diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PositionMapLineDTO.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PositionMapLineDTO.java
index 43da8b1a3..847596955 100644
--- a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PositionMapLineDTO.java
+++ b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PositionMapLineDTO.java
@@ -6,8 +6,6 @@ import lombok.Builder;
 import lombok.Data;
 import lombok.NoArgsConstructor;
 
-import java.math.BigDecimal;
-
 @Data
 @Builder
 @NoArgsConstructor
@@ -104,20 +102,27 @@ public class PositionMapLineDTO {
     @Schema(description = "终点高")
     private Double endHigh;
 
-    @Schema(description = "车头朝向( 0:正正 1:正反 2:反正 3:反反)", example = "15890")
+    @Schema(description = "车头朝向(0:正正 1:正反 2:反正 3:反反)", example = "15890")
     private Integer toward;
 
+    @Schema(description = "发送给路径规划 车头朝向(0正 1反)", example = "15890")
+    private Integer ppToward;
+
+
     /**
      * 双向车道 反向行走变更车头朝向
+     *
      * @param toward
      * @return
      */
     public Integer changeToward(Integer toward) {
         if (toward == 0) {
-            return 3;
+            return 0;
         } else if (toward == 1) {
-            return 2;
+            return 1;
         } else if (toward == 2) {
+            return 0;
+        } else if (toward == 3) {
             return 1;
         } else {
             return 0;
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapController.java
index 6da04d7e5..f44854c3d 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapController.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapController.java
@@ -17,6 +17,7 @@ import javax.annotation.Resource;
 import javax.annotation.security.PermitAll;
 import javax.servlet.http.HttpServletResponse;
 import java.io.IOException;
+import java.util.Comparator;
 import java.util.List;
 import java.util.Map;
 import java.util.stream.Collectors;
@@ -50,6 +51,16 @@ public class PositionMapController {
         return success(BeanUtils.toBean(positionMap, PositionMapRespVO.class));
     }
 
+
+    @GetMapping("/emergencyStopOrRecovery")
+    @Operation(summary = "一键急停or一键恢复地图上所有AGV")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('system:position-map:emergencyStopOrRecovery')")
+    public CommonResult<Boolean> emergencyStopOrRecovery(@RequestParam("id") Long id) {
+        positionMapService.emergencyStopOrRecovery(id);
+        return success(true);
+    }
+
     @GetMapping("/getMap")
     @Operation(summary = "获得仓库点位地图Map")
     @PreAuthorize("@ss.hasPermission('system:position-map:query')")
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
index 88abea16f..df6df7a5c 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
@@ -11,7 +11,6 @@ import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMa
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapLineMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
@@ -26,8 +25,6 @@ import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
 import java.util.Map;
-import java.util.concurrent.ExecutorService;
-import java.util.concurrent.Executors;
 import java.util.stream.Collectors;
 
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
@@ -88,7 +85,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
             relatedPathNode.setFloor(positionMapDO.getFloor());
             relatedPathNode.setArea(positionMapDO.getArea());
             relatedPathNode.setType(PathTypeEnum.INIT.getType());
-            List<PositionMapLineDTO> positionMapLineDOS = positionMapLineMap.get(positionMapDO.getId()+"");
+            List<PositionMapLineDTO> positionMapLineDOS = positionMapLineMap.get(positionMapDO.getId() + "");
             if (ObjectUtil.isEmpty(positionMapLineDOS)) {
                 continue;
             }
@@ -163,10 +160,10 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         for (PositionMapLineDTO positionMapLineDO : positionMapLineDOS) {
             list.add(positionMapLineDO);
             if (DirectionEnum.ONE_WAY.getType().equals(positionMapLineDO.getDirection())) {
-                continue;
+                positionMapLineDO.setPpToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()));
+            } else {
+                list.add(setPositionMapLineDTOData(positionMapLineDO));
             }
-
-            list.add(setPositionMapLineDTOData(positionMapLineDO));
         }
 
         PositionMapLinePathDTO relatedPathNode = new PositionMapLinePathDTO();
@@ -238,10 +235,10 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         for (PositionMapLineDTO positionMapLineDO : positionMapLineDOS) {
             list.add(positionMapLineDO);
             if (DirectionEnum.ONE_WAY.getType().equals(positionMapLineDO.getDirection())) {
-                continue;
+                positionMapLineDO.setPpToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()));
+            } else {
+                list.add(setPositionMapLineDTOData(positionMapLineDO));
             }
-
-            list.add(setPositionMapLineDTOData(positionMapLineDO));
         }
 
         PositionMapLinePathDTO relatedPathNode = new PositionMapLinePathDTO();
@@ -406,10 +403,10 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         for (PositionMapLineDTO positionMapLineDO : positionMapLineDOS) {
             list.add(positionMapLineDO);
             if (DirectionEnum.ONE_WAY.getType().equals(positionMapLineDO.getDirection())) {
-                continue;
+                positionMapLineDO.setPpToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()));
+            } else {
+                list.add(setPositionMapLineDTOData(positionMapLineDO));
             }
-
-            list.add(setPositionMapLineDTOData(positionMapLineDO));
         }
 
         relatedPathNode.setControl_nodes(list);
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapService.java
index 074da0b51..a6a39c1e3 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapService.java
@@ -92,7 +92,15 @@ public interface PositionMapService extends IService<PositionMapDO> {
 
     /**
      * 获得所有仓库点位地图Map
+     *
      * @return
      */
     Map<Integer, List<PositionMapDO>> getAllMap();
+
+    /**
+     * 一键急停or一键恢复
+     *
+     * @param id
+     */
+    void emergencyStopOrRecovery(Long id);
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
index 3b192ff4f..5b64a1fa8 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
@@ -319,4 +319,10 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
         return collect;
     }
 
+    @Override
+    public void emergencyStopOrRecovery(Long id) {
+        // 先获取当前地图上的所有AGV信息
+
+    }
+
 }