JC34WCS.git - Gitblit

			@@ -1,11 +1,15 @@
			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;
			using SixLabors.ImageSharp.ColorSpaces;
			using WCS.Application.Entity;
			using WCS.Application.Util;

			@@ -24,6 +28,7 @@
			try
			{
			var mod = sender as WcsDeviceDto;

			//Console.WriteLine($"{mod.Text}值为" + mod.Value);
			switch (mod.Type)
			{
			@@ -69,7 +74,7 @@
			TaskNo = _taskService.GetTaskCode(),
			TaskType = TaskTypeEnum.Move,
			Type = PLCTypeEnum.AGV,
			StartLocate = AGVStorageUtil.GetPalletOutStorage(),
			StartLocate = "",
			EndLocate = AGVStaionEnum.D1.ToString(),
			PalletNo = "",
			Status = TaskStatusEnum.Wait,
			@@ -159,8 +164,8 @@
			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

			WcsCarTasks carTaskNext = null;//null 新任务 not null 当前小车&&当前任务下一节任务

			if (resultTaskStatus.IsSucceed && valueTaskStatus == 1)
			{
			var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
			@@ -169,104 +174,292 @@
			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
			}
			//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()
			//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

			var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.TaskNo == carTask.TaskNo);
			if (modFinshTask == null)
			{
			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
			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>());
			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();

			//#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)
			{
			//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");
			}

			//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>());

			}
			}
			//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>());

			}

			}

			WcsTask modTask;
			//要下发路径2任务
			if (carTaskNext != null)
			{
			modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.TaskNo == carTaskNext.TaskNo && s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.CarIp == modDevice.PlcIdIP);

			carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status == TaskStatusEnum.Wait).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 && s.CarIp == modDevice.PlcIdIP).OrderBy(m => m.Levels).OrderBy(m => m.CreateTime).First();
			if (modTask != null)
			{
			carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status == TaskStatusEnum.Wait).OrderBy(m => m.CreateTime).First();
			}
			}

			//读取小车位置
			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)");
			var (resulty, valuey) = plcConn.GetDBValue(modStationY.PosType, modStationY.PlcPos);
			var modStationZ = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(Z)");
			var (resultz, valuez) = plcConn.GetDBValue(modStationZ.PosType, modStationZ.PlcPos);


			WcsTask modTask;
			//要下发路径2任务
			if (carTask2 != null)
			var carXYZ = valuex.ToString().PadLeft(2, '0') + valuey.ToString().PadLeft(2, '0') + valuez.ToString().PadLeft(2, '0');
			if (modTask == null)
			{
			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)
			//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 < (int)FourWayCarDLEnum.Dl)
			{
			return;
			var endLocateCar = "";
			if (valuez == 1)
			{
			endLocateCar = "210401";
			}
			else if (valuez == 2)
			{
			endLocateCar = "210402"; //011202
			}
			else
			{
			return; // 层数错误
			}
			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)
			{
			var (resultDlLock, valueDlLock) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);
			if (resultDlLock.IsSucceed && valueDlLock!=3)
			{
			//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>());
			}
			}

			}
			carTask2 = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP).OrderBy(m => m.CreateTime).First();
			}
			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);
			if (carTime == null)
			{
			var carTimeAdd = new WcsCarTime()
			{
			CarIp = modDevice.PlcIdIP,
			CarTime = DateTime.Now
			};
			_db.Insertable(carTimeAdd).ExecuteCommand();
			}
			else
			{
			if (carTime.CarTime == null)
			{
			carTime.CarTime = DateTime.Now;
			carTime.UpdateTime = DateTime.Now;
			_db.Updateable(carTime).ExecuteCommand();
			}
			else
			{
			var date1 = DateTime.Now;
			var data2 = (DateTime)carTime.CarTime;
			TimeSpan interval = date1 - data2;
			if (interval.TotalMinutes >= 5)
			{
			var endLocateCar = "";
			if (valuez == 1)
			{
			endLocateCar = "210401";
			}
			else if (valuez == 2)
			{
			endLocateCar = "210402";
			}
			else
			{
			return; // 层数错误
			}
			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)
			{
			var (resultDlLock, valueDlLock) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);
			if (resultDlLock.IsSucceed && valueDlLock != 3)
			{
			//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>());
			}

			}

			}
			}

			//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 (carTask2.Status == TaskStatusEnum.Doing)
			if (carTaskNext == null)
			{
			return;
			}
			if (carTaskNext.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(';');
			var preStrs = carTaskNext.PreId.Split(';');
			foreach (var preStr in preStrs)
			{
			if (string.IsNullOrWhiteSpace(preStr))
			@@ -280,6 +473,7 @@
			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");
			@@ -287,7 +481,15 @@
			List<Result> listResult = new List<Result>();
			//获取小车任务号
			var carTaskNo = FourWayCarUtil.GetTaskNo();


			//判断任务是否充电任务
			if (modTask.Levels == 888)
			{
			//写入充电命令
			var modCd = modDevice.listStation.FirstOrDefault(s => s.Text == "充电命令");
			listResult.Add(plcConn.SetDBValue(modCd.PosType, modCd.PlcPos.ToString(), "1"));
			}

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

			@@ -301,7 +503,7 @@
			int posStatus = Convert.ToInt32(modNodeStatus.PlcPos);

			//交互路径
			var execuPath = carTask2.ExecutionPath.Split(';');
			var execuPath = carTaskNext.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)))
			{
			return; //小车位置与路径起始位置不同
			@@ -343,15 +545,94 @@
			var result = plcConn.SetDBValue(modStart.PosType, modStart.PlcPos, "1");
			if (result.IsSucceed)
			{
			carTask2.Status = TaskStatusEnum.Doing;
			carTask2.CarTaskNo = carTaskNo;
			_db.Updateable(carTask2).ExecuteCommand();
			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)
			{
			carTimeClear.CarTime = null;
			carTimeClear.UpdateTime = DateTime.Now;
			_db.Updateable(carTimeClear).ExecuteCommand();
			}
			var taskMonitor = new WcsTaskMonitor()
			{
			TaskNo = carTask2.TaskNo,
			TaskNo = carTaskNext.TaskNo,
			PlcName = modDevice.Text,
			InteractiveMsg = $"向穿梭车下发任务{carTask2.TaskNo}"
			Status = TaskStatusEnum.Complete,
			InteractiveMsg = $"向穿梭车下发任务{carTaskNext.TaskNo}"
			};
			_db.Insertable(taskMonitor).ExecuteCommand();
			//下发任务日志
			@@ -422,226 +703,621 @@
			{
			var plcConn = modDevice.PLCUtil;

			var ledText = "";
			switch (modDevice.Value.ToString())
			{
			case "20":
			case "120": //空闲，AGV可放货
			{
			//小车请求开卷帘门这里改成海康直接调用模块这里不需要了
			string Devicelndex = "";
			if (modDevice.Text == "2号卷帘门")
			Devicelndex = "222";
			else if (modDevice.Text == "3号卷帘门")
			Devicelndex = "111";
			var modCallBack = sysCacheService.Get<AGVApplyLockInput>("OpenDoor" + Devicelndex);
			if (modCallBack != null)
			var task = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.Status == TaskStatusEnum.Doing && m.IsComple == "1");
			if (task != null)
			{
			var modAgvDevice = PLCTaskAction.plcs.FirstOrDefault(s => s.Text == "AGV");
			AgvNotifyInput input = new AgvNotifyInput()
			//没有出库业务
			var res = new HttpService().GenAgvContinueTask(task.TaskNo).Result;
			if (res.code == "0")
			{
			ActionStatus = "1",
			DeviceIndex = Devicelndex,
			UUID = modCallBack.UUID,
			};
			var response = new HttpService().NotifyExcuteResultInfo(input).Result;
			if (response.code == 0)
			{
			sysCacheService.Remove("OpenDoor" + Devicelndex);
			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 "100":
			case "320":
			{
			//工位对应 1=A 4=B 10=C
			string stationNum = "";
			if (modDevice.StationNum == "1" \|\| modDevice.StationNum == "4")
			// 申请密集库组
			string strMsg = "";

			// 获取工位托盘码信息
			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)
			{
			stationNum = "10";
			//判断有没有小车到C口的任务，如果有就写120
			var countTask = _db.Queryable<WcsTask>().Where(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.AGV && s.EndLocate == "A1").Count();
			if (countTask != 0)
			{
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "120");
			Log.Information($"向plc{modDevice.PlcIdIP}写入120，结果：{ret.ToJson()}");
			return;
			}
			break;
			}
			string strPalletNo = "";
			if (modDevice.StationNum == "10" \|\| modDevice.StationNum == "4")
			var modPosEndLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "目的工位");

			//判断入库锁定是否打开
			if (PLCTaskAction.boEnterLock)
			{
			var modPosPallet = modDevice.listStation.First(s => s.Text == "托盘条码");
			//todo:这里读码器老读不到条码信息先写死读码器问题解决了可以注释掉
			//plcConn.SetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos, "T2400001");
			var (res, palletNo) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos, modPosPallet.StringLength);
			if (!res.IsSucceed \|\| palletNo == "")
			var (res350, palletVal350) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
			if (res350.IsSucceed && palletVal350 != "350")
			{
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "120");
			Log.Information($"向plc{modDevice.PlcIdIP}写入120，结果：{ret.ToJson()}");
			return;
			ledText += $"申请入库失败\n\n";
			ledText += $"托盘号:{palletVal}\n";
			ledText += $"入库任务已锁定，请解锁后重试!\n";
			LedDisplay(modDevice.LedIP, ledText);
			}
			strPalletNo = Convert.ToString(palletNo);
			}
			if (modDevice.StationNum == "10")
			{
			if (strPalletNo.Substring(0, 1) == "T")
			stationNum = "4";
			else
			stationNum = "1";

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

			break;
			}

			// 写入托盘输送线码垛工位
			if (palletVal == null)
			{
			var (res350, palletVal350) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
			if (res350.IsSucceed && palletVal350 != "350")
			{
			ledText += $"申请入库失败\n\n";
			ledText += $"托盘号:{palletVal}\n";
			ledText += $"扫描托盘号失败!\n";
			LedDisplay(modDevice.LedIP, ledText);
			}

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

			break;
			}

			var http = new HttpService();
			string TaskNo = "", EndLocate = "";
			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。
			var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskNo == TaskNo);
			modDevice.LedIP = _db.Queryable<WcsDevice>()
			.Where(w => w.StationNum == taskInfo.StartLocate)
			.Select(s => s.LedIP).First();

			// 写入330
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "330");
			if (ret.IsSucceed)
			{
			// 插入任务明细
			var modInsertTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = TaskNo,
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令330：{modDevice.StationNum}工位申请巷道",
			PalletNo = palletVal,
			Status = TaskStatusEnum.Complete,
			StartLocat = modDevice.StationNum,
			EndLocat = EndLocate,
			};
			// 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
			try
			{
			ledText += $"任务类型:{taskInfo.TaskType.GetDescription()}\n\n";

			ledText += $"任务号:{taskInfo.TaskNo}\n";
			ledText += $"托盘号:{taskInfo.PalletNo}\n\n";

			ledText += $"起始位:{taskInfo.StartRoadway + " " + taskInfo.StartLocate}\n";
			ledText += $"目标位:{taskInfo.EndRoadway + " " + taskInfo.EndLocate}";
			LedDisplay(modDevice.LedIP, ledText);

			}
			catch (Exception ex)
			{
			Log.Error(ex.Message);
			}

			}

			}
			else
			{
			var (res350, palletVal350) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
			if (res350.IsSucceed && palletVal350 != "350")
			{
			ledText += $"申请入库失败\n\n";
			ledText += $"托盘号:{palletVal}\n";
			ledText += $"{strMsg}\n";
			LedDisplay(modDevice.LedIP, ledText);
			}

			// 写入输送线退回指令
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
			if (ret.IsSucceed)
			{
			plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
			}
			}
			}
			break;
			case "330":
			{
			// 获取工位托盘码信息
			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;
			}
			string pallet = palletVal.ToString();
			// 获取任务信息
			var modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false
			&& s.PalletNo == pallet
			&& s.Type == PLCTypeEnum.ConveyorLine
			&& (s.Status == TaskStatusEnum.Wait \|\| s.Status == TaskStatusEnum.Doing)
			&& s.TaskType == TaskTypeEnum.In);

			if (modTask == null)
			{
			// 此托盘没有对应的转移任务 led显示
			break;
			}
			//判断入库锁定是否打开
			if (PLCTaskAction.boEnterLock)
			{
			break;//入库锁定打开则不执行入库任务
			}

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



			// 给PLC写入任务数据
			var listResult = new List<Result>();
			// 写入托盘输送线码垛工位目的工位、任务号，写入交互流程组托成功
			var posModel = modDevice.listStation.First(m => m.Text == "起始工位");
			listResult.Add(plcConn.SetPlcDBValue(posModel.PosType, modDevice.DbNumber, posModel.PlcPos, modDevice.StationNum));
			var posModel2 = modDevice.listStation.First(m => m.Text == "目标工位");
			listResult.Add(plcConn.SetPlcDBValue(posModel2.PosType, modDevice.DbNumber, posModel2.PlcPos, stationNum));
			string taskNo = _taskService.GetTaskCode("WCS");
			var modPosTask = modDevice.listStation.First(s => s.Text == "任务号");
			listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, taskNo));
			// 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()));
			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");
			listResult.Add(plcConn.SetPlcDBValue(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));


			if (listResult.All(s => s.IsSucceed))
			{
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "130");
			Log.Information($"向plc{modDevice.PlcIdIP}写入130，结果：{ret.ToJson()}");
			// 将任务状态变更为正在执行
			_db.Updateable<WcsTask>()
			.SetColumns(s => s.Status == TaskStatusEnum.Doing)
			.Where(s => s.Id == modTask.Id)
			.ExecuteCommand();
			// 写入流程字 330 340

			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "340");

			// 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。
			modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == modTask.StartLocate).Select(s => s.LedIP).First();

			if (ret.IsSucceed)
			{
			AddWcsTaskInput modTask = new AddWcsTaskInput()
			{
			TaskNo = taskNo,
			TaskType = TaskTypeEnum.In,
			PalletNo = strPalletNo,
			Status = TaskStatusEnum.Doing,
			IsSuccess = TaskSuccessEnum.Fail,
			StartLocate = modDevice.StationNum,
			EndLocate = stationNum,
			Type = PLCTypeEnum.ConveyorLine,
			};
			_taskService.Add(modTask);
			WcsTaskMonitor modTaskMonitor = new WcsTaskMonitor()
			// 插入任务明细
			var modInsertTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.PlcId,
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令340：{modDevice.StationNum}储位====》{endLocatVlue}工位",
			PalletNo = palletVal,
			Status = TaskStatusEnum.Complete,
			StartLocat = modDevice.StationNum,
			EndLocat = stationNum,
			Status = TaskStatusEnum.Doing,
			InteractiveMsg = $"向{modDevice.Text}写入指令130，结果{ret.IsSucceed}",
			EndLocat = endLocatVlue,
			};
			_db.Insertable(modTaskMonitor).ExecuteCommand();

			//下发任务日志
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			// 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>());
			}
			}
			}
			break;
			case "140":
			case "620":
			{
			var modPosTask = modDevice.listStation.First(m => m.Text == "任务号");
			var (result, taskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modPosTask.StringLength);
			var modPosPallet = modDevice.listStation.First(m => m.Text == "托盘条码");
			var (res, palletNo) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos, modPosPallet.StringLength);
			WcsTaskMonitor modTaskMonitor = new WcsTaskMonitor();
			WcsTask modTask = new WcsTask();
			if (!result.IsSucceed)
			// 申请储位更新入库任务(储位地址) 630
			var strMsg = "";

			// 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)
			{
			Log.Error($"{plcConn.PlcIP}读取任务号失败");
			return;
			break;
			}
			if (modDevice.StationNum == "10")
			// 获取工位托盘码信息
			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)
			{
			var posModel = modDevice.listStation.First(m => m.Text == "起始工位");
			var (resultS, station) = plcConn.GetPlcDBValue(posModel.PosType, modDevice.DbNumber, posModel.PlcPos);
			if (resultS.IsSucceed)
			break;
			}

			string TaskNo = "";
			// 向WMS申请储位信息
			strMsg = new HttpService().RequestLocate(palletVal, taskVal,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。
			var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskNo == TaskNo);
			modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskInfo.StartLocate).Select(s => s.LedIP).First();
			// 写入流程字 630
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "630");

			if (ret.IsSucceed)
			{
			if (station == 1)
			// 插入任务明细
			var modInsertTaskMonitor = new WcsTaskMonitor()
			{
			WcsTask modInsertTask = new WcsTask()
			{
			TaskNo = _taskService.GetTaskCode(),
			TaskType = TaskTypeEnum.Move,
			Type = PLCTypeEnum.AGV,
			StartLocate = AGVStaionEnum.A1.ToString(),
			EndLocate = AGVStaionEnum.F1.ToString(),
			PalletNo = modTask.PalletNo,
			Status = TaskStatusEnum.Wait,
			Levels = 5,
			Origin = "WCS"
			};
			_db.Insertable(modInsertTask).ExecuteCommand();
			HubUtil.PublicTask(modInsertTask.Adapt<WcsTaskOutput>());
			}
			else if (station == 4)
			{
			WcsTask modInsertTask = new WcsTask()
			{
			TaskNo = _taskService.GetTaskCode(),
			TaskType = TaskTypeEnum.Move,
			Type = PLCTypeEnum.AGV,
			StartLocate = AGVStaionEnum.A1.ToString(),
			EndLocate = AGVStorageUtil.GetPalletInStorage(),
			PalletNo = modTask.PalletNo,
			Status = TaskStatusEnum.Wait,
			Levels = 5,
			Origin = "WCS"
			};
			_db.Insertable(modInsertTask).ExecuteCommand();
			HubUtil.PublicTask(modInsertTask.Adapt<WcsTaskOutput>());
			}
			}
			else
			{
			Log.Error("获取起始工位失败，失败原因" + resultS.Err);
			return;
			TaskNo = TaskNo,
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令340：{modDevice.StationNum}工位申请储位",
			PalletNo = palletVal,
			Status = TaskStatusEnum.Complete,
			StartLocat = modDevice.StationNum,
			EndLocat = strMsg,
			};

			// 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>());

			var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business);
			ledText += $"任务类型:{taskInfo.TaskType.GetDescription()}\n\n";
			ledText += $"任务号:{taskInfo.TaskNo}\n";
			ledText += $"托盘号:{taskInfo.PalletNo}\n\n";
			ledText += $"起始位:{taskInfo.StartRoadway + " " + taskInfo.StartLocate}\n";
			ledText += $"目标位:{taskInfo.EndRoadway + " " + taskInfo.EndLocate}";
			LedDisplay(modDevice.LedIP, ledText);
			}
			}
			var ledText = "";
			if (modDevice.StationNum == "4")
			else
			{
			//todo:led
			ledText += "任务类型:入库\n\n";
			ledText += $"任务号:{taskNo}\n";
			ledText += $"托盘号:{palletNo}\n\n";
			//ledText += $"起始位:10\n";
			//ledText += $"目标位:4";
			// 申请储位失败！LED显示
			Log.Error(string.Format($"申请储位失败:{strMsg},读写plc错误"));
			// led显示内容
			var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business);
			ledText += $"申请入库失败\n\n";
			ledText += $"{strMsg}\n";
			LedDisplay(modDevice.LedIP, ledText);
			}
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "150");
			Log.Information($"向plc{modDevice.PlcIdIP}写入150，结果：{ret.ToJson()}");
			if (ret.IsSucceed)
			{
			string strTaskNo = taskNo;
			modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == strTaskNo);
			if (modTask != null)
			{
			modTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.PlcId,
			PlcName = modDevice.Text,
			StartLocat = modTask.StationNum,
			EndLocat = modTask.EndLocate,
			InteractiveMsg = $"向{modDevice.Text}写入指令150，结果{ret.IsSucceed}",
			};
			modTaskMonitor.Status = TaskStatusEnum.Complete;
			_db.Insertable(modTaskMonitor).ExecuteCommand();
			modTask.FinishDate = DateTime.Now;
			modTask.Status = TaskStatusEnum.Complete;
			_db.Updateable(modTask).ExecuteCommand();

			//下发任务日志
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			}
			}
			break;
			case "630":
			{
			#region plc光电扫描不到托盘后自动清信息

			//// 获取工位托盘码信息
			//var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
			//var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
			//// 获取工位任务号信息
			//var modPosTaskNo = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
			//var (taskRes, taskNoVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTaskNo.PlcPos);
			//if (!res.IsSucceed \|\| !taskRes.IsSucceed)
			//{
			// break;
			//}
			//string pallet = palletVal.ToString();
			//string taskNo = taskNoVal.ToString();
			//// 获取任务信息
			//var modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.PalletNo == pallet && s.Status == TaskStatusEnum.Doing && s.TaskType == TaskTypeEnum.In && s.TaskNo == taskNo);
			//if (modTask == null)
			//{
			// // 此托盘没有对应的转移任务 led显示
			// break;
			//}

			//var sInfo = PLCCommon.GetStokePlc(modTask.EndRoadway, louCeng);
			//if (string.IsNullOrWhiteSpace(sInfo.Ip))
			//{
			// //需加上LED显示
			// Log.Error(string.Format($"根据巷道获取跺机IP失败，请联系管理员"));
			// break;
			//}
			//// 跺机连接
			//var plcStackeConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == sInfo.Ip);
			//if (plcStackeConn.Connected)
			//{
			// // 目标排列层
			// var endLocate = modTask.EndLocate;
			// if (string.IsNullOrWhiteSpace(modTask.EndLocate))
			// {
			// Log.Error(string.Format($"目标位置为空，请人工处理,读写plc错误"));
			// break;
			// }

			// // 转换目标工位排列层 03010301
			// var paiVal = PLCCommon.GetDjAdress(modTask.EndRoadway.Substring(1, 2), endLocate.Substring(0, 2), endLocate.Substring(6, 2));
			// string pai = paiVal.ToString();
			// string lie = int.Parse(endLocate.Substring(2, 2)).ToString();
			// string ceng = int.Parse(endLocate.Substring(4, 2)).ToString();

			// var djmodel = _db.Queryable<WcsPlc>().First(m => m.IP == sInfo.Ip);

			// var djMod = PLCTaskAction.plcDevices.First(m => m.PlcId == djmodel.Id
			// && m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);
			// var djInfos = PLCTaskAction.plcPositions.Where(m => m.IsDelete == false && m.DeviceId == djMod.Id).ToList();
			// var djInfo = djInfos.First(m => m.Text == "PLC流程字");

			// // 获取跺机当前状态
			// var (djRes, djVal) = plcStackeConn.GetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.PlcPos);

			// if (!djRes.IsSucceed \|\| djVal.ToString() != "820")
			// {
			// // 跺机非空闲等待
			// break;
			// }
			// // 给PLC写入任务数据
			// var listResult = new List<Result>();

			// // 任务号、任务类型、托盘号
			// var modPosTask = djInfos.FirstOrDefault(s => s.Text == "任务号");
			// listResult.Add(plcStackeConn.SetPlcDBValue(modPosTask.PosType, djMod.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
			// var modPosTaskType = djInfos.FirstOrDefault(s => s.Text == "任务类型");
			// var taskTypeStr = (int)modTask.TaskType;
			// listResult.Add(plcStackeConn.SetPlcDBValue(modPosTaskType.PosType, djMod.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
			// var modPosPalletNo = djInfos.FirstOrDefault(s => s.Text == "托盘码");
			// listResult.Add(plcStackeConn.SetPlcDBValue(modPosPalletNo.PosType, djMod.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));

			// //起始工位
			// var modPosStrStationNum = djInfos.FirstOrDefault(s => s.Text == "起始工位");
			// listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrStationNum.PosType, djMod.DbNumber, modPosStrStationNum.PlcPos, modDevice.StationNum));

			// //取货排、列、层
			// var modPosStrPai = djInfos.FirstOrDefault(s => s.Text == "取货排");
			// listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrPai.PosType, djMod.DbNumber, modPosStrPai.PlcPos, sInfo.Pai));
			// var modPosStrLie = djInfos.FirstOrDefault(s => s.Text == "取货列");
			// listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrLie.PosType, djMod.DbNumber, modPosStrLie.PlcPos, sInfo.Lie));
			// var modPosStrCeng = djInfos.FirstOrDefault(s => s.Text == "取货层");
			// listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrCeng.PosType, djMod.DbNumber, modPosStrCeng.PlcPos, sInfo.Ceng));
			// //放货排、列、层
			// var modPosEndPai = djInfos.FirstOrDefault(s => s.Text == "放货排");
			// listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndPai.PosType, djMod.DbNumber, modPosEndPai.PlcPos, pai));
			// var modPosEndLie = djInfos.FirstOrDefault(s => s.Text == "放货列");
			// listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndLie.PosType, djMod.DbNumber, modPosEndLie.PlcPos, lie));
			// var modPosEndCeng = djInfos.FirstOrDefault(s => s.Text == "放货层");
			// listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndCeng.PosType, djMod.DbNumber, modPosEndCeng.PlcPos, ceng));

			// if (listResult.All(s => s.IsSucceed))
			// {
			// // 写入跺机 830
			// var retc2 = plcStackeConn.SetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.WcsPos, "830");

			// // 插入任务明细任务明细实体类
			// var modInsertTaskMonitor = new WcsTaskMonitor()
			// {
			// TaskNo = modTask.TaskNo,
			// PlcId = modDevice.Id,
			// PlcName = modDevice.Text,
			// PalletNo = modTask.PalletNo,
			// Status = TaskStatusEnum.Complete,
			// StartLocat = modDevice.StationNum,
			// EndLocat = modTask.EndLocate // 目标储位地址
			// };
			// if (!retc2.IsSucceed)
			// {
			// modInsertTaskMonitor.InteractiveMsg = $"输送线取货工位：{modDevice.StationNum},写入垛机取货任务830失败等待再次写入";
			// // 插入交互日志
			// _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			// //下发任务日志
			// HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			// break;

			// }
			// modInsertTaskMonitor.InteractiveMsg = $"跺机写入指令830：{modDevice.StationNum}工位====》" + modTask.EndLocate + "储位地址!";
			// // 插入交互日志
			// _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			// if (PLCTaskAction.boRefresh)
			// {
			// //下发任务日志
			// HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			// }

			// }




			//}

			#endregion
			}
			break;

			#region 出库交互
			case "420":
			{
			#region 托盘到达拣选工位/出库口
			// 出库口
			// led显示托盘信息
			// 写入430
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "430");

			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 = 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 = Convert.ToString(starVal),
			EndLocat = modDevice.StationNum,
			};

			// 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>());

			modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskInfo.EndLocate).Select(s => s.LedIP).First();

			// led显示内容
			// 根据目标工位号获取对应的LEDIP地址
			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:{taskInfo.TaskNo}\n";
			ledText += $"托盘号:{taskInfo.PalletNo}\n\n";
			ledText += $"起始位:{taskInfo.StartRoadway + " " + taskInfo.StartLocate}\n";
			ledText += $"目标位:{taskInfo.EndRoadway + " " + taskInfo.EndLocate}";
			LedDisplay(ledDevice.LedIP, ledText);
			}
			// 反馈WMS出库完成
			//TaskReques taskReques = new TaskReques();
			//taskReques.taskNo = TaskNo;
			//taskReques.TaskType = "1";
			//taskReques.TaskStatus = "2";
			//bool bl = wcsMySql.RequestTasks(taskReques);
			#endregion
			}
			break;
			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)
			{


			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。"));
			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",
			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
			}
			break;

			#endregion
			default: break;
			}

			}

			/// <summary>
			@@ -651,56 +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>
			@@ -745,6 +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
			@@ -756,7 +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");