JC34WCS.git - Gitblit

			@@ -1,8 +1,11 @@
			using Admin.NET.Core.Service;
			using AngleSharp.Io;
			using COSXML.Network;
			using DocumentFormat.OpenXml.Bibliography;
			using DocumentFormat.OpenXml.Drawing;
			using DocumentFormat.OpenXml.Spreadsheet;
			using DocumentFormat.OpenXml.Wordprocessing;
			using Elastic.Clients.Elasticsearch.Snapshot;
			using Furion.Logging;
			using IoTClient;
			using NewLife.Reflection;
			@@ -25,6 +28,7 @@
			try
			{
			var mod = sender as WcsDeviceDto;

			//Console.WriteLine($"{mod.Text}值为" + mod.Value);
			switch (mod.Type)
			{
			@@ -35,6 +39,10 @@
			AGV(mod); // AGV调度
			break;
			case PLCTypeEnum.ShuttleCar: //穿梭车
			//if (mod.PlcIdIP == "10.26.254.28")
			//{
			// break;
			//}
			ShuttleCar(mod);
			break;
			case PLCTypeEnum.RobotPalletizer:
			@@ -70,7 +78,7 @@
			TaskNo = _taskService.GetTaskCode(),
			TaskType = TaskTypeEnum.Move,
			Type = PLCTypeEnum.AGV,
			StartLocate = AGVStorageUtil.GetPalletOutStorage(),
			StartLocate = "",
			EndLocate = AGVStaionEnum.D1.ToString(),
			PalletNo = "",
			Status = TaskStatusEnum.Wait,
			@@ -170,68 +178,187 @@
			int valueTaskStr = Convert.ToInt32(valueTask);
			//获取任务信息根据任务号、小车编号
			var carTask = _db.Queryable<WcsCarTasks>().First(m=>m.IsDelete == false && m.Status == TaskStatusEnum.Doing && m.CarTaskNo == valueTaskStr && m.CarNo == modDevice.PlcIdIP);
			if (carTask == null)
			if (carTask != null)
			{
			//var modRests = modDevice.listStation.FirstOrDefault(s => s.Text == "复位");
			//plcConn.SetDBValue(modRests.PosType, modRests.PlcPos, "1");//没有找到任务复位
			return;
			}

			var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.TaskNo == carTask.TaskNo);
			if (modFinshTask == null)
			{
			break;//没有查询到总任务
			}
			if (carTask != null && carTask.Status != TaskStatusEnum.Complete)
			{
			carTask.Status = TaskStatusEnum.Complete;
			carTask.UpdateTime = DateTime.Now;
			_db.Updateable(carTask).ExecuteCommand();
			//添加任务明细
			var taskMonitor = new WcsTaskMonitor()
			{
			TaskNo = carTask.TaskNo,
			PlcName = modDevice.Text,
			InteractiveMsg = $"穿梭车反馈任务完成"
			};
			_db.Insertable(taskMonitor).ExecuteCommand();
			//下发任务日志

			HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			//获取路径2的任务下发
			carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == carTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status <= TaskStatusEnum.Doing).OrderBy(m => m.CreateTime).First();
			//总任务下没有其他未执行小车的任务变更总任务信息
			if (carTaskNext == null && modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
			{
			modFinshTask.Status = TaskStatusEnum.Complete;
			modFinshTask.FinishDate = DateTime.Now;
			_db.Updateable(modFinshTask).ExecuteCommand();

			//判断任务是否充电任务,下发开始充电命令
			if (modFinshTask.Levels == 888)
			var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.TaskNo == carTask.TaskNo);
			if (modFinshTask == null)
			{
			//写入开始充电
			var modCd = modDevice.listStation.FirstOrDefault(s => s.Text == "充电命令");
			plcConn.SetDBValue(modCd.PosType, modCd.PlcPos.ToString(), "2");
			break;//没有查询到总任务
			}
			if (carTask != null && carTask.Status != TaskStatusEnum.Complete)
			{
			carTask.Status = TaskStatusEnum.Complete;
			carTask.UpdateTime = DateTime.Now;
			_db.Updateable(carTask).ExecuteCommand();
			//添加任务明细
			var taskMonitor = new WcsTaskMonitor()
			{
			TaskNo = carTask.TaskNo,
			PlcName = modDevice.Text,
			Status = TaskStatusEnum.Complete,
			InteractiveMsg = $"穿梭车反馈任务完成"
			};
			_db.Insertable(taskMonitor).ExecuteCommand();
			//下发任务日志

			HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			//获取路径2的任务下发
			carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == carTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status <= TaskStatusEnum.Doing).OrderBy(m => m.CreateTime).First();
			//总任务下没有其他未执行小车的任务变更总任务信息
			if (carTaskNext == null && modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
			{
			if (modFinshTask.TaskType == TaskTypeEnum.Out)
			{
			//#region 任务变更成输送线任务
			//modFinshTask.Status = TaskStatusEnum.Wait;
			//modFinshTask.Type = PLCTypeEnum.ConveyorLine;
			//_db.Updateable(modFinshTask).ExecuteCommand();

			//反馈WMS系统任务完成
			//HttpService httpService = new HttpService();
			//var requestMode = new TaskRequestWMS()
			//{
			// TaskNo = modFinshTask.TaskNo,
			// PalletNo = modFinshTask.PalletNo,
			// TaskType = ((int)modFinshTask.TaskType).ToString(),
			// TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
			//};
			//var modResponseTask = httpService.RequestTask(requestMode).Result;
			//modFinshTask.IsSuccess = TaskSuccessEnum.Success;
			//_db.Updateable(modFinshTask).ExecuteCommand();
			HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());

			//#endregion

			#region 输送线写入PLC 740

			var text = "";
			var devStation = ""; //工位
			var endLocate = modFinshTask.EndRoadway;
			var carcon = new carConverModel();
			var ip = "";
			if ( carcon.conveyorBei.Keys.Contains(endLocate))
			{
			text = "输送线北";
			ip = "10.26.254.10";
			devStation = carcon.conveyorBei[endLocate];
			}
			else if (carcon.conveyorNan.Keys.Contains(endLocate))
			{
			text = "输送线南";
			ip = "10.26.254.11";
			devStation = carcon.conveyorNan[endLocate];
			}
			if (text != "")
			{

			var modConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == ip);
			//PLCTaskAction.plcs.FirstOrDefault(s => s.Text == text);
			//var modConn = new PLCUtil(modPlc);

			var modDeviceConver = PLCTaskAction.plcDevices.First(s => s.StationNum == devStation);
			var (plcResult, palletVal) = modConn.GetPlcDBValue(modDeviceConver.PosType, modDeviceConver.DbNumber, modDeviceConver.PlcPos);
			if (!plcResult.IsSucceed \|\| Convert.ToInt32(palletVal) != 730)
			{
			//modConn.Close();
			return;//放货工位没有读取成功或不是空闲
			}

			var plcResult2 = modConn.SetPlcDBValue(modDeviceConver.PosType, modDeviceConver.DbNumber, modDeviceConver.WcsPos, "740");
			if (!plcResult.IsSucceed)
			{
			//modConn.Close();
			return;
			}
			//添加任务明细
			var taskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modFinshTask.TaskNo,
			PlcName = modDevice.Text,
			Status = TaskStatusEnum.Complete,
			InteractiveMsg = $"写入指令740：托盘到达{modFinshTask.EndRoadway}"
			};
			_db.Insertable(taskMonitor).ExecuteCommand();

			//改变任务状态
			modFinshTask.Status = TaskStatusEnum.Complete;
			modFinshTask.FinishDate = DateTime.Now;
			_db.Updateable(modFinshTask).ExecuteCommand();

			var locateOut = _db.Queryable<WcsStorageLocat>().First(m => m.IsDelete == false && m.WareHouseNo == "W01" && m.LocatNo == modFinshTask.StartLocate);
			if (locateOut != null && locateOut.Make == "1")
			{
			locateOut.PalletNo = "";
			_db.Updateable(locateOut).ExecuteCommand();
			}

			//反馈WMS系统任务完成
			if (modFinshTask.Origin == "WMS")
			{
			HttpService httpService = new HttpService();
			var requestMode = new TaskRequestWMS()
			{
			TaskNo = modFinshTask.TaskNo,
			PalletNo = modFinshTask.PalletNo,
			TaskType = ((int)modFinshTask.TaskType).ToString(),
			TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
			};
			var modResponseTask = httpService.RequestTask(requestMode).Result;
			modFinshTask.IsSuccess = TaskSuccessEnum.Success;
			_db.Updateable(modFinshTask).ExecuteCommand();
			HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
			}

			}


			#endregion
			}
			else
			{
			modFinshTask.Status = TaskStatusEnum.Complete;
			modFinshTask.FinishDate = DateTime.Now;
			_db.Updateable(modFinshTask).ExecuteCommand();

			if (modFinshTask.TaskType == TaskTypeEnum.Move)
			{
			var locatemove = _db.Queryable<WcsStorageLocat>().First(m => m.IsDelete == false && m.WareHouseNo == "W01" && m.LocatNo == modFinshTask.StartLocate);
			if (locatemove != null && locatemove.Make == "1")
			{
			locatemove.PalletNo = "";
			_db.Updateable(locatemove).ExecuteCommand();
			}
			}

			var locateIn = _db.Queryable<WcsStorageLocat>().First(m => m.IsDelete == false && m.WareHouseNo == "W01" && m.LocatNo == modFinshTask.EndLocate);
			if (locateIn != null && locateIn.Make == "1")
			{
			locateIn.PalletNo = string.IsNullOrWhiteSpace(modFinshTask.PalletNo) ? "pall" : modFinshTask.PalletNo;
			_db.Updateable(locateIn).ExecuteCommand();
			}

			//反馈WMS系统任务完成
			if (modFinshTask.Origin == "WMS")
			{
			HttpService httpService = new HttpService();
			var requestMode = new TaskRequestWMS()
			{
			TaskNo = modFinshTask.TaskNo,
			PalletNo = modFinshTask.PalletNo,
			TaskType = ((int)modFinshTask.TaskType).ToString(),
			TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
			};
			var modResponseTask = httpService.RequestTask(requestMode).Result;
			modFinshTask.IsSuccess = TaskSuccessEnum.Success;
			_db.Updateable(modFinshTask).ExecuteCommand();
			HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
			}



			}

			//判断任务是否充电任务,下发开始充电命令
			if (modFinshTask.Levels == 888)
			{
			//写入开始充电
			var modCd = modDevice.listStation.FirstOrDefault(s => s.Text == "充电命令");
			plcConn.SetDBValue(modCd.PosType, modCd.PlcPos.ToString(), "2");
			}


			}
			}

			}

			WcsTask modTask;
			@@ -260,44 +387,53 @@
			var modStationZ = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(Z)");
			var (resultz, valuez) = plcConn.GetDBValue(modStationZ.PosType, modStationZ.PlcPos);
			var carXYZ = valuex.ToString().PadLeft(2, '0') + valuey.ToString().PadLeft(2, '0') + valuez.ToString().PadLeft(2, '0');
			if (modTask == null \|\| carTaskNext == null)
			if (modTask == null)
			{
			//读取小车电量
			var modPosCarDl = modDevice.listStation.FirstOrDefault(s => s.Text == "电池电量");
			var (resultDl, valueDl) = plcConn.GetDBValue(modPosCarDl.PosType, modPosCarDl.PlcPos);
			if (resultDl.IsSucceed && valueDl < FourWayCarDLEnum.Dl)
			if (resultDl.IsSucceed && valueDl < (int)FourWayCarDLEnum.Dl)
			{
			var endLocateCar = "";
			if (valuez == 1)
			{
			endLocateCar = "210401";
			endLocateCar = "011201";
			}
			else if (valuez == 2)
			{
			endLocateCar = "210402"; //011202
			endLocateCar = "011202"; //
			}
			else
			{
			return; // 层数错误
			}
			//添加小车充电位置
			WcsTask modCarTask = new WcsTask()
			var getCdTask = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.Levels == 888 && m.EndLocate == endLocateCar && m.Type == PLCTypeEnum.ShuttleCar && m.Status <= TaskStatusEnum.Doing);
			if (getCdTask == null)
			{
			TaskNo = _taskService.GetTaskCode(),
			TaskType = TaskTypeEnum.Move,
			Type = PLCTypeEnum.ShuttleCar,
			StartLocate = carXYZ,
			EndLocate = endLocateCar,
			PalletNo = "",
			Status = TaskStatusEnum.Wait,
			Levels = 888, //充电等级优先任务等级
			Origin = "WCS",
			CarIp = modDevice.PlcIdIP
			};
			_db.Insertable(modCarTask).ExecuteCommand();
			HubUtil.PublicTask(modCarTask.Adapt<WcsTaskOutput>());
			var (resultDlLock, valueDlLock) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);
			if (resultDlLock.IsSucceed && valueDlLock!=3 && carXYZ != endLocateCar)
			{
			//添加小车充电位置
			WcsTask modCarTask = new WcsTask()
			{
			TaskNo = _taskService.GetTaskCode(),
			TaskType = TaskTypeEnum.Move,
			Type = PLCTypeEnum.ShuttleCar,
			StartLocate = carXYZ,
			EndLocate = endLocateCar,
			PalletNo = "",
			Status = TaskStatusEnum.Wait,
			Levels = 888, //充电等级优先任务等级
			Origin = "WCS",
			CarIp = modDevice.PlcIdIP
			};
			_db.Insertable(modCarTask).ExecuteCommand();
			HubUtil.PublicTask(modCarTask.Adapt<WcsTaskOutput>());
			}
			}

			}
			else if(resultDl.IsSucceed && valueDl < FourWayCarDLEnum.Dl2)
			else if(resultDl.IsSucceed && valueDl < (int)FourWayCarDLEnum.Dl2)
			{
			//判断小车是否有空闲时间记录没有：添加有：判断当前时间与记录时间是否满足5分钟满足：添加让小车去充电任务
			var carTime = _db.Queryable<WcsCarTime>().First(m => m.IsDelete == false && m.CarIp == modDevice.PlcIdIP);
			@@ -338,22 +474,32 @@
			{
			return; // 层数错误
			}
			//添加小车充电位置
			WcsTask modCarTask = new WcsTask()
			var getCdTask = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.Levels == 888 && m.EndLocate == endLocateCar && m.Type == PLCTypeEnum.ShuttleCar && m.Status <= TaskStatusEnum.Doing);
			if (getCdTask == null)
			{
			TaskNo = _taskService.GetTaskCode(),
			TaskType = TaskTypeEnum.Move,
			Type = PLCTypeEnum.ShuttleCar,
			StartLocate = carXYZ,
			EndLocate = endLocateCar,
			PalletNo = "",
			Status = TaskStatusEnum.Wait,
			Levels = 888, //充电等级优先任务等级
			Origin = "WCS",
			CarIp = modDevice.PlcIdIP
			};
			_db.Insertable(modCarTask).ExecuteCommand();
			HubUtil.PublicTask(modCarTask.Adapt<WcsTaskOutput>());
			var (resultDlLock, valueDlLock) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);
			if (resultDlLock.IsSucceed && valueDlLock != 3 && carXYZ != endLocateCar)
			{
			//添加小车充电位置
			WcsTask modCarTask = new WcsTask()
			{
			TaskNo = _taskService.GetTaskCode(),
			TaskType = TaskTypeEnum.Move,
			Type = PLCTypeEnum.ShuttleCar,
			StartLocate = carXYZ,
			EndLocate = endLocateCar,
			PalletNo = "",
			Status = TaskStatusEnum.Wait,
			Levels = 888, //充电等级优先任务等级
			Origin = "WCS",
			CarIp = modDevice.PlcIdIP
			};
			_db.Insertable(modCarTask).ExecuteCommand();
			HubUtil.PublicTask(modCarTask.Adapt<WcsTaskOutput>());
			}

			}

			}
			}

			@@ -364,7 +510,10 @@

			return;
			}

			if (carTaskNext == null)
			{
			return;
			}
			if (carTaskNext.Status == TaskStatusEnum.Doing)
			{
			Thread.Sleep(3000);
			@@ -386,12 +535,24 @@
			return;//前置任务未完成
			}
			}

			//小车状态
			var (resultCar, valueCar) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);

			//先复位
			var modRest = modDevice.listStation.FirstOrDefault(s => s.Text == "复位");
			plcConn.SetDBValue(modRest.PosType, modRest.PlcPos, "1");
			var modPosTaskStatus2 = modDevice.listStation.FirstOrDefault(s => s.Text == "任务状态");
			var (resultTaskStatus2, valueTaskStatus2) = plcConn.GetDBValue(modPosTaskStatus.PosType, modPosTaskStatus.PlcPos);
			if (resultCar.IsSucceed && valueCar == 1 && resultTaskStatus2.IsSucceed && (valueTaskStatus2 == 0 \|\| valueTaskStatus2 == 1))
			{
			//先复位
			var modRest = modDevice.listStation.FirstOrDefault(s => s.Text == "复位");
			plcConn.SetDBValue(modRest.PosType, modRest.PlcPos, "1");
			}
			else
			{
			return;
			}

			List<Result> listResult = new List<Result>();
			List<Result> listResult = new List<Result>();
			//获取小车任务号
			var carTaskNo = FourWayCarUtil.GetTaskNo();

			@@ -404,7 +565,7 @@
			}

			var modWriteTask = modDevice.listStation.FirstOrDefault(s => s.Text == "写入任务号");
			listResult.Add(plcConn.SetDBValue(modWriteTask.PosType, modWriteTask.PlcPos, carTaskNo.ToString()));
			listResult.Add(plcConn.SetDBValueRepeat(modWriteTask.PosType, modWriteTask.PlcPos, carTaskNo.ToString()));

			var modNodeX = modDevice.listStation.FirstOrDefault(s => s.Text == "节点坐标X");
			var modNodeY = modDevice.listStation.FirstOrDefault(s => s.Text == "节点坐标Y");
			@@ -438,22 +599,97 @@
			var epathz = ePath.Substring(4, 2);
			var epathn = ePath.Substring(6, 1);
			//写入交互位置
			listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), epathx));
			listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), epathy));
			listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), epathz));
			listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), epathn));
			listResult.Add(plcConn.SetDBValueRepeat(modNodeX.PosType, posX++.ToString(), epathx));
			listResult.Add(plcConn.SetDBValueRepeat(modNodeY.PosType, posY++.ToString(), epathy));
			listResult.Add(plcConn.SetDBValueRepeat(modNodeZ.PosType, posZ++.ToString(), epathz));
			listResult.Add(plcConn.SetDBValueRepeat(modNodeStatus.PosType, posStatus++.ToString(), epathn));
			}

			//这里是把后面的坐标全写0（为了防止上次任务坐标没被覆盖）
			while (posX <= 43097)
			{
			listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), "0"));
			listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), "0"));
			listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), "0"));
			listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "0"));
			listResult.Add(plcConn.SetDBValueRepeat(modNodeX.PosType, posX++.ToString(), "0"));
			listResult.Add(plcConn.SetDBValueRepeat(modNodeY.PosType, posY++.ToString(), "0"));
			listResult.Add(plcConn.SetDBValueRepeat(modNodeZ.PosType, posZ++.ToString(), "0"));
			listResult.Add(plcConn.SetDBValueRepeat(modNodeStatus.PosType, posStatus++.ToString(), "0"));
			}
			if (listResult.All(s => s.IsSucceed))
			{
			if (modTask.TaskType == TaskTypeEnum.Out)
			{
			#region 输送线写入PLC 730

			var text = "";
			var devStation = "";
			var endLocate = modTask.EndRoadway;
			var carcon = new carConverModel();
			var ip = "";
			if (carcon.conveyorBei.Keys.Contains(endLocate))
			{
			text = "输送线北";
			ip = "10.26.254.10";
			devStation = carcon.conveyorBei[endLocate];
			}
			else if (carcon.conveyorNan.Keys.Contains(endLocate))
			{
			text = "输送线南";
			ip = "10.26.254.11";
			devStation = carcon.conveyorNan[endLocate];
			}
			if (text != "")
			{
			var modConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == ip);
			//var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Text == text);
			//var modConn = new PLCUtil(modPlc);

			var modDeviceConver = PLCTaskAction.plcDevices.First(s => s.StationNum == devStation);
			var (plcResult, palletVal) = modConn.GetPlcDBValue(modDeviceConver.PosType, modDeviceConver.DbNumber, modDeviceConver.PlcPos);
			if (!plcResult.IsSucceed \|\| Convert.ToInt32(palletVal) == 720)
			{
			var listResultcon = new List<Result>();

			//任务号与托盘条码
			var modPosConverTask = PLCTaskAction.plcPositions.First(s => s.DeviceId == modDeviceConver.Id && s.Text == "任务号");
			listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverTask.PosType, modDeviceConver.DbNumber, modPosConverTask.PlcPos, modTask.TaskId.ToString()));
			var modPosConverPallet = PLCTaskAction.plcPositions.First(s => s.DeviceId == modDeviceConver.Id && s.Text == "托盘条码");
			listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverPallet.PosType, modDeviceConver.DbNumber, modPosConverPallet.PlcPos, modTask.PalletNo.ToString()));

			// 起始工位、目的工位
			var modPosConverStrLocat = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDeviceConver.Id && s.Text == "起始工位");
			listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverStrLocat.PosType, modDeviceConver.DbNumber, modPosConverStrLocat.PlcPos, modDeviceConver.StationNum));
			var modPosConverEndLocat = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDeviceConver.Id && s.Text == "目的工位");
			listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverEndLocat.PosType, modDeviceConver.DbNumber, modPosConverEndLocat.PlcPos, modTask.EndLocate));

			if (listResultcon.All(s => s.IsSucceed))
			{
			var plcResult2 = modConn.SetPlcDBValue(modDeviceConver.PosType, modDeviceConver.DbNumber, modDeviceConver.WcsPos, "730");
			if (!plcResult.IsSucceed)
			{
			//modConn.Close();
			return;
			}
			//添加任务明细
			var taskMonitor2 = new WcsTaskMonitor()
			{
			TaskNo = carTaskNext.TaskNo,
			PlcName = modDevice.Text,
			Status = TaskStatusEnum.Complete,
			InteractiveMsg = $"写入指令730：工位是{modDeviceConver.StationNum}"
			};
			_db.Insertable(taskMonitor2).ExecuteCommand();
			}
			}
			else if (!plcResult.IsSucceed \|\| Convert.ToInt32(palletVal) != 730)
			{
			return;
			}

			}


			#endregion
			}

			var modStart = modDevice.listStation.FirstOrDefault(s => s.Text == "启动命令");
			var result = plcConn.SetDBValue(modStart.PosType, modStart.PlcPos, "1");
			if (result.IsSucceed)
			@@ -461,11 +697,22 @@
			carTaskNext.Status = TaskStatusEnum.Doing;
			carTaskNext.CarTaskNo = carTaskNo;
			_db.Updateable(carTaskNext).ExecuteCommand();



			//清除小车空闲时间
			var carTimeClear = _db.Queryable<WcsCarTime>().First(m=>m.IsDelete == false && m.CarIp == modDevice.PlcIdIP);
			if (carTimeClear!= null)
			{
			carTimeClear.CarTime = null;
			carTimeClear.UpdateTime = DateTime.Now;
			_db.Updateable(carTimeClear).ExecuteCommand();
			}
			var taskMonitor = new WcsTaskMonitor()
			{
			TaskNo = carTaskNext.TaskNo,
			PlcName = modDevice.Text,
			Status = TaskStatusEnum.Complete,
			InteractiveMsg = $"向穿梭车下发任务{carTaskNext.TaskNo}"
			};
			_db.Insertable(taskMonitor).ExecuteCommand();
			@@ -540,14 +787,38 @@
			var ledText = "";
			switch (modDevice.Value.ToString())
			{
			case "120": //空闲，AGV可放货
			{
			var task = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.Status == TaskStatusEnum.Doing && m.IsComple == "1");
			if (task != null)
			{
			//没有出库业务
			var res = new HttpService().GenAgvContinueTask(task.TaskNo).Result;
			if (res.code == "0")
			{
			var modTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = task.TaskNo,
			PlcId = modDevice.modPlc.Id,
			PlcName = modDevice.modPlc.IP,
			InteractiveMsg = "向AGV小车下发继续执行任务"
			};
			_db.Insertable(modTaskMonitor).ExecuteCommand();

			//下发任务日志
			HubUtil.PublicTask(task.Adapt<WcsTaskOutput>());
			HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			}
			}
			break;
			case "320":
			{
			// 申请密集库组
			string strMsg = "";
			string taskModel = "";

			// 获取工位托盘码信息
			var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
			var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘条码");
			var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
			if (!res.IsSucceed)
			{
			@@ -568,7 +839,7 @@
			}

			// 写入输送线退回指令
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
			var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
			if (ret.IsSucceed)
			{
			plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
			@@ -589,7 +860,7 @@
			}

			// 写入输送线退回指令
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
			var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
			if (ret.IsSucceed)
			{
			plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
			@@ -600,7 +871,7 @@

			var http = new HttpService();
			string TaskNo = "", EndLocate = "";
			strMsg = http.RequestRoadWay(palletVal, modDevice.StationNum, taskModel, "1", ref EndLocate, ref TaskNo);
			strMsg = http.RequestRoadWay(palletVal, modDevice.StationNum, ref EndLocate, ref TaskNo);
			if (!strMsg.Contains("-1"))
			{
			// 根据任务号获取起始工位地址，根据起始工位地址获取LEDIP 推送到LED屏幕。
			@@ -664,7 +935,7 @@
			}

			// 写入输送线退回指令
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
			var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
			if (ret.IsSucceed)
			{
			plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
			@@ -675,7 +946,7 @@
			case "330":
			{
			// 获取工位托盘码信息
			var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
			var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘条码");
			var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
			if (!res.IsSucceed)
			{
			@@ -701,7 +972,7 @@
			}

			// 获取四项车取货工位
			string endLocatVlue = PLCCommon.RoadwayToStationNum(modTask.EndRoadway, modDevice.StationNum);
			string endLocatVlue = PLCCommon.RoadwayToStationNum(modTask.EndRoadway, modDevice.StationNum.PadLeft(3,'0'));



			@@ -709,17 +980,17 @@
			var listResult = new List<Result>();
			// 任务号、任务类型、托盘号
			var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
			listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskId.ToString()));
			listResult.Add(plcConn.SetPlcDBValueRepeat(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskId.ToString()));
			var modPosTaskType = modDevice.listStation.FirstOrDefault(s => s.Text == "任务类型");
			var taskTypeStr = (int)modTask.TaskType;
			listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
			var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
			listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
			listResult.Add(plcConn.SetPlcDBValueRepeat(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
			var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘条码");
			listResult.Add(plcConn.SetPlcDBValueRepeat(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
			// 起始工位、目的工位
			var modPosStrLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "起始工位");
			listResult.Add(plcConn.SetPlcDBValue(modPosStrLocat.PosType, modDevice.DbNumber, modPosStrLocat.PlcPos, modDevice.StationNum));
			listResult.Add(plcConn.SetPlcDBValueRepeat(modPosStrLocat.PosType, modDevice.DbNumber, modPosStrLocat.PlcPos, modDevice.StationNum));
			var modPosEndLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "目的工位");
			listResult.Add(plcConn.SetPlcDBValue(modPosEndLocat.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, endLocatVlue));
			listResult.Add(plcConn.SetPlcDBValueRepeat(modPosEndLocat.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, endLocatVlue));


			if (listResult.All(s => s.IsSucceed))
			@@ -764,25 +1035,25 @@
			{
			// 申请储位更新入库任务(储位地址) 630
			var strMsg = "";
			var taskModel = "";

			//// 根据工位号获取巷道号
			//var roadway = PLCCommon.GetRoadwayByStation(modDevice.StationNum);
			//if (roadway == "")
			//{
			// break;
			//}
			// 获取工位任务号信息
			var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
			var (resTask, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
			if (!resTask.IsSucceed)
			{
			break;
			}
			// 获取工位托盘码信息
			var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
			var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘条码");
			var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
			if (!res.IsSucceed)
			{
			break;
			}
			var http = new HttpService();

			string TaskNo = "";
			// 向WMS申请储位信息
			strMsg = http.RequestLocate(palletVal, modDevice.StationNum, taskModel, "roadway", ref TaskNo);
			strMsg = new HttpService().RequestLocate(palletVal, taskVal,ref TaskNo);

			if (!strMsg.Contains("-1"))
			{
			@@ -989,22 +1260,57 @@
			{
			var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
			var (res, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
			var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
			var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘条码");
			var (res2, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
			var modPosStarStationNum = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工位");
			var (res3, starVal) = plcConn.GetPlcDBValue(modPosStarStationNum.PosType, modDevice.DbNumber, modPosStarStationNum.PlcPos);

			int taskNoVal = Convert.ToInt32(taskVal);
			var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskId == taskNoVal && w.TaskType == TaskTypeEnum.Out);
			if (taskInfo == null)
			{
			Log.Error(string.Format("输送线430:未找到对应的任务。"));
			break;
			}
			//// 改变任务状态
			//taskInfo.Status = TaskStatusEnum.Complete;
			//taskInfo.FinishDate = DateTime.Now;
			////modTask.Levels = 999;
			//_db.Updateable(taskInfo).ExecuteCommand();
			//HubUtil.PublicTask(taskInfo.Adapt<WcsTaskOutput>());
			// 插入任务明细
			var modInsertTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = taskVal,
			TaskNo = taskInfo.TaskNo,
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令430：托盘到达{modDevice.StationNum}工位",
			PalletNo = palletVal,
			Status = TaskStatusEnum.Complete,
			StartLocat = starVal,
			StartLocat = Convert.ToString(starVal),
			EndLocat = modDevice.StationNum,
			};
			//if (taskInfo.Origin == "WMS")
			//{
			// // 反馈WMS
			// var requestMode = new TaskRequestWMS()
			// {
			// TaskNo = taskInfo.TaskNo,
			// PalletNo = taskInfo.PalletNo,
			// TaskType = ((int)taskInfo.TaskType).ToString(),
			// TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
			// };
			// HttpService httpService = new HttpService();
			// var modResponseTask = httpService.RequestTask(requestMode).Result;
			// if (modResponseTask.StatusCode == 0)
			// {
			// modInsertTaskMonitor.InteractiveMsg += "，返回给WMS任务完成";
			// }
			// else
			// {
			// Log.Error(string.Format("任务反馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
			// }
			//}

			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			@@ -1012,8 +1318,6 @@
			// 通知任务界面任务已存在更新请更新界面
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());

			// 根据任务号获取起始工位地址，根据起始工位地址获取LEDIP 推送到LED屏幕。
			var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskNo == modInsertTaskMonitor.TaskNo);
			modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskInfo.EndLocate).Select(s => s.LedIP).First();

			// led显示内容
			@@ -1039,78 +1343,45 @@
			case "440":
			{
			#region 拣选完成,托盘离开工位

			var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
			var (res, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
			var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘条码");
			var (res2, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
			var modPosStarStationNum = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工位");
			var (res3, starVal) = plcConn.GetPlcDBValue(modPosStarStationNum.PosType, modDevice.DbNumber, modPosStarStationNum.PlcPos);

			// 写入450
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "450");
			if (ret.IsSucceed)
			{
			var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
			var (res, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
			var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
			var (res2, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
			var modPosStarStationNum = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工位");
			var (res3, starVal) = plcConn.GetPlcDBValue(modPosStarStationNum.PosType, modDevice.DbNumber, modPosStarStationNum.PlcPos);


			string tasknoVal = taskVal.ToString();
			var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
			int tasknoVal = Convert.ToInt32(taskVal);
			var modTask = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.TaskId == tasknoVal);
			if (modTask == null)
			{
			Log.Error(string.Format("输送线440:未找到对应的任务。"));
			break;
			}
			// 改变任务状态
			modTask.Status = TaskStatusEnum.Complete;
			modTask.FinishDate = DateTime.Now;
			modTask.Levels = 999;
			_db.Updateable(modTask).ExecuteCommand();
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());

			// 插入任务明细
			var modInsertTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令450：{modDevice.StationNum}出库完成",
			InteractiveMsg = $"写入指令450：{modDevice.StationNum}托盘离开工位",
			PalletNo = palletVal,
			Status = TaskStatusEnum.Complete,
			StartLocat = starVal.ToString(),
			EndLocat = modDevice.StationNum,
			};
			if (modTask.Origin == "WMS")
			{
			// 反馈WMS
			var requestMode = new TaskRequestWMS()
			{
			TaskNo = modTask.TaskNo + modTask.EndLocate,
			PalletNo = modTask.PalletNo,
			TaskType = ((int)TaskTypeEnum.Out).ToString(),
			TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
			};
			HttpService httpService = new HttpService();
			var modResponseTask = httpService.RequestTask(requestMode).Result;
			if (modResponseTask.StatusCode == 0)
			{
			modInsertTaskMonitor.InteractiveMsg += "，返回给WMS任务完成";
			}
			else
			{
			Log.Error(string.Format("任务反馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
			}
			}

			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();

			// 通知任务界面任务已存在更新请更新界面
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			// led显示内容
			var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business && m.PlcId == modDevice.PlcId);

			ledText += $"出库完成\n\n";
			ledText += $"任务号:{modTask.TaskNo}\n";
			ledText += $"托盘号:{modTask.PalletNo}\n\n";
			ledText += $"起始位:{modTask.StartRoadway + " " + modTask.StartLocate}\n";
			ledText += $"目标位:{modTask.EndRoadway + " " + modTask.EndLocate}";
			LedDisplay(ledDevice.LedIP, ledText);
			}
			#endregion
			}
			@@ -1128,56 +1399,76 @@
			private static void AGV(WcsDeviceDto modDevice)
			{

			//这里找出来AGV待执行的任务、按照优先级下发一个任务给AGV
			var listTask = _db.Queryable<WcsTask>().Where(s => (s.Status == TaskStatusEnum.Wait \|\| s.Status == TaskStatusEnum.Doing) && s.Type == PLCTypeEnum.AGV).OrderBy(s => s.Levels).ToList();
			if (listTask.Count == 0)
			//这里找出来AGV待执行的任务、按照优先级、创建时间下发一个任务给AGV
			var modTask = _db.Queryable<WcsTask>().Where(s => s.Status == TaskStatusEnum.Wait && s.Type == PLCTypeEnum.AGV).OrderBy(s => new { s.Levels ,s.CreateTime}).First();
			if (modTask == null)
			{
			return;
			}

			foreach (var modTask in listTask)

			if (_db.Queryable<WcsTask>().Any(s => s.EndLocate == modTask.EndLocate && s.IsDelete == false && s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.AGV ))
			{
			if (_db.Queryable<WcsTask>().Any(s => s.EndLocate == modTask.EndLocate && s.IsDelete == false && s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.AGV ))
			{
			continue; // 有目的位置一致且正在执行的任务
			}

			//下发AGV任务
			AgvTaskInput input = new AgvTaskInput()
			{
			ReqCode = modTask.Id.ToString(),
			TaskCode = modTask.TaskNo,
			CtnrCode = modTask.PalletNo,
			PositionCodePath = new List<PositionCodePathItem>()
			{
			new PositionCodePathItem(){ PositionCode = modTask.StartLocate },
			new PositionCodePathItem(){ PositionCode = modTask.EndLocate }
			}
			};
			input.TaskTyp = "1" + modTask.StartLocate.Substring(0, 1) + modTask.EndLocate.Substring(0, 1);
			var response = new HttpService().GenAgvSchedulingTask(input).Result;
			if (response.code == "0")
			{
			AGVStatus = true;
			modTask.Status = TaskStatusEnum.Doing;
			_db.Updateable(modTask).ExecuteCommand();
			var modTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.modPlc.Id,
			PlcName = modDevice.modPlc.IP,
			InteractiveMsg = "向AGV小车下发任务"
			};
			_db.Insertable(modTaskMonitor).ExecuteCommand();
			return; // 有目的位置一致且正在执行的任务
			}

			//下发任务日志
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			Console.WriteLine(response.ToJson());
			//下发AGV任务
			var taskTypeModel = AGVStorageUtil.GetTaskModle(modTask.StartLocate, modTask.EndLocate,out string type1,out string type2, out string jiebo);
			if (string.IsNullOrWhiteSpace(taskTypeModel))
			{
			Console.WriteLine("获取AGV任务模板失败：请核实任务起始目标储位是否正确");
			return;
			}
			AgvTaskSend taskModel = new AgvTaskSend();
			taskModel.robotTaskCode = modTask.TaskNo;
			taskModel.taskType = taskTypeModel;
			if (jiebo == "")
			{
			taskModel.targetRoute = new List<targetRoute>()
			{
			new targetRoute(){seq = 0,type = type1,code = modTask.StartLocate},
			new targetRoute(){seq = 1,type = type2,code = modTask.EndLocate}
			};
			}
			else
			{
			taskModel.targetRoute = new List<targetRoute>()
			{
			new targetRoute(){seq = 0,type = type1,code = modTask.StartLocate},
			new targetRoute(){seq = 1,type = "ZONE",code = jiebo},
			new targetRoute(){seq = 2,type = type2,code = modTask.EndLocate}
			};
			}

			taskModel.extra = new extra()
			{
			carrierInfo = new List<carrierInfo>()
			{
			new carrierInfo(){ carrierType = "TP",carrierCode = modTask.PalletNo}
			}
			};
			var response = new HttpService().GenAgvSendTask(taskModel).Result;
			if (response.code == "SUCCESS")
			{
			modTask.Status = TaskStatusEnum.Doing;
			_db.Updateable(modTask).ExecuteCommand();
			var modTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.modPlc.Id,
			PlcName = modDevice.modPlc.IP,
			InteractiveMsg = "向AGV小车下发任务"
			};
			_db.Insertable(modTaskMonitor).ExecuteCommand();

			//下发任务日志
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			//Console.WriteLine(response.ToJson());
			Thread.Sleep(3000);
			return;

			}

			/// <summary>
			@@ -1222,6 +1513,11 @@

			private static void Test(WcsDeviceDto modDevice)
			{

			var ledText = $"申请入库失败\n\n";
			ledText += $"托盘号:T2300001\n";
			ledText += $"入库任务已锁定，请解锁后重试!\n";
			LedDisplay("10.26.254.31", ledText);
			//卷帘门2申请打开
			//var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1152", "10");
			//卷帘门2申请关闭
			@@ -1233,7 +1529,7 @@
			//var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1154", "30");

			//C口AGV放托盘完成申请入库
			var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1156", "100");
			//var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1156", "100");

			////写死测试读string
			//var (res, val) = modDevice.PLCUtil.GetPlcDBValue(PLCDataTypeEnum.String, "DB100", "64");