.java b/shkj-wms/src/main/java/com/shkj/wms/bo/BusinTaskQueryBo.java
index 8260cc9..3d8302d 100644
--- a/shkj-wms/src/main/java/com/shkj/wms/bo/BusinTaskQueryBo.java
+++ b/shkj-wms/src/main/java/com/shkj/wms/bo/BusinTaskQueryBo.java
@@ -28,12 +28,22 @@ public class BusinTaskQueryBo implements Serializable {
     private String isAsc;
 
 
-    /** 开始时间 */
-    private String  taskSDate;
+    /**
+     * 开始日期 格式 YY-MM-dd
+     */
+    @JsonFormat(pattern = "yyyy-MM-dd")
+    private Date beginDate;
+
     /** 结束时间 */
     private String  taskEDate;
 
     /** 托盘编号*/
     private String containerCode;
 
+    private String taskCode;
+
+    private String taskStatus;
+
+    private String taskType;
+
 }
diff --git a/shkj-wms/src/main/java/com/shkj/wms/enums/TaskStatusEnum.java b/shkj-wms/src/main/java/com/shkj/wms/enums/TaskStatusEnum.java
index fccb19a..8c244a5 100644
--- a/shkj-wms/src/main/java/com/shkj/wms/enums/TaskStatusEnum.java
+++ b/shkj-wms/src/main/java/com/shkj/wms/enums/TaskStatusEnum.java
@@ -24,12 +24,8 @@ public enum TaskStatusEnum {
      * 完成
      */
     finished("3", "完成"),
-    /**
-     * 异常
-     */
-    err("-1", "AGV下发异常"),
 
-    clean("6","已取消"),
+    clean("4","已取消"),
     ;
 
     private String value;
diff --git a/shkj-wms/src/main/java/com/shkj/wms/enums/WayEnum.java b/shkj-wms/src/main/java/com/shkj/wms/enums/WayEnum.java
new file mode 100644
index 0000000..b8ba04a
--- /dev/null
+++ b/shkj-wms/src/main/java/com/shkj/wms/enums/WayEnum.java
@@ -0,0 +1,38 @@
+package com.shkj.wms.enums;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * @author lch
+ */
+@Getter
+@AllArgsConstructor
+public enum WayEnum {
+
+    /**
+     * agv任务未下发
+     */
+    agv_task_put("1", "agv任务下发失败"),
+
+    /**
+     * wcs反馈失败
+     */
+    wcs_feedback("2", "wcs反馈失败"),
+
+    /**
+     * agv任务取消失败
+     */
+    agv_task_cancel("3", "agv任务取消失败"),
+
+    /**
+     * 已重新推送
+     */
+    re_push("5", "已重新推送"),
+
+    ;
+
+    private String value;
+    private String desc;
+
+}