WCSNet6.git - Gitblit

			@@ -10,17 +10,13 @@
			using System;
			using System.Data;
			using System.Reflection.Emit;
			using WCS.Application.Entity;
			using WCS.Application.Util;

			namespace WCS.Application;
			public static class PLCService
			{
			private static readonly ISqlSugarClient _db = SqlSugarSetup.ITenant.GetConnectionScope(SqlSugarConst.MainConfigId);
			private static readonly IHubContext<TaskLogHub, ITaskLogHub> _taskLogHubContext;

			static PLCService()
			{
			_taskLogHubContext = App.GetService<IHubContext<TaskLogHub, ITaskLogHub>>();
			}

			public static void OnChangeEvent(object sender, EventArgs e)
			{
			@@ -31,16 +27,16 @@
			switch (mod.Type)
			{
			case PLCTypeEnum.StackingMachine:
			StackingMachine(mod);
			StackingMachine(mod); // 跺机
			break;
			case PLCTypeEnum.ConveyorLine:
			ConveyorLine(mod);
			ConveyorLine(mod); // 托盘输送线
			break;
			case PLCTypeEnum.AGV:
			AGV(mod);
			AGV(mod); // AGV调度
			break;
			case PLCTypeEnum.PalletMachine:
			PalletMachine(mod);
			case PLCTypeEnum.RobotPalletizer:
			RobotPalletizer(mod); // 码垛机器人
			break;
			case PLCTypeEnum.StackingRobot:
			PalletMachine(mod);
			@@ -76,7 +72,7 @@
			}

			// 根据目标地址和巷道获取放货工位对应的排列层
			PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, modTask.TaskType.ToString(),
			PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, ((int)modTask.TaskType).ToString(),
			modTask.StartRoadway, modTask.EndRoadway);

			// 目标工位不为null，需先判断放货工位是否空闲
			@@ -110,8 +106,8 @@
			}
			}

			// 获取转换后的起始排列层
			PlcTaskInfo startTaskInfo = PLCCommon.GetEndPai(modTask.StartLocate.Substring(1, 2),
			// 获取转换后的起始排列层 06010101
			PlcTaskInfo startTaskInfo = PLCCommon.GetEndPai(modTask.StartRoadway.Substring(1, 2), modTask.StartLocate.Substring(2, 2),
			modTask.StartLocate.Substring(0, 2), modTask.StartLocate.Substring(4, 2),
			modTask.StartLocate.Substring(6, 2));

			@@ -141,14 +137,14 @@
			if (listResult.All(s => s.IsSucceed))
			{
			// 写入跺机任务下发完成
			plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "830");
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "830");

			// 将移库任务待执行改为正在执行
			_db.Updateable<WcsTask>()
			.SetColumns(s => s.Status == TaskStatusEnum.Doing)
			.Where(s => s.Id == modTask.Id)
			.ExecuteCommand();
			_taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			WcsTaskMonitor modInsertTaskMonitor;
			if (string.IsNullOrEmpty(taskInfo.EndStation))
			{
			@@ -184,7 +180,7 @@
			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			//下发任务日志
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			//修改led屏信息
			//LedDisplay(modDevice.LedIP, "工位:" + modTask.EndLocate, "出库中 " + $"储位地址：{modTask.StartLocate}", "托盘号:" + modTask.PalletNo);
			}
			@@ -198,12 +194,12 @@
			var (res, val) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTask.PlcPos);

			var modPosEndStation = modDevice.listStation.FirstOrDefault(m => m.Text == "目的工位");
			var (endStationRes, endStation) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTask.PlcPos);
			var (endStationRes, endStation) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosEndStation.PlcPos);
			if (res.IsSucceed)
			{
			// 获取任务信息
			string tasknoVal = val.ToString();
			var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == true);
			var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
			if (modTask == null)
			{
			Log.Error(string.Format("PLC控制字840:未找到对应的任务。"));
			@@ -224,17 +220,17 @@
			{
			// 获取跺机起始工位点位配置,读取起始工位
			var modPosStartStation = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工位");
			var (startStationRes, startStationVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosStartStation.PlcPos);
			var (startStationRes, startStationVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.Short, modDevice.DbNumber, modPosStartStation.PlcPos);
			if (startStationRes.IsSucceed)
			{
			// 根据工位号获取对应的输送线IP
			var plcConveyorConn = PLCCommon.GetPlcIp(startStationVal);
			PLCUtil plcConveyorConn = PLCCommon.GetPlcIp(startStationVal.ToString());
			if (plcConveyorConn.Connected)
			{
			// 向取货工位写入流程字640 取货已完成
			var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == startStationVal
			&& m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == true);
			var retc = plcConveyorConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "640");
			var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == startStationVal.ToString()
			&& m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);

			var modcTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			@@ -242,53 +238,83 @@
			PlcName = ConveyorMod.Text,
			PalletNo = modTask.PalletNo,
			Status = TaskStatusEnum.Complete,
			StartLocat = startStationVal,
			StartLocat = startStationVal.ToString(),
			EndLocat = modTask.EndLocate // 目标储位地址
			};

			// 读取wcs控制字
			var (ress, va1s) = plcConveyorConn.GetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos);
			if (va1s.ToString() == "630")
			{
			modcTaskMonitor.InteractiveMsg = string.Format("工位：{0},写入取货完成:640", startStationVal);
			// 插入交互日志
			_db.Insertable(modcTaskMonitor).ExecuteCommand();
			}

			var retc = plcConveyorConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "640");

			if (!retc.IsSucceed)
			{
			modcTaskMonitor.InteractiveMsg = string.Format("输送线取货工位：{0},写入取货完成640失败等待在次写入", startStationVal);
			modcTaskMonitor.InteractiveMsg = string.Format("工位：{0},写入取货完成640失败", startStationVal);
			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			//下发任务日志
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			break;
			}

			modcTaskMonitor.InteractiveMsg = string.Format("输送线取货工位：{0},写入取货完成640成功", startStationVal);
			// 插入交互日志
			_db.Insertable(modcTaskMonitor).ExecuteCommand();
			//下发任务日志
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}

			// 读取wcs控制字
			var (resss, va1ss) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos);
			if (va1ss.ToString() == "830")
			{
			modInsertTaskMonitor.InteractiveMsg = string.Format("工位：{0}跺机取货完成写入850", startStationVal);
			modInsertTaskMonitor.EndLocat = modTask.EndLocate; // 目标储位地址
			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			}

			// 写入流程控制字
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
			if (!ret.IsSucceed)
			{
			modInsertTaskMonitor.InteractiveMsg = string.Format("工位：{0}跺机取货完成写入850失败,等待再次写入。", startStationVal);
			modInsertTaskMonitor.EndLocat = modTask.EndLocate; // 目标储位地址
			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			break; // 写入失败跳出等待再次写入
			}

			modInsertTaskMonitor.InteractiveMsg = string.Format("输送线取货工位：{0}跺机取货完成850成功", startStationVal);
			modInsertTaskMonitor.EndLocat = modTask.EndLocate; // 目标储位地址
			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			//下发任务日志
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			}
			else if (modTask.TaskType == TaskTypeEnum.Out)
			{
			// 读取wcs控制字
			var (resss, va1ss) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos);
			if (va1ss.ToString() == "830")
			{
			// 记录任务明细
			modInsertTaskMonitor.InteractiveMsg = string.Format("储位地址：{0}取货完成写入850", modTask.StartLocate);
			modInsertTaskMonitor.EndLocat = endStation; // 放货工位
			}
			// 写入流程控制字
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
			if (!ret.IsSucceed)
			{
			modInsertTaskMonitor.InteractiveMsg = string.Format("储位地址：{0}取货完成写入850失败,等待再次写入。", modTask.StartLocate);
			modInsertTaskMonitor.EndLocat = modTask.EndLocate; // 目标储位地址
			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			break; // 写入失败跳出等待再次写入
			}

			// 记录任务明细
			modInsertTaskMonitor.InteractiveMsg = string.Format("储位地址：{0}取货完成", modTask.StartLocate);
			modInsertTaskMonitor.EndLocat = endStation; // 放货工位
			//下发任务日志
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			else
			{
			@@ -301,12 +327,13 @@

			modInsertTaskMonitor.InteractiveMsg = string.Format("储位地址：{0}取货完成", modTask.StartLocate);
			modInsertTaskMonitor.EndLocat = endStation; // 目标储位

			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			//下发任务日志
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}

			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			//下发任务日志
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			//修改led屏信息
			//LedDisplay(modDevice.LedIP, "工位:" + modTask.EndLocate, "出库中 " + $"储位地址：{modTask.StartLocate}", "托盘号:" + modTask.PalletNo);
			}
			@@ -321,7 +348,7 @@
			if (res.IsSucceed)
			{
			string tasknoVal = val.ToString();
			var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == true);
			var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
			if (modTask == null)
			{
			Log.Error(string.Format("跺机控制字860:未找到对应的任务。"));
			@@ -343,8 +370,8 @@
			modTask.Status = TaskStatusEnum.Complete;
			modTask.FinishDate = DateTime.Now;
			_db.Updateable(modTask).ExecuteCommand();
			_taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
			var modcTaskMonitor = new WcsTaskMonitor()
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			var modTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.Id,
			@@ -358,24 +385,34 @@
			if (modTask.Origin == "WMS")
			{
			// 反馈WMS
			var requestMode = new TaskRequest()
			var requestMode = new TaskRequestWMS()
			{
			TaskNo = modTask.TaskNo,
			PalletNo = modTask.PalletNo,
			TaskType = TaskTypeEnum.In,
			TaskStatus = TaskStatusEnum.Complete
			TaskType = ((int)TaskTypeEnum.In).ToString(),
			TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
			};
			HttpService httpService = new HttpService();
			var modResponseTask = httpService.RequestTask(requestMode).Result;
			if (modResponseTask.StatusCode == "0")
			if (modResponseTask.StatusCode == 0)
			{
			modcTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
			modTaskMonitor.InteractiveMsg = "任务完成，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));
			}
			}
			// 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();

			// 插入交互日志
			_db.Insertable(modcTaskMonitor).ExecuteCommand();
			_db.Insertable(modTaskMonitor).ExecuteCommand();
			//下发任务日志
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());

			// led显示内容
			LedDisplay(modDevice.LedIP, "工位:" + modTask.StartLocate, "入库完成 " + $"任务完成:{modTask.TaskNo}", "托盘号:" + modTask.PalletNo);

			// 此处添加不空跑业务
			}
			@@ -390,7 +427,7 @@
			if (plcConveyorConn.Connected)
			{
			// 根据目标地址和巷道获取放货工位对应的排列层
			PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, modTask.TaskType.ToString(),
			PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, ((int)modTask.TaskType).ToString(),
			modTask.StartRoadway, modTask.EndRoadway);
			// 根据工位号获取工位信息
			var wcsDevice = PLCTaskAction.plcDevices.First(s => s.PlcId == plcConveyorConn.PlcId && s.Level == DeviceLevelEnum.Station && s.StationNum == taskInfo.EndStation);
			@@ -401,19 +438,19 @@
			var listResult = new List<Result>();
			//任务号
			var modPosTask = listPos.FirstOrDefault(s => s.Text == "任务号");
			listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
			listResult.Add(plcConveyorConn.SetPlcDBValue(modPosTask.PosType, wcsDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
			//任务类型
			var modPosTaskType = listPos.FirstOrDefault(s => s.Text == "任务类型");
			listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, ((int)modTask.TaskType).ToString()));
			listResult.Add(plcConveyorConn.SetPlcDBValue(modPosTaskType.PosType, wcsDevice.DbNumber, modPosTaskType.PlcPos, ((int)modTask.TaskType).ToString()));
			//托盘号
			var modPosPalletNo = listPos.FirstOrDefault(s => s.Text == "托盘码");
			listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
			listResult.Add(plcConveyorConn.SetPlcDBValue(modPosPalletNo.PosType, wcsDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
			//起始工位
			var modPosLocatNo = listPos.FirstOrDefault(s => s.Text == "起始工位");
			listResult.Add(plcConn.SetPlcDBValue(modPosLocatNo.PosType, modDevice.DbNumber, modPosLocatNo.PlcPos, taskInfo.EndStation));
			listResult.Add(plcConveyorConn.SetPlcDBValue(modPosLocatNo.PosType, wcsDevice.DbNumber, modPosLocatNo.PlcPos, taskInfo.EndStation));
			// 目标工位
			var modPosEndLocatNo = listPos.FirstOrDefault(s => s.Text == "目的工位");
			listResult.Add(plcConn.SetPlcDBValue(modPosEndLocatNo.PosType, modDevice.DbNumber, modPosEndLocatNo.PlcPos, outCode));
			listResult.Add(plcConveyorConn.SetPlcDBValue(modPosEndLocatNo.PosType, wcsDevice.DbNumber, modPosEndLocatNo.PlcPos, outCode));

			// 是否写入成功
			if (listResult.All(s => s.IsSucceed))
			@@ -440,7 +477,15 @@
			// 插入交互日志
			_db.Insertable(modcTaskMonitor).ExecuteCommand();
			//下发任务日志
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			HubUtil.PublicTaskMonitor(modcTaskMonitor.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 taskModel = _db.Queryable<WcsTask>().First(w => w.TaskNo == modTask.TaskNo);
			modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskModel.StartLocate).Select(s => s.LedIP).First();

			// led显示内容
			LedDisplay(modDevice.LedIP, "工位:" + modDevice.StationNum, "出库中 ", "托盘号:" + modTask.PalletNo);

			break;
			}
			}
			@@ -469,8 +514,7 @@
			modTask.FinishDate = DateTime.Now;
			_db.Updateable(modTask).ExecuteCommand();
			//下发任务日志
			_taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());

			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			var modcTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			@@ -485,16 +529,16 @@
			if (modTask.Origin == "WMS")
			{
			// 反馈WMS
			var requestMode = new TaskRequest()
			var requestMode = new TaskRequestWMS()
			{
			TaskNo = modTask.TaskNo,
			PalletNo = modTask.PalletNo,
			TaskType = TaskTypeEnum.Move,
			TaskStatus = TaskStatusEnum.Complete
			TaskType = TaskTypeEnum.Move.ToString(),
			TaskStatus = TaskStatusEnum.Complete.ToString()
			};
			HttpService httpService = new HttpService();
			var modResponseTask = httpService.RequestTask(requestMode).Result;
			if (modResponseTask.StatusCode == "0")
			if (modResponseTask.StatusCode == 0)
			{
			modcTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
			//修改储位信息任务类型执行状态起始位置目标位置
			@@ -504,7 +548,7 @@
			// 插入交互日志
			_db.Insertable(modcTaskMonitor).ExecuteCommand();
			//下发任务日志
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());

			// 此处添加不空跑业务
			}
			@@ -538,7 +582,7 @@
			break;
			modTask.Status = TaskStatusEnum.Exception;
			_db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
			_taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			Log.Information($"【堆垛机】wcs任务变更空取异常，任务号：{modTask.TaskNo}");
			var modTaskRequest = modTask.Adapt<TaskRequest>();
			HttpService httpService = new HttpService();
			@@ -549,7 +593,7 @@
			modTask.IsSuccess = TaskSuccessEnum.Success;
			_db.Updateable(modTask).UpdateColumns(s => s.IsSuccess).ExecuteCommand();
			//下发任务日志
			_taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			}
			else
			{
			@@ -557,7 +601,7 @@
			modTask.IsSuccess = TaskSuccessEnum.Fail;
			modTask.Information = modResponseTask.Message;
			_db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
			_taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			}
			}
			break;
			@@ -578,7 +622,7 @@
			}
			modTask.Status = TaskStatusEnum.Exception;
			_db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
			_taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			Log.Information($"【堆垛机】wcs任务变更满取异常，任务号：{modTask.TaskNo}");
			var modTaskRequest = modTask.Adapt<TaskRequest>();
			HttpService httpService = new HttpService();
			@@ -632,7 +676,7 @@
			// 插入交互日志
			_db.Insertable(modcTaskMonitor).ExecuteCommand();
			//下发任务日志
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}

			}
			@@ -649,6 +693,164 @@
			break;
			}
			}
			/// <summary>
			/// 堆垛机不空跑
			/// </summary>
			/// <param name="modTask">操作完成的任务</param>
			/// <param name="plcConn">plc连接</param>
			/// <param name="modDevice">设备信息</param>
			private static void ContinuousOperation(WcsTask modTask, PLCUtil plcConn, WcsDeviceDto modDevice)
			{
			// 查询所有待执行的任务
			var listTask = _db.Queryable<WcsTask>().Where(s => s.Status == TaskStatusEnum.Wait).ToList();
			WcsTask modNextTask = null;
			switch (modTask.TaskType)
			{
			case TaskTypeEnum.In:
			{
			// 先找出对应排列层的入库任务
			var listInTask = listTask.Where(s => s.TaskType == TaskTypeEnum.In)
			.Select(s => s.EndLocate.Substring(0, 6))
			.ToHashSet();

			// 找出库任务，对应巷道的任务
			var listNextTask = listTask.Where(s => s.TaskType == TaskTypeEnum.Out && s.StartRoadway == modTask.EndRoadway).ToList();

			foreach (var modNext in listNextTask)
			{
			// 如果有对应排列层的入库任务，那就不能优先执行
			if (listInTask.Contains(modNext.EndLocate.Substring(0, 6)))
			{
			continue;
			}

			// todo: 写入modNext任务信息给plc
			Console.WriteLine($"入库任务{modTask.TaskNo}执行完成后，不空跑逻辑检测下一任务为{modNext.TaskNo}");
			modNextTask = modNext;
			break;
			}
			}
			break;
			case TaskTypeEnum.Out:
			{
			// 先找出对应排列层的出库任务
			var listInTask = listTask.Where(s => s.TaskType == TaskTypeEnum.Out)
			.Select(s => s.EndLocate.Substring(0, 6))
			.ToHashSet();

			// 找入库任务，对应巷道的任务
			var listNextTask = listTask.Where(s => s.TaskType == TaskTypeEnum.In && s.StartRoadway == modTask.EndRoadway).ToList();

			foreach (var modNext in listNextTask)
			{
			// 如果有对应排列层的出库任务，那就不能优先执行
			if (listInTask.Contains(modNext.EndLocate.Substring(0, 6)))
			{
			continue;
			}

			// todo: 写入modNext任务信息给plc
			Console.WriteLine($"出库任务{modTask.TaskNo}执行完成后，不空跑逻辑检测下一任务为{modNext.TaskNo}");
			modNextTask = modNext;
			break;
			}
			}
			break;
			case TaskTypeEnum.Move:
			{
			var modDevicePos = _db.Queryable<WcsDevice>().Where(s => s.PlcId == plcConn.PlcId && s.DeviceType == DeviceTypeEnum.Show).First();
			var (result, value) = plcConn.GetPlcDBValue(modDevicePos.PosType, modDevicePos.DbNumber, modDevicePos.PlcPos);
			//当前堆垛机所在位置
			var height = Math.Round(value / 790000d * 200).ToInt();
			//todo:这里看能不能找到堆垛机所在位置在哪个排列层，优先寻找附近的任务？
			}
			break;
			}
			if (modNextTask != null)
			{
			// 获取转换后的起始排列层 06010101
			PlcTaskInfo startTaskInfo = PLCCommon.GetEndPai(modTask.StartRoadway.Substring(1, 2), modTask.StartLocate.Substring(2, 2),
			modTask.StartLocate.Substring(0, 2), modTask.StartLocate.Substring(4, 2),
			modTask.StartLocate.Substring(6, 2));

			// 给PLC写入任务数据
			var listResult = new List<Result>();
			// 任务号托盘号
			var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
			listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
			var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
			listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
			// 起始排列层
			var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "取货排");
			listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, startTaskInfo.EndPai));
			var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "取货列");
			listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, startTaskInfo.EndLie));
			var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "取货层");
			listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, startTaskInfo.EndCeng));
			// 目标放货工位(固定排列层)
			PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, ((int)modTask.TaskType).ToString(),
			modTask.StartRoadway, modTask.EndRoadway);
			var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "放货排");
			listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, taskInfo.EndPai));
			var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "放货列");
			listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, taskInfo.EndLie));
			var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "放货层");
			listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, taskInfo.EndCeng));

			// 是否写入成功
			if (listResult.All(s => s.IsSucceed))
			{
			// 写入跺机任务下发完成
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "830");

			// 将移库任务待执行改为正在执行
			_db.Updateable<WcsTask>()
			.SetColumns(s => s.Status == TaskStatusEnum.Doing)
			.Where(s => s.Id == modTask.Id)
			.ExecuteCommand();
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			WcsTaskMonitor modInsertTaskMonitor;
			if (string.IsNullOrEmpty(taskInfo.EndStation))
			{
			// 同巷道移库
			modInsertTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令：{modTask.StartLocate}储位====》{modTask.EndLocate}储位。",
			PalletNo = modTask.PalletNo,
			Status = TaskStatusEnum.Complete,
			StartLocat = modTask.StartLocate,
			EndLocat = modTask.EndLocate,
			};
			}
			else
			{
			// 出库任务跨巷道移库
			modInsertTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令：{modTask.StartLocate}储位====》{taskInfo.EndStation}工位。",
			PalletNo = modTask.PalletNo,
			Status = TaskStatusEnum.Complete,
			StartLocat = modTask.StartLocate,
			EndLocat = modTask.EndLocate,
			};
			}

			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			//下发任务日志
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			//修改led屏信息
			//LedDisplay(modDevice.LedIP, "工位:" + modTask.EndLocate, "出库中 " + $"储位地址：{modTask.StartLocate}", "托盘号:" + modTask.PalletNo);
			}
			}
			}

			/// <summary>
			/// 输送线业务处理
			/// </summary>
			@@ -680,12 +882,16 @@
			var http = new HttpService();
			string TaskNo = "", EndLocate = "";
			strMsg = http.RequestRoadWay(palletVal, modDevice.StationNum, taskModel, louCeng, 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
			@@ -700,30 +906,27 @@
			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
			if (PLCTaskAction.boRefresh)
			{
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			// led更新内容
			//DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
			//LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			// led显示内容
			LedDisplay(modDevice.LedIP, "工位:" + modDevice.StationNum, "申请入库 " + $"目标巷道：{EndLocate}", "托盘号:" + palletVal);
			}

			}
			else
			{
			// 申请巷道失败！LED显示
			Log.Error(string.Format($"申请巷道失败:{ strMsg },读写plc错误"));
			Log.Error(string.Format($"申请巷道失败:{strMsg},读写plc错误"));
			}
			}
			break;
			case "330":
			{

			// 写入任务托盘移动 340

			// 获取工位托盘码信息
			@@ -735,13 +938,13 @@
			}
			string pallet = palletVal.ToString();
			// 获取任务信息
			var modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.PalletNo == pallet && (s.Status == TaskStatusEnum.Wait \|\| s.Status == TaskStatusEnum.Doing) && s.TaskType == TaskTypeEnum.In && s.StartRoadway == modDevice.StationNum);
			var modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.PalletNo == pallet && (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;
			}


			// 获取巷道口入库工位
			string endLocatVlue = PLCCommon.RoadwayToStationNum(modTask.EndRoadway, louCeng);
			// 给PLC写入任务数据
			@@ -749,8 +952,9 @@
			// 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.TaskNo));
			var modPosTaskType = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
			listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, modTask.TaskType.ToString()));
			var modPosTaskType = modDevice.listStation.FirstOrDefault(s => s.Text == "任务类型");
			var taskTypeStr = (int)modTask.TaskType;
			listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
			var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
			listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
			// 起始工位、目的工位
			@@ -758,7 +962,7 @@
			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))
			{
			@@ -768,10 +972,12 @@
			.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)
			{
			// 插入任务明细
			@@ -791,13 +997,10 @@
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();

			// 通知任务界面任务已存在更新请更新界面
			if (PLCTaskAction.boRefresh)
			{
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());

			// led更新内容
			//LedDisplay(modDevice.LedIP, "工位:" + modTask.EndLocate, "出库中 " + $"储位地址：{modTask.StartLocate}", "托盘号:" + modTask.PalletNo);
			// led显示内容
			LedDisplay(modDevice.LedIP, "工位:" + modDevice.StationNum, "入库中 " + $"目标巷道：{endLocatVlue}", "托盘号:" + palletVal);
			}
			}

			@@ -806,7 +1009,7 @@
			case "620":
			{
			// 申请储位更新入库任务(储位地址) 630


			var strMsg = "";
			var taskModel = "";
			// 判断是否演示模式
			@@ -832,6 +1035,11 @@
			string TaskNo = "";
			// 向WMS申请储位信息
			strMsg = http.RequestLocate(palletVal, modDevice.StationNum, taskModel, roadway, ref TaskNo);

			// 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();

			if (!strMsg.Contains("-1"))
			{
			// 写入流程字 630
			@@ -856,13 +1064,9 @@
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();

			// 通知任务界面任务已存在更新请更新界面
			if (PLCTaskAction.boRefresh)
			{
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			// led更新内容
			//DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
			//LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			// led显示内容
			LedDisplay(modDevice.LedIP, "工位:" + modDevice.StationNum, "入库中 " + $"申请储位地址:{strMsg}", "托盘号:" + palletVal);
			}
			}
			else
			@@ -870,7 +1074,7 @@
			// 申请储位失败！LED显示
			Log.Error(string.Format($"申请储位失败:{strMsg},读写plc错误"));
			}


			}
			break;
			case "630":
			@@ -880,10 +1084,10 @@
			// 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);
			// 获取工位托盘码信息
			// 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 )
			if (!res.IsSucceed \|\| !taskRes.IsSucceed)
			{
			break;
			}
			@@ -896,13 +1100,13 @@
			// 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;
			break;
			}
			// 跺机连接
			var plcStackeConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == sInfo.Ip);
			@@ -921,15 +1125,17 @@
			string lie = int.Parse(endLocate.Substring(2, 2)).ToString();
			string ceng = int.Parse(endLocate.Substring(4, 2)).ToString();

			var djMod = PLCTaskAction.plcDevices.First(m => m.StationNum == modTask.EndRoadway
			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 != "820")

			if (!djRes.IsSucceed \|\| djVal.ToString() != "820")
			{
			// 跺机非空闲等待
			break;
			@@ -941,12 +1147,13 @@
			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");
			listResult.Add(plcStackeConn.SetPlcDBValue(modPosTaskType.PosType, djMod.DbNumber, modPosTaskType.PlcPos, modTask.TaskType.ToString()));
			var modPosPalletNo = djInfos.FirstOrDefault(s => s.Text == "托盘号");
			listResult.Add(plcStackeConn.SetPlcDBValue(modPosPallet.PosType, djMod.DbNumber, modPosPallet.PlcPos, modTask.PalletNo));

			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 == "取货排");
			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
			@@ -986,7 +1193,7 @@
			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			//下发任务日志
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			break;

			}
			@@ -994,17 +1201,18 @@
			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			if (PLCTaskAction.boRefresh)
			{ //下发任务日志
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			{
			//下发任务日志
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}

			}




			}




			}


			#endregion
			}
			break;
			@@ -1017,7 +1225,7 @@
			// 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");
			@@ -1043,14 +1251,14 @@
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();

			// 通知任务界面任务已存在更新请更新界面
			if (PLCTaskAction.boRefresh)
			{
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}

			// led更新内容
			//DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
			//LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
			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.StartLocate).Select(s => s.LedIP).First();

			// led显示内容
			LedDisplay(modDevice.LedIP, "到达工位:" + modDevice.StationNum, "出库完成 " + $"储位地址：{modInsertTaskMonitor.StartLocat}", "托盘号:" + palletVal);
			}
			// 反馈WMS出库完成
			//TaskReques taskReques = new TaskReques();
			@@ -1074,30 +1282,61 @@
			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);
			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;
			_db.Updateable(modTask).ExecuteCommand();
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			// 插入任务明细
			var modInsertTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = taskVal,
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令450：{modDevice.StationNum}拣选完成,托盘离开工位",
			PalletNo = palletVal,
			Status = TaskStatusEnum.Complete,
			StartLocat = starVal,
			StartLocat = starVal.ToString(),
			EndLocat = modDevice.StationNum,
			};
			if (modTask.Origin == "WMS")
			{
			// 反馈WMS
			var requestMode = new TaskRequestWMS()
			{
			TaskNo = modTask.TaskNo,
			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
			if (PLCTaskAction.boRefresh)
			{
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			// led更新内容
			//DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
			//LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			// led显示内容
			modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == modTask.StartLocate).Select(s => s.LedIP).First();
			LedDisplay(modDevice.LedIP, "工位:" + modTask.StartLocate, $"拣选完成，托盘离开工位", "托盘号:" + modTask.PalletNo);
			}
			#endregion
			}
			@@ -1123,14 +1362,150 @@
			/// <param name="modDevice"></param>
			private static void PalletMachine(WcsDeviceDto modDevice)
			{
			var plcConn = modDevice.PLCUtil;
			switch (modDevice.Value.ToString())
			{
			case "220":
			// 注释1
			{

			}
			break;
			case "230":
			// 注释2
			{

			}
			break;
			case "240":
			{

			}
			break;
			default: break;
			}
			}

			/// <summary>
			/// 码垛机器人业务处理
			/// </summary>
			/// <param name="modDevice"></param>
			private static void RobotPalletizer(WcsDeviceDto modDevice)
			{
			var plcConn = modDevice.PLCUtil;
			switch (modDevice.Value.ToString())
			{
			case "1":
			// 主扫申请分道 wcs写入2
			{

			var taskModel = "";
			// 判断是否演示模式
			if (PLCTaskAction.boDemo)
			{
			// 演示模式
			taskModel = "1";

			// 直接
			}
			else
			{
			// 通道号
			var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "通道号");

			// 读取plc箱码
			var modBoxNo = modDevice.listStation.FirstOrDefault(m => m.Text == "箱码");
			var (res, boxNo) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modBoxNo.PlcPos);
			if (string.IsNullOrWhiteSpace(boxNo.ToString()))
			{
			// 箱码为null写入剔除通道号
			var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
			if (ret.IsSucceed)
			{
			// 写入流程控制字 2
			var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
			if (retVal.IsSucceed)
			{
			Log.Error("箱码为null进行剔除");
			break;
			}
			}
			}
			else
			{
			// 根据箱码获取箱内信息
			string boxNoVal = boxNo.ToString();
			var boxInfo = _db.Queryable<WcsBoxInfo>().First(w => w.IsDelete == false && w.BoxNo == boxNoVal && string.IsNullOrEmpty(w.PalletNo));
			if (boxInfo == null)
			{
			// 箱信息为null写入剔除通道号
			var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
			if (ret.IsSucceed)
			{
			// 写入流程控制字 2
			var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
			if (retVal.IsSucceed)
			{
			Log.Error("箱码为null或已绑定托盘，进行剔除。");
			break;
			}
			}
			}
			// 根据箱内品种号获取码躲绑定工位及对应的分道号
			var checkTaskInfo = _db.Queryable<WcsCheckTask>().First(w => w.SkuNo == boxInfo.SkuNo && w.SkuName == boxInfo.SkuName && w.LotNo == boxInfo.LotNo);
			if (checkTaskInfo == null)
			{
			// 绑定信息为null写入剔除通道号
			var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
			if (ret.IsSucceed)
			{
			// 写入流程控制字 2
			var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
			if (retVal.IsSucceed)
			{
			Log.Error("箱码未绑定分拣任务，进行剔除。");
			break;
			}
			}
			}
			else
			{
			// 与plc交互写入分道号和流程控制字
			var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, checkTaskInfo.RoboatNo);
			if (ret.IsSucceed)
			{
			// 写入流程控制字 2
			var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
			if (retVal.IsSucceed)
			{
			break;
			}
			}
			}
			}
			}
			}
			break;
			case "230":
			// 注释2
			{

			}
			break;
			case "240":
			{

			}
			break;
			default: break;
			}
			}

			/// <summary>
			/// 拆垛机器人业务处理
			/// </summary>
			/// <param name="modDevice"></param>
			private static void StackingRobot(WcsDeviceDto modDevice)
			private static void StackingRobot(WcsDeviceDto modDevice)
			{
			var plcConn = modDevice.PLCUtil;
			switch (modDevice.Value.ToString())
			@@ -1145,6 +1520,23 @@
			}
			}

			/// <summary>
			/// Led屏展示信息
			/// </summary>
			/// <param name="ip">地址</param>
			/// <param name="top">上方区域</param>
			/// <param name="content">中间区域</param>
			/// <param name="foot">底部区域</param>
			private static void LedDisplay(string ip, string top, string content, string foot)
			{
			try
			{
			LedDll Led = new LedDll();
			Led.LEDstr(ip, top, content, foot);
			}
			catch { }
			}

			private static void Test(WcsDeviceDto modDevice)
			{
			//写死测试读string