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)
			{
			@@ -70,7 +74,7 @@
			TaskNo = _taskService.GetTaskCode(),
			TaskType = TaskTypeEnum.Move,
			Type = PLCTypeEnum.AGV,
			StartLocate = AGVStorageUtil.GetPalletOutStorage(),
			StartLocate = "",
			EndLocate = AGVStaionEnum.D1.ToString(),
			PalletNo = "",
			Status = TaskStatusEnum.Wait,
			@@ -190,6 +194,7 @@
			{
			TaskNo = carTask.TaskNo,
			PlcName = modDevice.Text,
			Status = TaskStatusEnum.Complete,
			InteractiveMsg = $"穿梭车反馈任务完成"
			};
			_db.Insertable(taskMonitor).ExecuteCommand();
			@@ -202,10 +207,72 @@
			//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();

			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();

			//#endregion

			#region 输送线写入PLC 740

			var text = "";
			var devStation = ""; //工位
			var endLocate = modFinshTask.EndRoadway;
			var carcon = new carConverModel();
			if ( carcon.conveyorBei.Keys.Contains(endLocate))
			{
			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) != 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();
			modConn.Close();
			}


			#endregion
			}
			else
			{
			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)
			{
			@@ -281,22 +348,26 @@
			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)
			{
			//添加小车充电位置
			WcsTask modCarTask = new WcsTask()
			var (resultDlLock, valueDlLock) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);
			if (resultDlLock.IsSucceed && valueDlLock!=3)
			{
			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>());
			//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>());
			}
			}

			}
			@@ -344,22 +415,27 @@
			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)
			{
			//添加小车充电位置
			WcsTask modCarTask = new WcsTask()
			var (resultDlLock, valueDlLock) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);
			if (resultDlLock.IsSucceed && valueDlLock != 3)
			{
			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>());
			//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>());
			}

			}

			}
			@@ -472,6 +548,77 @@
			carTaskNext.Status = TaskStatusEnum.Doing;
			carTaskNext.CarTaskNo = carTaskNo;
			_db.Updateable(carTaskNext).ExecuteCommand();

			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();
			if (carcon.conveyorBei.Keys.Contains(endLocate))
			{
			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()));
			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()));

			// 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));
			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));

			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();
			}

			modConn.Close();
			}


			#endregion
			}

			//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)
			@@ -484,6 +631,7 @@
			{
			TaskNo = carTaskNext.TaskNo,
			PlcName = modDevice.Text,
			Status = TaskStatusEnum.Complete,
			InteractiveMsg = $"向穿梭车下发任务{carTaskNext.TaskNo}"
			};
			_db.Insertable(taskMonitor).ExecuteCommand();
			@@ -558,14 +706,38 @@
			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)
			{
			@@ -618,7 +790,7 @@

			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。
			@@ -693,7 +865,7 @@
			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)
			{
			@@ -719,7 +891,7 @@
			}

			// 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'));



			@@ -731,7 +903,7 @@
			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");
			var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘条码");
			listResult.Add(plcConn.SetPlcDBValue(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");
			@@ -782,25 +954,25 @@
			{
			// 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"))
			{
			@@ -1007,20 +1179,28 @@
			{
			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);
			if (taskInfo == null)
			{
			Log.Error(string.Format("输送线430:未找到对应的任务。"));
			break;
			}
			// 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,
			};

			@@ -1030,8 +1210,6 @@
			// 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
			@@ -1057,19 +1235,22 @@
			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.Status == TaskStatusEnum.Doing && 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。"));
			@@ -1078,7 +1259,7 @@
			// 改变任务状态
			modTask.Status = TaskStatusEnum.Complete;
			modTask.FinishDate = DateTime.Now;
			modTask.Levels = 999;
			//modTask.Levels = 999;
			_db.Updateable(modTask).ExecuteCommand();
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			// 插入任务明细
			@@ -1095,24 +1276,24 @@
			};
			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));
			}
			//// 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
			@@ -1146,56 +1327,76 @@
			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 == "0")
			{
			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>
			@@ -1240,6 +1441,11 @@

			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
			@@ -1251,7 +1457,7 @@
			//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");