diff --git a/shkj-admin/src/main/java/com/shkj/ShkjApplication.java b/shkj-admin/src/main/java/com/shkj/ShkjApplication.java
index 5ee2cff..9d3085c 100644
--- a/shkj-admin/src/main/java/com/shkj/ShkjApplication.java
+++ b/shkj-admin/src/main/java/com/shkj/ShkjApplication.java
@@ -5,6 +5,7 @@ import org.springframework.boot.autoconfigure.SpringBootApplication;
 import org.springframework.boot.autoconfigure.jdbc.DataSourceAutoConfiguration;
 import org.springframework.boot.autoconfigure.mongo.MongoAutoConfiguration;
 import org.springframework.boot.autoconfigure.security.servlet.SecurityAutoConfiguration;
+import org.springframework.retry.annotation.EnableRetry;
 import org.springframework.scheduling.annotation.EnableAsync;
 
 /**
@@ -15,6 +16,7 @@ import org.springframework.scheduling.annotation.EnableAsync;
 @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
+@EnableRetry
 public class ShkjApplication {
     public static void main(String[] args) {
         // System.setProperty("spring.devtools.restart.enabled", "false");
diff --git a/shkj-admin/src/main/resources/application.yml b/shkj-admin/src/main/resources/application.yml
index d7e7999..4314af8 100644
--- a/shkj-admin/src/main/resources/application.yml
+++ b/shkj-admin/src/main/resources/application.yml
@@ -90,8 +90,7 @@ token:
     # 令牌有效期（默认30分钟）-- 修改为720分钟=12个小时
     expireTime: 720
 
-## MyBatis配置
-#mybatis:
+ #mybatis:
 #    # 搜索指定包别名
 #    typeAliasesPackage: com.shkj.**.domain
 #    # 配置mapper的扫描，找到所有的mapper.xml映射文件
diff --git a/shkj-admin/src/main/resources/logback.xml b/shkj-admin/src/main/resources/logback.xml
index 8137b1a..295172d 100644
--- a/shkj-admin/src/main/resources/logback.xml
+++ b/shkj-admin/src/main/resources/logback.xml
@@ -55,7 +55,7 @@
                 <maxFileSize>1MB</maxFileSize>
             </timeBasedFileNamingAndTriggeringPolicy>
             <!--日志文件保留天数-->
-            <maxHistory>15</maxHistory>
+            <maxHistory>40</maxHistory>
         </rollingPolicy>
         <!-- 此日志文件只记录info级别的 -->
         <filter class="ch.qos.logback.classic.filter.LevelFilter">
diff --git a/shkj-common/src/main/java/com/shkj/common/core/domain/Result.java b/shkj-common/src/main/java/com/shkj/common/core/domain/Result.java
index 330be53..da2af61 100644
--- a/shkj-common/src/main/java/com/shkj/common/core/domain/Result.java
+++ b/shkj-common/src/main/java/com/shkj/common/core/domain/Result.java
@@ -52,6 +52,12 @@ public class Result<T> implements Serializable {
         this.result=result;
     }
 
+    public Result(int code,String msg) {
+        super();
+        this.code = code;
+        this.msg=msg;
+    }
+
     public Result i18n(String key, Object... args) {
         this.msg = MessageUtils.message(key, args);
         return this;
@@ -90,6 +96,10 @@ public class Result<T> implements Serializable {
         return new Result(code,result);
     }
 
+    public static Result err(int code,String msg) {
+        return new Result(code,msg);
+    }
+
     public static Result err() {
         return err(HttpStatus.ERROR.getCode());
     }
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 8f58157..0150e4f 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
@@ -8,6 +8,7 @@ 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.common.utils.StringUtils;
 import com.shkj.plc.sdk.device.PlcOperate;
 import com.shkj.system.service.ISysParameterService;
 import com.shkj.wcs.bo.AGVFeedbackDepBo;
@@ -31,10 +32,7 @@ import com.shkj.wcs.third.workbinWcs.dto.*;
 import com.shkj.wcs.vo.TaskStatusBody;
 import com.shkj.wcs.vo.WcsPlcConnectVo;
 import com.shkj.wcs.vo.WcsResponseVo;
-import com.shkj.wms.enums.BusinTaskTypeEnum;
-import com.shkj.wms.enums.MapEnum;
-import com.shkj.wms.enums.TaskStatusEnum;
-import com.shkj.wms.enums.TaskTypeEnum;
+import com.shkj.wms.enums.*;
 import com.shkj.wms.utils.IntIdUtil;
 import com.shkj.wms.utils.JsonUtil;
 import com.shkj.wms.vo.PlanOrderLocationVo;
@@ -83,7 +81,7 @@ public class PlcEventTask {
     @Autowired
     WCSUtil wcsUtil;
 
-    @Scheduled(fixedDelay = 2000)
+    @Scheduled(fixedDelay = 3000)
     public void init() {
         //查询需要连接的PLC,初始化连接对象
         List<WcsPlcConnectVo> plcList = (List<WcsPlcConnectVo>) redisTemplate.opsForValue().get(RedisConstant.redisPlcListConnect);
@@ -105,7 +103,7 @@ public class PlcEventTask {
 
 
     //输送线心跳
-    @Scheduled(fixedDelay = 2000)
+    @Scheduled(fixedDelay = 3000)
     public void writePlcheartbeatDps() {
         PlcOperate plcOperate = plcInit.getPlcOperate_dps();
         if (plcOperate != null) {
@@ -136,7 +134,7 @@ public class PlcEventTask {
     }
 
     //叠盘机心跳
-    @Scheduled(fixedDelay = 2000)
+    @Scheduled(fixedDelay = 3000)
     public void writePlcheartbeatStk() {
         //根据连接的plcId获取属性
         PlcOperate plcOperate = plcInit.getPlcOperate_dpj();
@@ -303,6 +301,14 @@ public class PlcEventTask {
             String retEy = "";
             String retEyVt = "";
 
+            //二楼去一楼申请
+            String backToOneSeria = "";
+            String backToOneSeriaVt = "";
+
+            //二楼去一楼申请返回
+            String retBackToOneSeria = "";
+            String retBackToOneSeriaVt = "";
+
 
             for (WcsPlcProperty plcProperty : propertyList) {
                 String pointType = plcProperty.getPointType();
@@ -374,8 +380,15 @@ public class PlcEventTask {
                 } else if (pointType.equals("retEy")) {
                     retEy = plcProperty.getAddress();
                     retEyVt = plcProperty.getValueType();
+                } else if (pointType.equals("backToOneSeria")) {
+                    backToOneSeria = plcProperty.getAddress();
+                    backToOneSeriaVt = plcProperty.getValueType();
+                } else if (pointType.equals("retBackToOneSeria")) {
+                    retBackToOneSeria = plcProperty.getAddress();
+                    retBackToOneSeriaVt = plcProperty.getValueType();
                 }
 
+
             }
             //生产区扫码处入库申请
             //&& Boolean.valueOf(pointMap.get(reqInSeria).toString())
@@ -426,26 +439,7 @@ 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);
-                log.info("空托申请wz-wcs参数："+JSONObject.toJSONString(body));
+                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);
@@ -486,7 +480,7 @@ public class PlcEventTask {
                 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));
+                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("上层实盘出口入库请求wz-wcs返回：" + vo.getHeader());
                 Map<String, Object> allMap = new HashMap<>(1);
@@ -535,7 +529,7 @@ public class PlcEventTask {
                 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));
+                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("下层实盘出口入库请求wz-wcs返回：" + vo.getHeader());
                 Map<String, Object> allMap = new HashMap<>(1);
@@ -547,7 +541,17 @@ public class PlcEventTask {
                 if (Result.isOk(vo.getHeader().getMsgCode())) {
                     reqMap.put(retOutVt1, 1);
                 } else {
-                    reqMap.put(retOutVt1, 2);
+                    String message = vo.getHeader().getMessage();
+                    if(message.isEmpty()){
+                        reqMap.put(retOutVt1, 4);
+                    }
+                    if (message.contains(WmsErrorMessage.error1.getDesc())) {
+                        reqMap.put(retOutVt1, 2);
+                    } else if (message.contains(WmsErrorMessage.error2.getDesc())) {
+                        reqMap.put(retOutVt1, 3);
+                    } else {
+                        reqMap.put(retOutVt1, 4);
+                    }
                 }
                 allMap.put(retOut1, reqMap);
                 String allMapJson = JsonUtil.toJSONString(allMap);
@@ -605,55 +609,101 @@ public class PlcEventTask {
                 Map<String, Integer> reqMap = new HashMap<>(1);
 
                 log.info("空托上报完成时，读取的条码内容：" + s);
-                if(!s.isEmpty()){
-                    LambdaQueryWrapper<BusinDataTask> lqw = new LambdaQueryWrapper<BusinDataTask>().eq(BusinDataTask::getContainerCode,s)
-                            .eq(BusinDataTask::getTaskStatus,TaskStatusEnum.wait_callback.getValue());
+                if (!s.isEmpty()) {
+                    LambdaQueryWrapper<BusinDataTask> lqw = new LambdaQueryWrapper<BusinDataTask>().eq(BusinDataTask::getContainerCode, s)
+                            .eq(BusinDataTask::getTaskStatus, TaskStatusEnum.wait_callback.getValue());
                     BusinDataTask businDataTask = iBusinDataTaskService.getOne(lqw);
-                    if(businDataTask != null){
-                        log.info("空托报完成任务号："+ businDataTask.getTaskCode());
+                    if (businDataTask != null) {
+                        log.info("空托报完成任务号：" + businDataTask.getTaskCode());
                         businDataTask.setTaskStatus(TaskStatusEnum.finished.getValue());
                         businDataTask.setDestination(MapEnum.oneOut.getValue());
                         businDataTask.setTaskEntime(new Date());
                         iBusinDataTaskService.updateById(businDataTask);
-                        UploadWCSTaskStatusDto uploadWCSTaskStatusDto = new UploadWCSTaskStatusDto();
-                        WcsCreateTaskHeader header = new WcsCreateTaskHeader();
-                        header.setBusinessType("stockOutReturn");
-
-                        uploadWCSTaskStatusDto.setHeader(header);
-                        UploadWCSTaskStatusBody body = new UploadWCSTaskStatusBody();
-                        List<UploadWCSTaskStatusBody> bodyList = new ArrayList<>();
-                        body.setTaskId(businDataTask.getTaskCode());
-                        body.setTrayCode(businDataTask.getContainerCode());
-                        body.setTaskType(businDataTask.getTaskType());
-                        body.setStatus(businDataTask.getTaskStatus());
-                        body.setDestination(MapEnum.oneOut.getValue());
-                        body.setMsgCode("200");
-                        bodyList.add(body);
-                        uploadWCSTaskStatusDto.setBody(bodyList);
-                        log.info("空托任务状态上报请求zk-wcs参数{}", JSONObject.toJSONString(uploadWCSTaskStatusDto));
-                        WcsResponseVo vo = wcsUtil.uploadWCSTaskStatus(uploadWCSTaskStatusDto);
-                        log.info("空托任务状态上报反馈："+ JSONObject.toJSONString(vo));
+                        WcsResponseVo vo = WcsResponseVo.success();
+                        if(!businDataTask.getFromSide().equals(MapEnum.twoUpIn.getValue())){
+                            UploadWCSTaskStatusDto uploadWCSTaskStatusDto = new UploadWCSTaskStatusDto();
+                            WcsCreateTaskHeader header = new WcsCreateTaskHeader();
+                            header.setBusinessType("stockOutReturn");
+
+                            uploadWCSTaskStatusDto.setHeader(header);
+                            UploadWCSTaskStatusBody body = new UploadWCSTaskStatusBody();
+                            List<UploadWCSTaskStatusBody> bodyList = new ArrayList<>();
+                            body.setTaskId(businDataTask.getTaskCode());
+                            body.setTrayCode(businDataTask.getContainerCode());
+                            body.setTaskType(businDataTask.getTaskType());
+                            body.setStatus(businDataTask.getTaskStatus());
+                            body.setDestination(MapEnum.oneOut.getValue());
+                            body.setMsgCode("200");
+                            bodyList.add(body);
+                            uploadWCSTaskStatusDto.setBody(bodyList);
+                            log.info("空托任务状态上报请求zk-wcs参数{}", JSONObject.toJSONString(uploadWCSTaskStatusDto));
+                            vo = wcsUtil.uploadWCSTaskStatus(uploadWCSTaskStatusDto);
+                            log.info("空托任务状态上报反馈：" + JSONObject.toJSONString(vo));
+                        }
                         if (Result.isOk(vo.getHeader().getMsgCode())) {
                             reqMap.put(retEyVt, 1);
                         } else {
                             reqMap.put(retEyVt, 2);
                         }
-                    }else{
-                        log.info("未查询到条码为："+s+"未完成的任务");
+                    } else {
+                        log.info("未查询到条码为：" + s + "未完成的任务");
                         reqMap.put(retEyVt, 2);
                     }
-                }else{
+                } else {
                     reqMap.put(retEyVt, 2);
                 }
                 seriaMap.put(retEyCfmSeriaVt, outSeria);
                 allMap.put(retEy, reqMap);
-                allMap.put(retEyCfmSeria,seriaMap);
+                allMap.put(retEyCfmSeria, seriaMap);
                 String allMapJson = JsonUtil.toJSONString(allMap);
                 log.info("空托上报完成时，给输送线写命令数据：{}", allMapJson);
                 Boolean rptOutBoolean = plcReadAndWrite.execWrite(plcOperate, allMapJson);
                 log.info("空托上报完成时，写入的命令返回结果：" + rptOutBoolean.toString());
             }
 
+            //二楼去一楼
+            if (pointMap.containsKey(backToOneSeria) && !pointMap.get(backToOneSeria).equals("0")) {
+                //读取托盘条码内容
+                String barcodeValueOne = Objects.toString(pointMap.get(rptOutBarcod1), "");
+                String s = barcodeValueOne.replaceAll("[^A-Za-z0-9]", "");
+
+                log.info("二楼回一楼时，读取的条码内容：" + s);
+                if (StringUtils.isEmpty(s)) {
+                    handleFailure(retBackToOneSeriaVt, retBackToOneSeria, "条码为空", plcReadAndWrite, plcOperate);
+                    return;
+                }
+                BusinDataTask businDataTask = iBusinDataTaskService.getOne(new LambdaQueryWrapper<BusinDataTask>()
+                        .eq(BusinDataTask::getContainerCode, s)
+                        .ne(BusinDataTask::getTaskStatus, TaskStatusEnum.finished.getValue())
+                        .ne(BusinDataTask::getTaskStatus, TaskStatusEnum.clean.getValue()));
+                // 如果托盘存在未完成任务
+                if (businDataTask != null) {
+                    log.info("此托盘存在未完成任务，本次无需再再次下发:{}", s);
+                    handleFailure(retBackToOneSeriaVt, retBackToOneSeria, "二楼回一楼时,托盘存在为完成任务，无需再次下发", plcReadAndWrite, plcOperate);
+                    return;
+                }
+
+                BusinDataTask newTask = createNewTask(MapEnum.twoUpIn.getValue(), MapEnum.twoDownIn.getValue());
+                newTask.setContainerCode(s);
+                boolean saveSuccess = iBusinDataTaskService.save(newTask);
+                if (!saveSuccess) {
+                    log.info("此托盘任务存储失败:{}", s);
+                    handleFailure(retBackToOneSeriaVt, retBackToOneSeria, "二楼回一楼时，任务存储失败！", plcReadAndWrite, plcOperate);
+                    return;
+                }
+
+
+                // 下发任务到RCS
+                Result result = iBusinDataTaskService.rcsTaskIssued(newTask);
+                if (!Result.isOk(result)) {
+                    handleFailure(retBackToOneSeriaVt, retBackToOneSeria, "二楼回一楼时，给rcs下发任务失败！", plcReadAndWrite, plcOperate);
+                    return;
+                }
+
+                // 任务下发成功后的处理
+                handleSuccess(newTask, retBackToOneSeriaVt, retBackToOneSeria, plcReadAndWrite, plcOperate);
+            }
+
         } catch (Exception e) {
             log.error("dpsRealTimeTask:" + e.getMessage());
         }
@@ -730,12 +780,12 @@ public class PlcEventTask {
                 } else if (pointType.equals("retDpjCfmSeria")) {
                     retDpjCfmSeria = plcProperty.getAddress();
                     retDpjCfmSeriaVt = plcProperty.getValueType();
-                }else if (pointType.equals("dpjBarcod")) {
+                } else if (pointType.equals("dpjBarcod")) {
                     dpjBarcod = plcProperty.getAddress();
                 } else if (pointType.equals("retDpj1")) {
                     retDpj1 = plcProperty.getAddress();
                     retDpj1Vt = plcProperty.getValueType();
-                }  else if (pointType.equals("dpjGw1")) {
+                } else if (pointType.equals("dpjGw1")) {
                     dpjGw1 = plcProperty.getAddress();
                 } else if (pointType.equals("retDpjGw1")) {
                     retDpjGw1 = plcProperty.getAddress();
@@ -766,7 +816,7 @@ public class PlcEventTask {
                 //读取托盘条码内容
                 String barcodeValueOne = Objects.toString(pointMap.get(dpjBarcod), "");
                 String s = barcodeValueOne.replaceAll("[^A-Za-z0-9]", "");
-                log.info("叠盘机入库请求读取的条码："+ s);
+                log.info("叠盘机入库请求读取的条码：" + s);
                 WcsIncomingTaskRequestBody body = new WcsIncomingTaskRequestBody();
                 body.setStation(MapEnum.dpj.getValue());
                 body.setTaskType(TaskTypeEnum.In.getValue());
@@ -784,17 +834,17 @@ public class PlcEventTask {
                 Map<String, Integer> reqMap = new HashMap<>(1);
                 Map<String, Integer> req1Map = new HashMap<>(1);
                 Map<String, Integer> seriaMap = new HashMap<>(1);
-                seriaMap.put(retDpjCfmSeriaVt,seria);
+                seriaMap.put(retDpjCfmSeriaVt, seria);
                 if (Result.isOk(vo.getHeader().getMsgCode())) {
                     reqMap.put(retDpjVt, 1);
-                    req1Map.put(retDpj1Vt,1);
+                    req1Map.put(retDpj1Vt, 1);
                 } else {
                     reqMap.put(retDpjVt, 2);
-                    req1Map.put(retDpj1Vt,2);
+                    req1Map.put(retDpj1Vt, 2);
                 }
                 allMap.put(retDpj, reqMap);
                 allMap.put(retDpj1, req1Map);
-                allMap.put(retDpjCfmSeria,seriaMap);
+                allMap.put(retDpjCfmSeria, seriaMap);
                 String allMapJson = JsonUtil.toJSONString(allMap);
                 log.info("叠盘机叠满上报时，给输送线写命令数据：{}", allMapJson);
                 Boolean bCR01Boolean = plcReadAndWrite.execWrite(plcOperate, allMapJson);
@@ -809,29 +859,35 @@ public class PlcEventTask {
                     // 检查是否有未完成的任务
                     BusinDataTask businDataTask = checkExistingTask(MapEnum.dpjGw1.getValue());
 
+                    if (businDataTask != null) {
+
+                        log.info("1号工位已经下发给AGV任务，本次无需再再次下发");
+                        handleFailure(retDpjGw1Vt, retDpjGw1, "1号工位已经下发给AGV任务，本次无需再再次下发", plcReadAndWrite, plcOperate);
+                        return;
+                    }
+
+
                     // 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;
-                        }
+                    BusinDataTask newTask = createNewTask(MapEnum.dpjGw1.getValue(), MapEnum.dpj.getValue());
+                    boolean saveSuccess = iBusinDataTaskService.save(newTask);
+                    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);
+                    Result result = iBusinDataTaskService.rcsTaskIssued(newTask);
                     if (!Result.isOk(result)) {
-                        handleFailure(retDpjGw1Vt, retDpjGw1, "叠盘工位1，给rcs下发任务失败！",plcReadAndWrite, plcOperate);
+                        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);
+                    handleSuccess(newTask, 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);
+                    handleFailure(retDpjGw1Vt, retDpjGw1, "叠盘工位1，处理过程中发生异常！", plcReadAndWrite, plcOperate);
                 }
             }
 
@@ -844,29 +900,36 @@ public class PlcEventTask {
                     // 检查是否有未完成的任务
                     BusinDataTask businDataTask = checkExistingTask(MapEnum.dpjGw2.getValue());
 
+
+                    if (businDataTask != null) {
+
+                        log.info("2号工位已经下发给AGV任务，本次无需再再次下发");
+                        handleFailure(retDpjGw2Vt, retDpjGw2, "2号工位已经下发给AGV任务，本次无需再再次下发", plcReadAndWrite, plcOperate);
+                        return;
+                    }
                     // 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;
-                        }
+
+                    BusinDataTask newTask = createNewTask(MapEnum.dpjGw2.getValue(), MapEnum.dpj.getValue());
+                    boolean saveSuccess = iBusinDataTaskService.save(newTask);
+                    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);
+                    Result result = iBusinDataTaskService.rcsTaskIssued(newTask);
                     if (!Result.isOk(result)) {
-                        handleFailure(retDpjGw2Vt, retDpjGw2, "叠盘工位2，给rcs下发任务失败！",plcReadAndWrite, plcOperate);
+                        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);
+                    handleSuccess(newTask, 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);
+                    handleFailure(retDpjGw2Vt, retDpjGw2, "叠盘工位2，处理过程中发生异常！", plcReadAndWrite, plcOperate);
                 }
             }
 
@@ -877,30 +940,35 @@ public class PlcEventTask {
                 try {
                     // 检查是否有未完成的任务
                     BusinDataTask businDataTask = checkExistingTask(MapEnum.dpjGw3.getValue());
+                    if (businDataTask != null) {
+
+                        log.info("3号工位已经下发给AGV任务，本次无需再再次下发");
+                        handleFailure(retDpjGw3Vt, retDpjGw3, "3号工位已经下发给AGV任务，本次无需再再次下发", plcReadAndWrite, plcOperate);
+
+                        return;
+                    }
 
                     // 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;
-                        }
+                    BusinDataTask newTask = createNewTask(MapEnum.dpjGw3.getValue(), MapEnum.dpj.getValue());
+                    boolean saveSuccess = iBusinDataTaskService.save(newTask);
+                    if (!saveSuccess) {
+                        handleFailure(retDpjGw3Vt, retDpjGw3, "叠盘工位3，任务存储失败！", plcReadAndWrite, plcOperate);
+                        return;
                     }
 
                     // 下发任务到RCS
-                    Result result = iBusinDataTaskService.rcsTaskIssued(businDataTask);
+                    Result result = iBusinDataTaskService.rcsTaskIssued(newTask);
                     if (!Result.isOk(result)) {
-                        handleFailure(retDpjGw3Vt, retDpjGw3, "叠盘工位3，给rcs下发任务失败！",plcReadAndWrite, plcOperate);
+                        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);
+                    handleSuccess(newTask, 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);
+                    handleFailure(retDpjGw3Vt, retDpjGw3, "叠盘工位3，处理过程中发生异常！", plcReadAndWrite, plcOperate);
                 }
             }
 
@@ -915,7 +983,7 @@ 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());
+                .in(BusinDataTask::getTaskStatus, TaskStatusEnum.wait_put.getValue(), TaskStatusEnum.wait_callback.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());
@@ -923,7 +991,7 @@ public class PlcEventTask {
         return task;
     }
 
-    private void handleSuccess(BusinDataTask task, String retVt, String ret,PLCReadAndWrite plcReadAndWrite, PlcOperate plcOperate) {
+    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());
@@ -936,34 +1004,38 @@ public class PlcEventTask {
         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);
+        sendToPLC(allMap, "给rcs下发任务成功！", plcReadAndWrite, plcOperate);
     }
 
-    private void sendToPLC(Map<String, Object> allMap, String logMsg,PLCReadAndWrite plcReadAndWrite, PlcOperate 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) {
+    private BusinDataTask createNewTask(String fromSide, String toSide) {
         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.setTaskPath(toSide);
         task.setPriority("1");
         task.setFromSide(fromSide);
-        task.setToSide(MapEnum.dpj.getValue());
+        task.setToSide(toSide);
         task.setCreateTime(DateUtils.getNowDate());
-        task.setAgvType("B113");
+        String agvType = "B113";
+        if (fromSide.equals(MapEnum.twoUpIn.getValue())) {
+            agvType = "B111";
+        }
+        task.setAgvType(agvType);
         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) {
+    private void handleFailure(String retVt, String ret, String errorMsg, PLCReadAndWrite plcReadAndWrite, PlcOperate plcOperate) {
         log.warn(errorMsg);
 
         Map<String, Object> allMap = new HashMap<>();
@@ -971,11 +1043,10 @@ public class PlcEventTask {
         reqMap.put(retVt, 2);
         allMap.put(ret, reqMap);
 
-        sendToPLC(allMap, errorMsg,plcReadAndWrite,plcOperate);
+        sendToPLC(allMap, errorMsg, plcReadAndWrite, plcOperate);
     }
 
 
-
     public static String getNowDate() {
         DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss.SSS");
         return LocalDateTime.now().format(formatter);
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 3b243a5..3d7392b 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
@@ -123,9 +123,11 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                             log.info("任务储存成功！");
                             Result result = rcsTaskIssued(businDataTask);
                             if (!Result.isOk(result)) {
+                                String msg = result.getMsg();
                                 businDataTask.setExceptionMsg(WayEnum.agv_task_put.getValue());
+                                businDataTask.setTaskStatus(TaskStatusEnum.clean.getValue());
                                 iBusinDataTaskService.updateById(businDataTask);
-                                return WcsResponseVo.error(200, "接受成功但给rcs下发任务失败");
+                                return WcsResponseVo.error(500, "KJ-WCS接受成功,AGV："+msg);
                             }
                             businDataTask.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
                             businDataTask.setTaskStarttime(DateUtils.getNowDate());
@@ -146,15 +148,18 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                         }
 
                         //推送给下游
-                        if(one.getTaskStatus().equals(TaskStatusEnum.wait_callback.getValue())){
-                            RcsCancelTaskDto rcsCancelTaskDto = new RcsCancelTaskDto();
-                            rcsCancelTaskDto.setRobotTaskCode(taskId);
-                            rcsCancelTaskDto.setCancelType("cancel");
-                            rcsCancelTaskDto.setReason("上游取消");
-                            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");
+                        if(!one.getAgvTaskStatus().equals("end")){
+                            if(one.getTaskStatus().equals(TaskStatusEnum.wait_callback.getValue())){
+                                RcsCancelTaskDto rcsCancelTaskDto = new RcsCancelTaskDto();
+                                rcsCancelTaskDto.setRobotTaskCode(taskId);
+                                rcsCancelTaskDto.setCancelType("cancel");
+                                rcsCancelTaskDto.setReason("上游取消");
+                                Result result = rcsUtil.rcsTaskCancel(rcsCancelTaskDto);
+                                if (!Result.isOk(result)) {
+                                    String msg = result.getMsg();
+                                    one.setExceptionMsg(WayEnum.agv_task_cancel.getValue());
+                                    return WcsResponseVo.error(500, "KJ-WCS取消任务成功,AGV："+msg);
+                                }
                             }
                         }
                         one.setTaskStatus(TaskStatusEnum.clean.getValue());
@@ -176,13 +181,16 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
         ExtraData.Values values = bo.getExtra().getValues();
         String carrierCode = values.getCarrierCode();
         String method = values.getMethod();
-        String slotName = values.getSlotName();
-        if (slotName.equals("0187000XY0234215")) {
-            slotName = "SC-G2-00-00-43022";
+        String slotName =null;
+        if(!method.equals("cancel")){
+            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::getTaskStatus, TaskStatusEnum.wait_callback.getValue());
+                .in(BusinDataTask::getTaskStatus, TaskStatusEnum.wait_callback.getValue(),TaskStatusEnum.wait_put.getValue());
         BusinDataTask businDataTask;
         try {
             businDataTask = iBusinDataTaskService.getOne(queryWrapper, true);
@@ -220,7 +228,7 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                     break;
                 case "cancel":
                     businDataTask.setTaskStatus(TaskStatusEnum.clean.getValue());
-                    businDataTask.setDestination(slotName);
+                    businDataTask.setDestination(businDataTask.getFromSide());
                     break;
                 default:
                     return RcsResponseVo.error("任务状态未知！");
@@ -231,8 +239,12 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                 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);
-            if(!method.equals("start")){
+            if(!method.equals("start")  && !businDataTask.getToSide().equals(MapEnum.dpj.getValue())){
                 RcsResponseVo rcsResponseVo = wcsFeedbackTask(businDataTask);
+                if(rcsResponseVo.getCode().equals("ERROR")){
+                    businDataTask.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
+                    iBusinDataTaskService.updateById(businDataTask);
+                }
                 return rcsResponseVo;
             }
         }
diff --git a/shkj-wms/src/main/java/com/shkj/wcs/third/RetryConfig.java b/shkj-wms/src/main/java/com/shkj/wcs/third/RetryConfig.java
new file mode 100644
index 0000000..e13420f
--- /dev/null
+++ b/shkj-wms/src/main/java/com/shkj/wcs/third/RetryConfig.java
@@ -0,0 +1,49 @@
+package com.shkj.wcs.third;
+
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.http.client.SimpleClientHttpRequestFactory;
+import org.springframework.retry.support.RetryTemplate;
+import org.springframework.http.client.ClientHttpRequestInterceptor;
+import org.springframework.web.client.HttpServerErrorException;
+import org.springframework.web.client.ResourceAccessException;
+import org.springframework.web.client.RestTemplate;
+
+import java.io.IOException;
+import java.net.ConnectException;
+import java.net.SocketTimeoutException;
+import java.util.Collections;
+import java.util.concurrent.TimeoutException;
+
+@Configuration
+public class RetryConfig {
+
+    @Bean
+    public RestTemplate restTemplate() {
+        SimpleClientHttpRequestFactory factory = new SimpleClientHttpRequestFactory();
+        factory.setConnectTimeout(5000);  // 连接超时5秒
+        factory.setReadTimeout(10000);    // 读取超时10秒
+
+        RestTemplate restTemplate = new RestTemplate(factory);
+        restTemplate.setInterceptors(Collections.singletonList(retryInterceptor()));
+        return restTemplate;
+    }
+
+    @Bean
+    public ClientHttpRequestInterceptor retryInterceptor() {
+        return (request, body, execution) -> {
+            RetryTemplate retryTemplate = RetryTemplate.builder()
+                    .maxAttempts(3)
+                    .fixedBackoff(10000)
+                    // 覆盖所有可能的网络异常
+                    .retryOn(ConnectException.class)
+                    .retryOn(HttpServerErrorException.class) // 5xx错误
+                    .retryOn(SocketTimeoutException.class)   // 读写超时
+                    .retryOn(ResourceAccessException.class)  // RestTemplate包装的通用网络异常
+                    .retryOn(IOException.class)              // 底层IO异常
+                    .build();
+
+            return retryTemplate.execute(context -> execution.execute(request, body));
+        };
+    }
+}
diff --git a/shkj-wms/src/main/java/com/shkj/wcs/third/RetryableHttpUtil.java b/shkj-wms/src/main/java/com/shkj/wcs/third/RetryableHttpUtil.java
new file mode 100644
index 0000000..137d67d
--- /dev/null
+++ b/shkj-wms/src/main/java/com/shkj/wcs/third/RetryableHttpUtil.java
@@ -0,0 +1,87 @@
+package com.shkj.wcs.third;
+
+import cn.hutool.http.HttpRequest;
+import cn.hutool.http.HttpResponse;
+import lombok.extern.slf4j.Slf4j;
+import java.net.SocketTimeoutException;
+import java.net.ConnectException;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.TimeoutException;
+import java.util.Map;
+
+@Slf4j
+public class RetryableHttpUtil {
+
+    /**
+     * 仅在超时时重试的POST请求（带请求头）
+     * @param url     请求地址
+     * @param json    请求体JSON
+     * @param headers 请求头Map
+     * @param maxRetries 最大重试次数（仅针对超时）
+            * @param retryIntervalMs 重试间隔(毫秒)
+     */
+    public static String postWithTimeoutRetry(String url, String json, Map<String, String> headers,
+                                              int maxRetries, long retryIntervalMs) throws Exception {
+        Exception lastException = null;
+
+        for (int i = 0; i < maxRetries; i++) {
+            try {
+                HttpRequest request = HttpRequest.post(url)
+                        .body(json)
+                        .timeout(10000); // 设置超时时间（单位毫秒）
+
+                // 添加请求头
+                if (headers != null && !headers.isEmpty()) {
+                    for (Map.Entry<String, String> entry : headers.entrySet()) {
+                        request.header(entry.getKey(), entry.getValue());
+                    }
+                }
+
+                HttpResponse response = request.execute();
+
+                // 非2xx状态码直接抛出（如HTTP 4xx/5xx）
+                if (!response.isOk()) {
+                    throw new RuntimeException("HTTP " + response.getStatus() + ": " + response.body());
+                }
+                return response.body();
+
+            } catch (Exception e) {
+                lastException = e;
+
+                // 仅对以下超时相关异常重试
+                boolean isTimeoutError = isTimeoutException(e);
+
+                // 如果不是超时异常，或已达到最大重试次数，则抛出异常
+                if (!isTimeoutError || i == maxRetries - 1) {
+                    throw e;
+                }
+
+                log.warn("超时异常 (尝试 {}/{}), {} 秒后重试. 错误: {}",
+                        i + 1, maxRetries, retryIntervalMs / 1000, e.getMessage());
+
+                TimeUnit.MILLISECONDS.sleep(retryIntervalMs);
+            }
+        }
+        throw lastException != null ? lastException : new RuntimeException("未知错误");
+    }
+
+    /**
+     * 重载方法：不需要请求头的版本
+     */
+    public static String postWithTimeoutRetry(String url, String json,
+                                              int maxRetries, long retryIntervalMs) throws Exception {
+        return postWithTimeoutRetry(url, json, null, maxRetries, retryIntervalMs);
+    }
+
+    /**
+     * 判断是否为超时异常
+     */
+    private static boolean isTimeoutException(Exception e) {
+        return e instanceof SocketTimeoutException  // 读写超时
+                || e instanceof ConnectException        // 连接超时
+                || e instanceof TimeoutException       // 通用超时
+                || (e.getMessage() != null &&
+                (e.getMessage().contains("timeout") ||
+                        e.getMessage().contains("timed out")));
+    }
+}
diff --git a/shkj-wms/src/main/java/com/shkj/wcs/third/rcs/RCSUtil.java b/shkj-wms/src/main/java/com/shkj/wcs/third/rcs/RCSUtil.java
index 03b57fc..b275a15 100644
--- a/shkj-wms/src/main/java/com/shkj/wcs/third/rcs/RCSUtil.java
+++ b/shkj-wms/src/main/java/com/shkj/wcs/third/rcs/RCSUtil.java
@@ -14,10 +14,12 @@ import com.shkj.wcs.domain.WcsPlcProperty;
 import com.shkj.wcs.plc.PlcInit;
 import com.shkj.wcs.service.IWcsPlcConnectService;
 import com.shkj.wcs.service.IWcsPlcPropertyService;
+import com.shkj.wcs.third.RetryableHttpUtil;
 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.vo.WcsResponseVo;
 import com.shkj.wms.bo.AGVMoveBo;
 import com.shkj.wcs.mapper.BusinDataTaskMapper;
 import lombok.extern.slf4j.Slf4j;
@@ -95,19 +97,21 @@ public class RCSUtil {
          */
     public Result rcsCreateTask(RcsCreateTaskDto dto) {
         String json = JSONObject.toJSONString(dto);
-        log.info("向rcs创建任务参数"+json);
+        log.info("向rcs创建任务参数{}",json);
         try {
             Map<String, String> headerMap = getHeaderMap();
-            String res = HttpRequest.post(agvCreateTaskUrl)
-                    .addHeaders(headerMap)
-                    .body(json)
-                    .execute().body();
-            log.info("向rcs创建任务返回：" + res);
+            String res = RetryableHttpUtil.postWithTimeoutRetry(
+                    agvCreateTaskUrl,
+                    json,
+                    headerMap,
+                    3,  // 最大重试次数
+                    10000   // 重试间隔10s
+            );
+            log.info("向rcs创建任务返回：{}",res);
             return parseThirdRcsResult(res);
         } catch (Exception e) {
-            e.printStackTrace();
-            log.error("createTask 方法出错了 = {}", e.getMessage());
-            return Result.err().msg(e.getMessage());
+            log.error("请求最终失败", e);
+            return Result.err(500, "请求失败: " + e.getMessage());
         }
     }
 
@@ -163,18 +167,20 @@ public class RCSUtil {
     public Result rcsTaskCancel(RcsCancelTaskDto dto) {
         String json = JSONObject.toJSONString(dto);
         log.info("向rcs任务取消参数：" + json);
+        Map<String, String> headerMap = getHeaderMap();
         try {
-            Map<String, String> headerMap = getHeaderMap();
-            String res = HttpRequest.post(agvCancelTaskUrl)
-                    .addHeaders(headerMap)
-                    .body(json)
-                    .execute().body();
-            log.info("向rcs任务取消返回：" + res);
+            String res = RetryableHttpUtil.postWithTimeoutRetry(
+                    agvCancelTaskUrl,
+                    json,
+                    headerMap,
+                    3,  // 最大重试次数
+                    10000   // 重试间隔10s
+            );
+            log.info("向rcs任务取消返回：{}",res);
             return parseThirdRcsResult(res);
         } catch (Exception e) {
-            e.printStackTrace();
-            log.error("rcs taskCancel 方法出错了 = {}", e.getMessage());
-            return Result.err().msg(e.getMessage());
+            log.error("请求最终失败", e);
+            return Result.err(500, "请求失败: " + e.getMessage());
         }
     }
 
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 c086e9f..91ca56c 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
@@ -3,6 +3,7 @@ package com.shkj.wcs.third.workbinWcs;
 import cn.hutool.http.HttpRequest;
 import com.alibaba.fastjson.JSONObject;
 
+import com.shkj.wcs.third.RetryableHttpUtil;
 import com.shkj.wcs.third.workbinWcs.dto.*;
 import com.shkj.wcs.vo.WcsResponseVo;
 
@@ -53,17 +54,19 @@ public class WCSUtil {
         jsonObject.put("body",queryTaskStatusBodyList);
         String json = JSONObject.toJSONString(jsonObject);
 
-        log.info("KJ向WZ请求是否存在生产区空托出库任务参数"+json);
+        log.info("KJ向WZ请求是否存在生产区空托出库任务参数{}",json);
         try {
-            String res = HttpRequest.post(queryTaskStatusUrl)
-                    .body(json)
-                    .execute().body();
-            log.info("KJ向WZ请求是否存在生产区空托出库任务返回：" + res);
+            String res = RetryableHttpUtil.postWithTimeoutRetry(
+                    queryTaskStatusUrl,
+                    json,
+                    3,  // 最大重试次数
+                    10000   // 重试间隔10s
+            );
+            log.info("KJ向WZ请求是否存在生产区空托出库任务返回：{}",res);
             return parseThirdRcsResult(res);
         } catch (Exception e) {
-            e.printStackTrace();
-            log.error("KJ向WZ请求是否存在生产区空托出库任务 方法出错了 = {}", e.getMessage());
-            return WcsResponseVo.error(500,e.getMessage());
+            log.error("请求最终失败", e);
+            return WcsResponseVo.error(500, "请求失败: " + e.getMessage());
         }
     }
 
@@ -86,15 +89,17 @@ public class WCSUtil {
 
         log.info("KJ向WZ请求生产区入库托盘码校验参数"+json);
         try {
-            String res = HttpRequest.post(wcsIncomingTrayCheckUrl)
-                    .body(json)
-                    .execute().body();
-            log.info("KJ向WZ请求生产区入库托盘码校验返回：" + res);
+            String res = RetryableHttpUtil.postWithTimeoutRetry(
+                    wcsIncomingTrayCheckUrl,
+                    json,
+                    3,      // 最大重试次数
+                    10000   // 重试间隔10秒
+            );
+            log.info("KJ向WZ请求生产区入库托盘码校验参数返回{}",res);
             return parseThirdRcsResult(res);
         } catch (Exception e) {
-            e.printStackTrace();
-            log.error("KJ向WZ请求生产区入库托盘码校验 方法出错了 = {}", e.getMessage());
-            return WcsResponseVo.error(500,e.getMessage());
+            log.error("请求最终失败", e);
+            return WcsResponseVo.error(500, "请求失败: " + e.getMessage());
         }
     }
 
@@ -122,15 +127,17 @@ public class WCSUtil {
         }
         log.info("KJ向WZ{}申请参数{}",type,json);
         try {
-            String res = HttpRequest.post(wcsIncomingTaskRequestUrl)
-                    .body(json)
-                    .execute().body();
+            String res = RetryableHttpUtil.postWithTimeoutRetry(
+                    wcsIncomingTaskRequestUrl,
+                    json,
+                    3,  // 最大重试次数
+                    10000   // 重试间隔10s
+            );
             log.info("KJ向WZ{}申请返回：{}",type,res);
             return parseThirdRcsResult(res);
         } catch (Exception e) {
-            e.printStackTrace();
-            log.error("KJ向WZ{}申请 方法出错了 = {}",type, e.getMessage());
-            return WcsResponseVo.error(500,e.getMessage());
+            log.error("请求最终失败", e);
+            return WcsResponseVo.error(500, "请求失败: " + e.getMessage());
         }
     }
 
@@ -147,17 +154,19 @@ public class WCSUtil {
         jsonObject.put("header",dto.getHeader());
         jsonObject.put("body",dto.getBody());
         String json = JSONObject.toJSONString(jsonObject);
-        log.info("KJ向WZ任务上报参数"+json);
+        log.info("KJ向WZ任务上报参数:{}",json);
         try {
-            String res = HttpRequest.post(uploadWCSTaskStatusUrl)
-                    .body(json)
-                    .execute().body();
-            log.info("KJ向WZ任务上报返回：" + res);
+            String res = RetryableHttpUtil.postWithTimeoutRetry(
+                    uploadWCSTaskStatusUrl,
+                    json,
+                    3,  // 最大重试次数
+                    10000   // 重试间隔10s
+            );
+            log.info("KJ向WZ任务上报返回：{}",res);
             return parseThirdRcsResult(res);
         } catch (Exception e) {
-            e.printStackTrace();
-            log.error("KJ向WZ任务上报 方法出错了 = {}", e.getMessage());
-            return WcsResponseVo.error(500,e.getMessage());
+            log.error("请求最终失败", e);
+            return WcsResponseVo.error(500, "请求失败: " + e.getMessage());
         }
     }
 
diff --git a/shkj-wms/src/main/java/com/shkj/wms/enums/MapEnum.java b/shkj-wms/src/main/java/com/shkj/wms/enums/MapEnum.java
index efa6d97..db27bdc 100644
--- a/shkj-wms/src/main/java/com/shkj/wms/enums/MapEnum.java
+++ b/shkj-wms/src/main/java/com/shkj/wms/enums/MapEnum.java
@@ -17,13 +17,13 @@ public enum MapEnum {
      */
     oneOut("SC-G1-00-00-1002", "一楼生产车间出库工作站"),
     /**
-     * 二楼连廊入库扫码工作站（上面）
+     * 二楼连廊入库扫码工作站（下面）
      */
-    twoUpIn("SC-G2-00-00-2001", "二楼连廊入库扫码工作站（上面）"),
+    twoUpIn("SC-G2-00-00-2001", "二楼连廊入库扫码工作站（下面）"),
     /**
-     * 二楼连廊入库扫码工作站（下面）
+     * 二楼连廊入库扫码工作站（上面）
      */
-    twoDownIn("SC-G2-00-00-2002", "二楼连廊入库扫码工作站（下面）"),
+    twoDownIn("SC-G2-00-00-2002", "二楼连廊入库扫码工作站（上面）"),
     /**
      * 叠盘机工作站
      */
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 8c244a5..1dbe704 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
@@ -25,7 +25,7 @@ public enum TaskStatusEnum {
      */
     finished("3", "完成"),
 
-    clean("4","已取消"),
+    clean("6","已取消"),
     ;
 
     private String value;
diff --git a/shkj-wms/src/main/java/com/shkj/wms/enums/WmsErrorMessage.java b/shkj-wms/src/main/java/com/shkj/wms/enums/WmsErrorMessage.java
new file mode 100644
index 0000000..44a7bc3
--- /dev/null
+++ b/shkj-wms/src/main/java/com/shkj/wms/enums/WmsErrorMessage.java
@@ -0,0 +1,25 @@
+package com.shkj.wms.enums;
+
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum WmsErrorMessage {
+
+
+    /**
+     * agv任务未下发
+     */
+    error1("1", "找不到设备任务"),
+
+    /**
+     * wcs反馈失败
+     */
+    error2("2", "容器在库或者存在未完成的设备任务")
+    ;
+
+    private String value;
+    private String desc;
+}