JC34WCS.git - Gitblit

			@@ -5,6 +5,8 @@
			using DocumentFormat.OpenXml.Spreadsheet;
			using Furion.Logging;
			using IoTClient;
			using NewLife.Reflection;
			using WCS.Application.Entity;
			using WCS.Application.Util;

			namespace WCS.Application;
			@@ -144,6 +146,7 @@
			private static void ShuttleCar(WcsDeviceDto modDevice)
			{
			var plcConn = modDevice.modbusUtil;
			// 四向车状态 0:未空闲,1:空闲,2:异常 3：充电中
			switch (modDevice.Value.ToString())
			{
			case "0":
			@@ -154,54 +157,75 @@
			sysCacheService.HashAddOrUpdate("AlarmInfo_Car", plcConn.PlcIP, -1);
			var modPosTaskStatus = modDevice.listStation.FirstOrDefault(s => s.Text == "任务状态");
			var (resultTaskStatus, valueTaskStatus) = plcConn.GetDBValue(modPosTaskStatus.PosType, modPosTaskStatus.PlcPos);
			//判断读取任务状态是否成功并且任务状态是1 0:无任务,1:任务完成,2:任务取消,3:任务暂停，4：任务异常 5：任务执行中

			WcsCarTasks carTask2 = null;//null 新任务 not null 路径2任务

			if (resultTaskStatus.IsSucceed && valueTaskStatus == 1)
			{
			var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
			var (resultTask, valueTask) = plcConn.GetDBValue(modPosTask.PosType, modPosTask.PlcPos);
			string valueTaskStr = Convert.ToString(valueTask);
			string strNo = "";
			var boNo = dicTaskNo.TryGetValue(modDevice.Id.ToString(), out strNo);
			if (valueTaskStr != "0" && strNo != valueTaskStr)
			//读取任务号
			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)
			{
			var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.Id.ToString().EndsWith(valueTaskStr));
			if (modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
			{
			//12.4出库改成调用WMS完成任务接口；WMS操控PDA托盘下架后，WCS任务状态才完成（避免小车继续跑）
			if (modFinshTask.TaskType == TaskTypeEnum.In)
			{
			modFinshTask.Status = TaskStatusEnum.Complete;
			modFinshTask.FinishDate = DateTime.Now;
			_db.Updateable(modFinshTask).ExecuteCommand();
			var taskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modFinshTask.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.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
			HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			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();

			if (dicTaskNo.ContainsKey(modDevice.Id.ToString()))
			dicTaskNo.Remove(modDevice.Id.ToString());
			dicTaskNo.Add(modDevice.Id.ToString(), valueTaskStr);
			}
			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
			}
			//获取路径2的任务下发
			carTask2 = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == carTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.PreId.Contains(carTask.Id.ToString())).OrderBy(m=>m.CreateTime).First();

			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>());
			}
			//没有路径2的任务变更总任务信息
			if (carTask2 == null && modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
			{
			modFinshTask.Status = TaskStatusEnum.Complete;
			modFinshTask.FinishDate = DateTime.Now;
			_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>());

			}

			}


			var modStationX = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(X)");
			var (resultx, valuex) = plcConn.GetDBValue(modStationX.PosType, modStationX.PlcPos);
			var modStationY = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(Y)");
			@@ -209,36 +233,63 @@
			var modStationZ = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(Z)");
			var (resultz, valuez) = plcConn.GetDBValue(modStationZ.PosType, modStationZ.PlcPos);

			// 获取任务信息
			var stationStart = ((int)valuex).ToString().PadLeft(2, '0');
			var stationEnd = ((int)valuez).ToString().PadLeft(2, '0') + "01";
			var listTask = _db.Queryable<WcsTask>().OrderBy(m => m.Levels, OrderByType.Asc).OrderBy(m => m.CreateTime)
			.Where(s => s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar
			&& s.StartLocate.StartsWith(stationStart) && s.StartLocate.EndsWith(stationEnd)).ToList();
			var modTask = listTask.FirstOrDefault();
			//return;
			if (modTask == null)
			return;
			if (modTask.StartLocate == modTask.EndLocate)

			WcsTask modTask;
			//要下发路径2任务
			if (carTask2 != null)
			{
			modTask.Status = TaskStatusEnum.Doing;
			_db.Updateable(modTask).ExecuteCommand();
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.TaskNo == carTask2.TaskNo && s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar);

			carTask2= _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP).OrderBy(m => m.CreateTime).First();
			}
			else
			{
			// 获取任务信息
			modTask = _db.Queryable<WcsTask>().Where(s => s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar).OrderBy(m => m.Levels, OrderByType.Asc).OrderBy(m => m.CreateTime).First();
			if (modTask == null)
			{
			return;
			}
			carTask2 = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP).OrderBy(m => m.CreateTime).First();
			}

			//return;
			if (modTask == null \|\| carTask2 == null)
			{
			//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
			return;
			}
			if (modTask.Status == TaskStatusEnum.Doing)

			if (carTask2.Status == TaskStatusEnum.Doing)
			{
			Thread.Sleep(3000);
			return;
			}
			//判断当前任务是否还有前置任务未完成
			var preStrs = carTask2.PreId.Split(';');
			foreach (var preStr in preStrs)
			{
			if (string.IsNullOrWhiteSpace(preStr))
			{
			continue;
			}
			var preId = long.Parse(preStr);
			var CarTaskPre = _db.Queryable<WcsCarTasks>().First(m => m.Id == preId);
			if (CarTaskPre.Status <= TaskStatusEnum.Doing)
			{
			return;//前置任务未完成
			}
			}
			//先复位
			var modRest = modDevice.listStation.FirstOrDefault(s => s.Text == "复位");
			plcConn.SetDBValue(modRest.PosType, modRest.PlcPos, "1");

			List<Result> listResult = new List<Result>();
			//写入任务号Id的末4位，2个小车一起跑有极低概率重复
			//获取小车任务号
			var carTaskNo = FourWayCarUtil.GetTaskNo();

			var modWriteTask = modDevice.listStation.FirstOrDefault(s => s.Text == "写入任务号");
			listResult.Add(plcConn.SetDBValue(modWriteTask.PosType, modWriteTask.PlcPos, modTask.Id.ToString().Substring(modTask.Id.ToString().Length - 4)));
			listResult.Add(plcConn.SetDBValue(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");
			@@ -248,37 +299,36 @@
			int posY = Convert.ToInt32(modNodeY.PlcPos);
			int posZ = Convert.ToInt32(modNodeZ.PlcPos);
			int posStatus = Convert.ToInt32(modNodeStatus.PlcPos);
			if (Convert.ToInt32(valuey) != Convert.ToInt32(modTask.StartLocate.Substring(2, 2)))

			//交互路径
			var execuPath = carTask2.ExecutionPath.Split(';');
			if (Convert.ToInt32(valuex) != Convert.ToInt32(execuPath[0].Substring(0, 2)) \|\| Convert.ToInt32(valuey) != Convert.ToInt32(execuPath[0].Substring(2, 2)) \|\| Convert.ToInt32(valuez) != Convert.ToInt32(execuPath[0].Substring(4, 2)))
			{
			//写入小车当前位置
			listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), Convert.ToString(valuex)));
			listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), Convert.ToString(valuey)));
			listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), Convert.ToString(valuez)));
			listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "3"));
			return; //小车位置与路径起始位置不同
			////写入小车当前位置
			//listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), Convert.ToString(valuex)));
			//listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), Convert.ToString(valuey)));
			//listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), Convert.ToString(valuez)));
			//listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "3"));
			}
			//写入起始位置取货
			listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), modTask.StartLocate.Substring(0, 2)));
			listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), modTask.StartLocate.Substring(2, 2)));
			listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), modTask.StartLocate.Substring(4, 2)));
			listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "2"));
			//写入目标位置放货
			listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), modTask.EndLocate.Substring(0, 2)));
			listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), modTask.EndLocate.Substring(2, 2)));
			listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), modTask.EndLocate.Substring(4, 2)));
			listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "3"));
			string endPos = "";
			if (modTask.StartLocate.Substring(0, 2).ToInt() >= 14)
			endPos = "01";
			else
			endPos = "21";
			if (listTask.Count == 1 && modTask.EndLocate.Substring(2, 2) != endPos)

			foreach (var ePath in execuPath)
			{
			//如果后续没有任务，就让小车回到原位
			listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), modTask.EndLocate.Substring(0, 2)));
			listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), endPos));//todo:这里位置待定
			listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), modTask.EndLocate.Substring(4, 2)));
			listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "3"));
			if (string.IsNullOrWhiteSpace(ePath))
			{
			continue;
			}
			var epathx = ePath.Substring(0, 2);
			var epathy = ePath.Substring(2, 2);
			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));
			}

			//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)
			{
			@@ -293,17 +343,18 @@
			var result = plcConn.SetDBValue(modStart.PosType, modStart.PlcPos, "1");
			if (result.IsSucceed)
			{
			modTask.Status = TaskStatusEnum.Doing;
			_db.Updateable(modTask).ExecuteCommand();
			carTask2.Status = TaskStatusEnum.Doing;
			carTask2.CarTaskNo = carTaskNo;
			_db.Updateable(carTask2).ExecuteCommand();
			//清除小车空闲时间
			var taskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			TaskNo = carTask2.TaskNo,
			PlcName = modDevice.Text,
			InteractiveMsg = $"向穿梭车下发任务{modTask.TaskNo}"
			InteractiveMsg = $"向穿梭车下发任务{carTask2.TaskNo}"
			};
			_db.Insertable(taskMonitor).ExecuteCommand();
			//下发任务日志
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			}
			@@ -314,42 +365,42 @@
			//小车状态异常
			var modPosTaskStatus = modDevice.listStation.FirstOrDefault(s => s.Text == "任务状态");
			var (resultTaskStatus, valueTaskStatus) = plcConn.GetDBValue(modPosTaskStatus.PosType, modPosTaskStatus.PlcPos);

			if (resultTaskStatus.IsSucceed && valueTaskStatus == 1)
			{
			if (resultTaskStatus.IsSucceed && valueTaskStatus == 1)
			var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
			var (resultTask, valueTask) = plcConn.GetDBValue(modPosTask.PosType, modPosTask.PlcPos);
			string valueTaskStr = Convert.ToString(valueTask);
			string strNo = "";
			var boNo = dicTaskNo.TryGetValue(modDevice.Id.ToString(), out strNo);
			if (valueTaskStr != "0" && strNo != valueTaskStr)
			{
			var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
			var (resultTask, valueTask) = plcConn.GetDBValue(modPosTask.PosType, modPosTask.PlcPos);
			string valueTaskStr = Convert.ToString(valueTask);
			string strNo = "";
			var boNo = dicTaskNo.TryGetValue(modDevice.Id.ToString(), out strNo);
			if (valueTaskStr != "0" && strNo != valueTaskStr)
			var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.Id.ToString().EndsWith(valueTaskStr));
			if (modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
			{
			var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.Id.ToString().EndsWith(valueTaskStr));
			if (modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
			HttpService httpService = new HttpService();
			var requestMode = new TaskRequestWMS()
			{
			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();
			//下发任务日志
			//HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
			//HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
			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();
			//下发任务日志
			//HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
			//HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());

			if (dicTaskNo.ContainsKey(modDevice.Id.ToString()))
			dicTaskNo.Remove(modDevice.Id.ToString());
			dicTaskNo.Add(modDevice.Id.ToString(), valueTaskStr);
			}
			if (dicTaskNo.ContainsKey(modDevice.Id.ToString()))
			dicTaskNo.Remove(modDevice.Id.ToString());
			dicTaskNo.Add(modDevice.Id.ToString(), valueTaskStr);
			}

			}

			}

			Console.WriteLine($"穿梭车{modDevice.PlcIdIP}异常");
			var modPosError = modDevice.listStation.FirstOrDefault(s => s.Text == "错误码");
			var (result, valueError) = plcConn.GetDBValue(modPosError.PosType, modPosError.PlcPos);
			@@ -599,160 +650,22 @@
			/// <param name="modDevice"></param>
			private static void AGV(WcsDeviceDto modDevice)
			{
			if (AGVStatus)
			{
			return;
			}
			//这里找出来AGV待执行和正在执行的任务，如果有正在执行的任务就跳出，没有的话就按照优先级下发一个任务给AGV
			var listTask = _db.Queryable<WcsTask>()
			.Where(s => (s.Status == TaskStatusEnum.Doing \|\| s.Status == TaskStatusEnum.Wait) && s.Type == PLCTypeEnum.AGV)
			.OrderBy(s => s.Levels).ToList();

			//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)
			return;
			if (listTask.Any(s => s.Status == TaskStatusEnum.Doing))
			{
			//有任务执行中暂不下发任务
			return;
			}
			//WcsTask modTask = listTask.FirstOrDefault();

			foreach (var modTask in listTask)
			{
			//入缓存区时，检验一下缓存区位置
			if (modTask.EndLocate.Substring(0, 1) == "Z")
			if (_db.Queryable<WcsTask>().Any(s => s.EndLocate == modTask.EndLocate && s.IsDelete == false && s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.AGV ))
			{
			if (modTask.EndLocate.Substring(1, 1) == "5")
			{
			string end = AGVStorageUtil.GetPalletInStorage(modTask.TaskNo);
			if (end.IsNullOrEmpty())
			continue;
			if (modTask.EndLocate != end)
			{
			modTask.EndLocate = end;
			}
			}
			else
			{
			string end = AGVStorageUtil.GetProductInStorage(modTask.TaskNo);
			if (end.IsNullOrEmpty())
			continue;
			if (modTask.EndLocate != end)
			{
			modTask.EndLocate = end;
			}
			}
			continue; // 有目的位置一致且正在执行的任务
			}
			//出缓存区时，检验一下缓存区位置
			if (modTask.StartLocate.Substring(0, 1) == "Z")
			{
			if (modTask.StartLocate.Substring(1, 1) == "5")
			{
			string start = AGVStorageUtil.GetPalletOutStorage();
			if (start.IsNullOrEmpty())
			continue;
			if (modTask.StartLocate != start)
			{
			modTask.StartLocate = start;
			}
			}
			else
			{
			string start = AGVStorageUtil.GetProductOutStorage();
			if (start.IsNullOrEmpty())
			continue;
			if (modTask.StartLocate != start)
			{
			modTask.StartLocate = start;
			}
			}
			}
			//把托盘拉到缓存位先判断这里有没有
			if (modTask.EndLocate.Substring(0, 1) == "C")
			{
			var bo = _sysConfigService.GetConfigValue<bool>("cache_" + modTask.EndLocate).Result;
			if (bo)
			continue;
			}
			//如果拉托盘去成品工位，先检查有没有缺托
			if (modTask.StartLocate.Substring(0, 1) == "D" && modTask.EndLocate.Substring(0, 1) == "B")
			{
			//判断目标位置是拆托机的任务有没有，有就跳过拆托机到成品工位的任务
			if (listTask.Any(s => s.EndLocate.Substring(0, 1) == "D"))
			continue;
			}
			//如果目的工位是原料仓，先检查原料仓储位状态
			if (modTask.EndLocate == AGVStaionEnum.F1.ToString())
			{
			if (_sysConfigService.GetConfigValue<bool>("cache_Materal").Result)
			continue;
			}
			//if (modTask.StartLocate == AGVStaionEnum.F1.ToString())
			//{
			// if (!_sysConfigService.GetConfigValue<bool>("cache_Materal").Result)
			// continue;
			//}

			//如果起始工位是拆托机
			if (modTask.StartLocate == AGVStaionEnum.D1.ToString())
			{
			//获取叠拆托机IP
			var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Type == PLCTypeEnum.PalletMachine);
			//获取叠拆托机工位
			var modDevice2 = PLCTaskAction.plcDevices.FirstOrDefault(s => s.PlcId == modPlc.Id && s.Text == "拆托机");
			//打开连接
			var modConn = new PLCUtil(modPlc);
			//是否允许取托信号
			var modPos = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDevice2.Id && s.Text == "允许取托");
			var (result, value) = modConn.GetPlcDBValue(modPos.PosType, modDevice2.DbNumber, modPos.PlcPos);
			if (result.IsSucceed)
			{
			if (value)
			{
			//如果未完成就判断下取托信号有没有写，完成就叫小车取托盘
			modPos = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDevice2.Id && s.Text == "取托信号");
			(result, value) = modConn.GetPlcDBValue(modPos.PosType, modDevice2.DbNumber, modPos.PlcPos);
			//如果没写入取托信号，就写入
			if (result.IsSucceed && !value)
			{
			result = modConn.SetPlcDBValue(modPos.PosType, modDevice2.DbNumber, modPos.PlcPos, "1");
			WcsTaskMonitor modTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice2.PlcId,
			PlcName = modPos.PlcPos,
			Status = TaskStatusEnum.Doing,
			InteractiveMsg = $"向{modDevice2.Text}写入取托信号1，结果{result.IsSucceed}",
			};
			_db.Insertable(modTaskMonitor).ExecuteCommand();
			HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			Thread.Sleep(5000);
			}
			break;

			}
			else
			{
			//不允许取托，判断是否拆托机准备完成
			modPos = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDevice2.Id && s.Text == "准备完成");
			(result, value) = modConn.GetPlcDBValue(modPos.PosType, modDevice2.DbNumber, modPos.PlcPos);
			if (!value)
			{
			continue;
			}
			}
			}
			else
			{
			Console.WriteLine("连接拆托机信号失败");
			continue;
			}
			}
			//如果目的工位是提升机放货工位，先检查有没有托盘线的任务
			if (modTask.EndLocate == AGVStaionEnum.A1.ToString())
			{
			if (_db.Queryable<WcsTask>().Where(s => s.Type == PLCTypeEnum.ConveyorLine && s.Status == TaskStatusEnum.Doing).Any())
			continue;
			}

			//下发AGV任务
			AgvTaskInput input = new AgvTaskInput()
			{
			ReqCode = modTask.Id.ToString(),