修改测试问题

Administrator

2025-06-12 4b4afa78f556199e5778d5cac88d3d6de6d8c1da

 Admin.NET/WCS.Application/PLC/PLCService.cs

@@ -9,6 +9,8 @@
using Furion.Logging;
using IoTClient;
using NewLife.Reflection;
using Newtonsoft.Json;
using Org.BouncyCastle.Ocsp;
using SixLabors.ImageSharp.ColorSpaces;
using WCS.Application.Entity;
using WCS.Application.Util;
@@ -39,6 +41,10 @@
                    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:
@@ -222,33 +228,38 @@
                                    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 modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Text == text);
                                        var modConn = new PLCUtil(modPlc);

                                        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();
                                            //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();
                                            //modConn.Close();
                                            return;
                                        }
                                        //添加任务明细
@@ -260,7 +271,36 @@
                                            InteractiveMsg = $"写入指令740：托盘到达{modFinshTask.EndRoadway}"
                                        };
                                        _db.Insertable(taskMonitor).ExecuteCommand();
                                        modConn.Close();

                                        //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>());
                                        }

                                    }


@@ -271,6 +311,43 @@
                                    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
@@ -281,20 +358,7 @@
                                    plcConn.SetDBValue(modCd.PosType, modCd.PlcPos.ToString(), "2");
                                }

                                //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>());
                            
                                
                            }
                        }
                    }
@@ -335,11 +399,11 @@
                            var endLocateCar = "";
                            if (valuez == 1)
                            {
                                endLocateCar = "210401";
                                endLocateCar = "011201";
                            }
                            else if (valuez == 2)
                            {
                                endLocateCar = "210402"; //011202
                                endLocateCar = "011202"; //
                            }
                            else
                            {
@@ -349,7 +413,7 @@
                            if (getCdTask == null)
                            {
                                var (resultDlLock, valueDlLock) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);
                                if (resultDlLock.IsSucceed && valueDlLock!=3)
                                if (resultDlLock.IsSucceed && valueDlLock!=3 && carXYZ != endLocateCar)
                                {
                                    //添加小车充电位置
                                    WcsTask modCarTask = new WcsTask()
@@ -402,11 +466,11 @@
                                        var endLocateCar = "";
                                        if (valuez == 1)
                                        {
                                            endLocateCar = "210401";
                                            endLocateCar = "011201";
                                        }
                                        else if (valuez == 2)
                                        {
                                            endLocateCar = "210402";
                                            endLocateCar = "011202";
                                        }
                                        else
                                        {
@@ -416,7 +480,7 @@
                                        if (getCdTask == null)
                                        {
                                            var (resultDlLock, valueDlLock) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);
                                            if (resultDlLock.IsSucceed && valueDlLock != 3)
                                            if (resultDlLock.IsSucceed && valueDlLock != 3 && carXYZ != endLocateCar)
                                            {
                                                //添加小车充电位置
                                                WcsTask modCarTask = new WcsTask()
@@ -473,12 +537,24 @@
                            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();

@@ -491,7 +567,7 @@
                    }

                    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");
@@ -525,80 +601,73 @@
                        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))
                    {
                        var modStart = modDevice.listStation.FirstOrDefault(s => s.Text == "启动命令");
                        var result = plcConn.SetDBValue(modStart.PosType, modStart.PlcPos, "1");
                        if (result.IsSucceed)
                        if (modTask.TaskType == TaskTypeEnum.Out)
                        {
                            carTaskNext.Status = TaskStatusEnum.Doing;
                            carTaskNext.CarTaskNo = carTaskNo;
                            _db.Updateable(carTaskNext).ExecuteCommand();
                            #region 输送线 写入PLC 730

                            if (modTask.TaskType == TaskTypeEnum.Out)
                            var text = "";
                            var devStation = "";
                            var endLocate = modTask.EndRoadway;
                            var carcon = new carConverModel();
                            var ip = "";
                            if (carcon.conveyorBei.Keys.Contains(endLocate))
                            {
                                #region 输送线 写入PLC 730
                                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 text = "";
                                var devStation = "";
                                var endLocate = modTask.EndRoadway;
                                var carcon = new carConverModel();
                                if (carcon.conveyorBei.Keys.Contains(endLocate))
                                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)
                                {
                                    text = "输送线北";
                                    devStation = carcon.conveyorBei[endLocate];
                                }
                                else if (carcon.conveyorNan.Keys.Contains(endLocate))
                                {
                                    text = "输送线南";
                                    devStation = carcon.conveyorNan[endLocate];
                                }
                                if (text != "")
                                {
                                    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)
                                    {
                                        modConn.Close();
                                        return;//放货工位没有读取成功或不是空闲
                                    }
                                    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.SetPlcDBValue(modPosConverTask.PosType, modDeviceConver.DbNumber, modPosConverTask.PlcPos, modTask.TaskId.ToString()));
                                    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.SetPlcDBValue(modPosConverPallet.PosType, modDeviceConver.DbNumber, modPosConverPallet.PlcPos, modTask.PalletNo.ToString()));
                                    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.SetPlcDBValue(modPosConverStrLocat.PosType, modDeviceConver.DbNumber, modPosConverStrLocat.PlcPos, modDeviceConver.StationNum));
                                    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.SetPlcDBValue(modPosConverEndLocat.PosType, modDeviceConver.DbNumber, modPosConverEndLocat.PlcPos, modTask.EndLocate));
                                    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();
                                            //modConn.Close();
                                            return;
                                        }
                                        //添加任务明细
@@ -611,13 +680,27 @@
                                        };
                                        _db.Insertable(taskMonitor2).ExecuteCommand();
                                    }
                                        
                                    modConn.Close();
                                }


                                #endregion
                                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)
                        {
                            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);
@@ -758,7 +841,7 @@
                        }

                        // 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");
@@ -779,7 +862,7 @@
                        }

                        // 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");
@@ -854,7 +937,7 @@
                        }

                        // 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");
@@ -899,17 +982,17 @@
                    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()));
                    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.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
                    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))
@@ -1185,12 +1268,18 @@
                        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);
                        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()
                        {
@@ -1203,6 +1292,27 @@
                            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();
@@ -1250,66 +1360,30 @@
                        

                        int tasknoVal = Convert.ToInt32(taskVal);
                        var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.IsDelete == false && m.TaskId == tasknoVal);
                        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
                }
@@ -1352,11 +1426,33 @@
        taskModel.taskType = taskTypeModel;
        if (jiebo == "")
        {
            taskModel.targetRoute = new List<targetRoute>()
            
            taskModel.targetRoute = new List<targetRoute>();
            
            if (taskModel.taskType == "DPJRK")
            {
                new targetRoute(){seq = 0,type = type1,code = modTask.StartLocate},
                new targetRoute(){seq = 1,type = type2,code = modTask.EndLocate}
            };
                //var code = "[{\"type\":\"SITE\",\"code\":\"B100101\"},{\"type\":\"PILE_COUNT\",\"code\":\"8\"}]";
                var code = new List<object>()
                {
                    new {type = "SITE" , code = modTask.StartLocate},
                    new { type = "PILE_COUNT", code = modTask.Qty }
                };
                
                taskModel.targetRoute.Add(new targetRoute() { 
                    seq = 0,
                    type = "MIX_CONDITION",
                    code = JsonConvert.SerializeObject(code) // "[{\"type":\"SITE", code = modTask.StartLocate },new { type = "PILE_COUNT", code = modTask.Qty }]"


                });
                taskModel.targetRoute.Add(new targetRoute() { seq = 1, type = type2, code = modTask.EndLocate });
            }
            else
            {
                taskModel.targetRoute.Add(new targetRoute() { seq = 0, type = type1, code = modTask.StartLocate });
                taskModel.targetRoute.Add(new targetRoute() { seq = 1, type = type2, code = modTask.EndLocate });
            }
            
        }
        else
        {
@@ -1367,16 +1463,21 @@
                new targetRoute(){seq = 2,type = type2,code = modTask.EndLocate}
            };
        }
        
        taskModel.extra = new extra()

        taskModel.extra = new extra();
         
        if (taskModel.taskType != "DPJRK")
        {
            carrierInfo = new List<carrierInfo>()
            taskModel.extra.carrierInfo = new List<carrierInfo>()
            {
                new carrierInfo(){ carrierType = "TP",carrierCode = modTask.PalletNo}
            }
        };
            };
        }
            
         

        var response = new HttpService().GenAgvSendTask(taskModel).Result;
        if (response.code == "0")
        if (response.code == "SUCCESS")
        {
            modTask.Status = TaskStatusEnum.Doing;
            _db.Updateable(modTask).ExecuteCommand();