WCSNet6.git - Gitblit

			@@ -1,26 +1,34 @@

			using Dm.filter;
			using DocumentFormat.OpenXml.Bibliography;
			using DocumentFormat.OpenXml.Drawing.Charts;
			using Elastic.Clients.Elasticsearch.Snapshot;
			using Elastic.Clients.Elasticsearch.Tasks;
			using Flurl.Util;
			using Furion.Logging;
			using IoTClient;
			using Microsoft.AspNetCore.SignalR;
			using NewLife.Reflection;
			using Qiniu.Storage;
			using RazorEngine.Compilation.ImpromptuInterface.Dynamic;
			using SKIT.FlurlHttpClient.Wechat.TenpayV3.ExtendedSDK.Global.Models;
			using System;
			using System.Data;
			using System.Reflection.Emit;
			using WCS.Application.Entity;
			using WCS.Application.Service.WcsDevice.Dto;
			using WCS.Application.Util;
			using static SKIT.FlurlHttpClient.Wechat.Api.Models.CgibinExpressIntracityUpdateStoreRequest.Types;
			using static SKIT.FlurlHttpClient.Wechat.Api.Models.NontaxInsertBillRequest.Types.CardExtra.Types.BillCard.Types;

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

			static PLCService()
			{
			_taskLogHubContext = App.GetService<IHubContext<TaskLogHub, ITaskLogHub>>();
			}
			private static readonly ISqlSugarClient _db = SqlSugarSetup.ITenant.GetConnectionScope(SqlSugarConst.MainConfigId);

			private static int fendao = 1;

			public static void OnChangeEvent(object sender, EventArgs e)
			{
			@@ -31,19 +39,19 @@
			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.BoxConveyorLine:
			BoxConveyorLine(mod); // 码垛机器人
			break;
			case PLCTypeEnum.StackingRobot:
			PalletMachine(mod);
			StackingRobot(mod); //拆垛机器人
			break;
			default:
			break;
			@@ -61,41 +69,67 @@
			private static void StackingMachine(WcsDeviceDto modDevice)
			{
			var plcConn = modDevice.PLCUtil;
			string ledText = "";
			switch (modDevice.Value.ToString())
			{
			case "820":
			// 跺机空闲，获取出库任务、移库任务
			{
			// 获取任务信息
			var modTask = _db.Queryable<WcsTask>().OrderBy(m => m.CreateTime).OrderBy(m => m.Levels, OrderByType.Desc)
			var modTask = _db.Queryable<WcsTask>().OrderBy(m => m.Levels, OrderByType.Asc).OrderBy(m => m.CreateTime)
			.First(s => s.Status == TaskStatusEnum.Wait && (s.TaskType == TaskTypeEnum.Out \|\| s.TaskType == TaskTypeEnum.Move)
			&& s.StartRoadway == modDevice.StationNum);
			if (modTask == null)
			{
			break;
			}

			// 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(),
			modTask.StartRoadway, modTask.EndRoadway);

			// 目标工位不为null，需先判断放货工位是否空闲
			if (!string.IsNullOrEmpty(taskInfo.EndStation))
			//判断出库锁定是否打开
			if (PLCTaskAction.boOutLock)
			{
			// 打开对应的输送线连接
			var plcConveyorConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == taskInfo.Ip);
			if (plcConveyorConn.Connected)
			{
			// 获取放货工位配置信息
			var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == taskInfo.EndStation
			&& m.DeviceType == DeviceTypeEnum.Business);
			break;//出库锁定打开则不执行出库任务
			}

			var (result, value) = plcConveyorConn.GetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.PlcPos);
			if (result.IsSucceed)
			PlcTaskInfo taskInfo = new PlcTaskInfo();
			if (modTask.TaskType == TaskTypeEnum.Move)
			{
			taskInfo = PLCCommon.GetEndPai(modTask.EndRoadway.Substring(1, 2), modTask.EndLocate.Substring(2, 2),
			modTask.EndLocate.Substring(0, 2), modTask.EndLocate.Substring(4, 2),
			modTask.EndLocate.Substring(6, 2));

			}
			else
			{
			// 根据目标地址和巷道获取放货工位对应的排列层
			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
			if (!string.IsNullOrEmpty(taskInfo.EndStation))
			{
			// 打开对应的输送线连接
			var plcConveyorConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == taskInfo.Ip);
			if (plcConveyorConn.Connected)
			{
			if (value.ToString() != "720") // 720:放货空位空闲，可放货
			// 获取放货工位配置信息
			var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == taskInfo.EndStation
			&& m.DeviceType == DeviceTypeEnum.Business);

			var (result, value) = plcConveyorConn.GetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.PlcPos);
			if (result.IsSucceed)
			{
			Log.Error(string.Format("任务号:{0}:放货工位占用，稍后执行。", modTask.TaskNo));
			if (value.ToString() != "720") // 720:放货空位空闲，可放货
			{
			Log.Error(string.Format("任务号:{0}:放货工位占用，稍后执行。", modTask.TaskNo));
			break;
			}
			else if (value.ToString() == "720")
			{
			// 若空闲提前占用此工位，同工位出入公用口放开此程序
			// var ret = plcConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "730");
			}
			}
			else
			{
			break;
			}
			}
			@@ -104,14 +138,10 @@
			break;
			}
			}
			else
			{
			break;
			}
			}

			// 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 +171,14 @@
			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))
			{
			@@ -184,9 +214,16 @@
			// 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);
			var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == taskInfo.EndStation && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business);
			ledText += $"任务类型:{modTask.TaskType.GetDescription()}\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);
			}
			}
			break;
			@@ -198,12 +235,12 @@
			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 +261,17 @@
			{
			// 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 +279,84 @@
			PlcName = ConveyorMod.Text,
			PalletNo = modTask.PalletNo,
			Status = TaskStatusEnum.Complete,
			StartLocat = startStationVal,
			StartLocat = startStationVal.ToString(),
			EndLocat = modTask.EndLocate // 目标储位地址
			};
			if (!retc.IsSucceed)

			// 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("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", startStationVal);
			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			_db.Insertable(modcTaskMonitor).ExecuteCommand();

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

			if (!retc.IsSucceed)
			{
			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
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			break;
			}

			//下发任务日志
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			break;
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}

			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>());
			}

			// 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
			{
			@@ -301,14 +369,13 @@

			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);
			}
			}
			break;
			@@ -321,8 +388,8 @@
			if (res.IsSucceed)
			{
			string tasknoVal = val.ToString();
			var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == true);
			if (modTask == null)
			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。"));
			break;
			@@ -343,8 +410,8 @@
			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,
			@@ -358,25 +425,43 @@
			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("c：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
			}
			}
			// 插入交互日志
			_db.Insertable(modcTaskMonitor).ExecuteCommand();
			//下发任务日志
			_taskLogHubContext.Clients.All.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。
			modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == modTask.StartLocate).Select(s => s.LedIP).First();

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

			// led显示内容
			var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modTask.StartLocate && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business);
			ledText += $"入库完成\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);
			// 此处添加不空跑业务
			}
			break;
			@@ -390,7 +475,7 @@
			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 +486,19 @@
			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 +525,8 @@
			// 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>());

			break;
			}
			}
			@@ -452,25 +538,25 @@
			case TaskTypeEnum.Move: // 移库任务
			{
			var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
			var result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo);
			var result = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo);
			if (!result.IsSucceed)
			{
			Log.Error($"{modDevice.Text}写入任务号失败");
			break;
			}
			result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "30");
			result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
			if (!result.IsSucceed)
			{
			Log.Error($"{modDevice.Text}控制字写入30失败");
			Log.Error($"{modDevice.Text}控制字写入870失败");
			break;
			}
			// 改变任务状态
			modTask.Status = TaskStatusEnum.Complete;
			modTask.FinishDate = DateTime.Now;
			modTask.Levels = 999;
			_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,
			@@ -485,26 +571,29 @@
			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 = ((int)TaskTypeEnum.Move).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";
			//修改储位信息任务类型执行状态起始位置目标位置

			}
			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(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
			}
			@@ -530,7 +619,7 @@
			var modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
			if (modTask == null)
			{
			Log.Error($"【堆垛机】当前任务号不存在对应的任务，任务号：{modTask.TaskNo}");
			Log.Error($"【堆垛机】当前任务号不存在对应的任务，任务号：{TaskNo}");
			break;
			}
			var res = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "844");
			@@ -538,7 +627,7 @@
			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($"【堆垛机】wcs任务变更空取异常，任务号：{modTask.TaskNo}");
			var modTaskRequest = modTask.Adapt<TaskRequest>();
			HttpService httpService = new HttpService();
			@@ -549,7 +638,7 @@
			modTask.IsSuccess = TaskSuccessEnum.Success;
			_db.Updateable(modTask).UpdateColumns(s => s.IsSuccess).ExecuteCommand();
			//下发任务日志
			_taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			}
			else
			{
			@@ -557,7 +646,7 @@
			modTask.IsSuccess = TaskSuccessEnum.Fail;
			modTask.Information = modResponseTask.Message;
			_db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
			_taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			}
			}
			break;
			@@ -565,7 +654,7 @@
			{
			//满放货异常
			var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
			var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘号");
			var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
			var (result, TaskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
			if (!result.IsSucceed)
			break;
			@@ -573,12 +662,12 @@
			var modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
			if (modTask == null)
			{
			Log.Error($"【堆垛机】当前任务号不存在对应的任务，任务号：{modTask.TaskNo}");
			Log.Error($"【堆垛机】当前任务号不存在对应的任务，任务号：{TaskNo}");
			break;
			}
			modTask.Status = TaskStatusEnum.Exception;
			_db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
			_taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			Log.Information($"【堆垛机】wcs任务变更满取异常，任务号：{modTask.TaskNo}");
			var modTaskRequest = modTask.Adapt<TaskRequest>();
			HttpService httpService = new HttpService();
			@@ -602,17 +691,38 @@
			string storey = int.Parse(endLocat.Substring(4, 2)).ToString();

			// 给PLC写入任务数据
			//var listResult = new List<Result>();
			//// 任务号托盘号
			//listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
			//listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
			//// 起始排列层
			//listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, "2"));
			//listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, "100"));
			//listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, "1"));
			//listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, row));
			//listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, column));
			//listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, storey));

			PlcTaskInfo taskInfo = new PlcTaskInfo();
			taskInfo = PLCCommon.GetEndPai(modTask.EndRoadway.Substring(1, 2), modTask.EndLocate.Substring(2, 2),
			modTask.EndLocate.Substring(0, 2), modTask.EndLocate.Substring(4, 2),
			modTask.EndLocate.Substring(6, 2));

			// 给PLC写入任务数据
			var listResult = new List<Result>();
			// 任务号托盘号
			modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
			listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
			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
			listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, "2"));
			listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, "100"));
			listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, "1"));
			listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, row));
			listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, column));
			listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, storey));
			// 目标放货工位(固定排列层)
			modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "放货排");
			listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, taskInfo.EndPai));
			modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "放货列");
			listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, taskInfo.EndLie));
			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))
			{
			@@ -632,7 +742,7 @@
			// 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>());
			}

			}
			@@ -650,14 +760,177 @@
			}
			}
			/// <summary>
			/// 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>
			/// <param name="modDevice"></param>
			private static void ConveyorLine(WcsDeviceDto modDevice)
			{
			var plcConn = modDevice.PLCUtil;
			// 获取楼层数
			// 获取楼层数ceshi
			var louCeng = PLCCommon.GetRoadwayByStationNew(modDevice.StationNum);
			if (louCeng == "")
			{
			return;
			}
			var ledText = "";
			switch (modDevice.Value.ToString())
			{
			case "320":
			@@ -665,23 +938,102 @@
			// 申请巷道
			string strMsg = "";
			string taskModel = "";
			// 判断是否演示模式
			if (PLCTaskAction.boDemo)
			{
			taskModel = "1";// 演示模式
			}

			// 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);
			if (!res.IsSucceed)
			{
			break;
			}
			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 (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 += $"入库任务已锁定，请解锁后重试!\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;
			}

			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 = "";

			//根据工位判断是否为叠托机工位申请空托盘跺入库，是：向WMS申请空托盘跺组托
			string groupMsg = "";
			if (modDevice.StationNum == "27")
			{
			var (res2,Qty) = plcConn.GetPlcDBValue(PLCDataTypeEnum.Short,"DB135","0");//获取叠托机叠托数量

			groupMsg = http.BindPlnInHouseWcs(Qty.ToString(), palletVal);

			if (groupMsg.Contains("-1"))
			{
			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;
			}
			}
			string IsBale = "0";
			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
			@@ -696,25 +1048,62 @@
			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)
			//判断是否裹包
			var gbPos = modDevice.listStation.FirstOrDefault(s => s.Text == "Element_1");
			strMsg = new HttpService().RequestPackWcs(palletVal);
			if (strMsg == "1")
			{
			_taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			//写入裹包指令
			ret = plcConn.SetPlcDBValue(gbPos.PosType, modDevice.DbNumber, gbPos.PlcPos, "2");
			}
			// 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);
			else
			{
			ret = plcConn.SetPlcDBValue(gbPos.PosType, modDevice.DbNumber, gbPos.PlcPos, "1");
			}

			// 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
			{
			// 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"));
			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;
			@@ -725,15 +1114,24 @@
			// 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);
			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.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;
			}

			//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
			}

			// 获取巷道口入库工位
			string endLocatVlue = PLCCommon.RoadwayToStationNum(modTask.EndRoadway, louCeng);
			// 给PLC写入任务数据
			@@ -741,8 +1139,9 @@
			// 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
			@@ -750,7 +1149,7 @@
			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))
			{
			@@ -760,10 +1159,12 @@
			.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
			@@ -783,13 +1184,8 @@
			_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);
			}
			}

			@@ -798,7 +1194,7 @@
			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
			@@ -816,12 +1212,20 @@
			// 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);
			if (!res.IsSucceed)
			{
			break;
			}
			var http = new HttpService();
			string TaskNo = "";
			// 向WMS申请储位信息
			strMsg = http.RequestLocate(palletVal, modDevice.StationNum, taskModel, roadway, ref TaskNo);

			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");

			@@ -844,21 +1248,28 @@
			_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>());

			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 += $"目标位:{taskInfo.EndRoadway + " " + taskInfo.EndLocate}";
			LedDisplay(modDevice.LedIP, ledText);
			}
			}
			else
			{
			// 申请储位失败！LED显示
			Log.Error(string.Format($"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);
			}


			}
			break;
			case "630":
			@@ -868,9 +1279,13 @@
			// 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)
			{
			break;
			}
			string pallet = palletVal.ToString();
			string taskNo = taskNoVal.ToString();
			// 获取任务信息
			@@ -880,11 +1295,13 @@
			// 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))
			{
			throw new Exception("根据巷道获取跺机IP失败，请联系管理员");
			//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);
			@@ -898,19 +1315,23 @@
			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 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 (djVal != "820")

			if (!djRes.IsSucceed \|\| djVal.ToString() != "820")
			{
			// 跺机非空闲等待
			break;
			@@ -922,12 +1343,13 @@
			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
			@@ -967,7 +1389,7 @@
			// 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;

			}
			@@ -975,22 +1397,23 @@
			// 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;
			#region 出库交互

			#region 出库交互
			case "420":
			{
			#region 托盘到达拣选工位/出库口
			@@ -998,7 +1421,7 @@
			// 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");
			@@ -1007,6 +1430,9 @@
			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();
			////string b = taskVal.GetValue();
			//string a = palletVal.ToString();
			// 插入任务明细
			var modInsertTaskMonitor = new WcsTaskMonitor()
			{
			@@ -1016,22 +1442,30 @@
			InteractiveMsg = $"写入指令430：托盘到达{modDevice.StationNum}工位",
			PalletNo = palletVal,
			Status = TaskStatusEnum.Complete,
			StartLocat = starVal,
			StartLocat = starVal.ToString(),
			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
			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.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();
			@@ -1055,35 +1489,318 @@
			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;
			modTask.Levels = 999;
			_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",
			InteractiveMsg = $"写入指令450：{modDevice.StationNum}出库完成",
			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 + 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
			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
			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

			#region 叫空托盘跺
			case "50":
			// plc申请空托
			{
			// 防止重复叫空托跺
			var (res, palletVal) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos);
			if (palletVal != 0)
			{
			break;
			}

			// 调用WMS空托出库接口，返回出库任务存入出库表
			var strMsg = "";
			var http = new HttpService();
			strMsg = http.IssuePlnOutHouseWcs("1", "205");
			if (!strMsg.Contains("-1"))
			{
			// 写入plc流程字60
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "60");
			}
			else
			{
			// 申请巷道失败！LED显示
			Log.Error(string.Format($"工位号：{modDevice.StationNum}申请空托跺失败:{strMsg};"));
			}
			}
			break;
			case "80":
			// 空托盘跺已到位
			{
			// 调用wms任务出库任务完成
			// 获取跺机点位配置
			var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
			var (res, val) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
			// 根据任务号获取任务信息
			if (res.IsSucceed)
			{
			string tasknoVal = val.ToString();
			var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
			if (modTask == null)
			{
			//Log.Error(string.Format($"工位号：{modDevice.StationNum}空托盘到达，未找到对应的任务!任务号{tasknoVal};"));
			break;
			}
			// 写入plc流程字90
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "90");
			if (ret.IsSucceed)
			{
			// 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>());
			var modTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			PalletNo = modTask.PalletNo,
			Status = TaskStatusEnum.Complete,
			StartLocat = modTask.StartLocate,
			EndLocat = modTask.EndLocate,
			InteractiveMsg = $"任务完成"
			};
			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)
			{
			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));
			}
			}
			// 插入交互日志
			_db.Insertable(modTaskMonitor).ExecuteCommand();
			//下发任务日志
			HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			}
			}
			break;
			#endregion
			case "10":
			{
			#region 缠膜完成
			// 获取工位托盘码信息
			var strMsg = "";
			var http = new HttpService();
			var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
			var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);

			//向WMS反馈托盘缠膜完成
			strMsg = http.RequestPackedWcs(palletVal);
			if (!strMsg.Contains("-1"))
			{
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "11");//收到缠膜完成11
			if (ret.IsSucceed)
			{
			// 插入任务明细
			var modInsertTaskMonitor = new WcsTaskMonitor()
			{
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令11：{modDevice.StationNum}工位缠膜完成",
			PalletNo = palletVal,
			Status = TaskStatusEnum.Complete,
			StartLocat = modDevice.StationNum
			};
			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			}
			}
			else
			{

			}
			#endregion
			}
			break;
			case "20":
			{
			#region 是否拆膜 21：否 22：是
			// 获取工位托盘码信息
			var strMsg = "";
			var http = new HttpService();
			var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
			var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
			// 获取托盘任务号
			var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
			var (res1, val) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
			// 根据任务号获取任务信息,目的工位是009的再向WMS发出拆膜申请
			if (res1.IsSucceed)
			{
			string tasknoVal = val.ToString();
			var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.EndLocate == "009" && m.IsDelete == false);
			if (modTask == null)
			{
			break;
			}
			}

			strMsg = http.RequestUnPackWcs(palletVal);
			if (!strMsg.Contains("-1"))
			{
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "22");
			if (ret.IsSucceed)
			{
			// 插入任务明细
			var modInsertTaskMonitor = new WcsTaskMonitor()
			{
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令22：{modDevice.StationNum}工位需要拆膜",
			PalletNo = palletVal,
			Status = TaskStatusEnum.Complete,
			StartLocat = modDevice.StationNum
			};
			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			}
			}
			else
			{
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "21");
			if (ret.IsSucceed)
			{
			// 插入任务明细
			var modInsertTaskMonitor = new WcsTaskMonitor()
			{
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令21：{modDevice.StationNum}工位不需要拆膜",
			PalletNo = palletVal,
			Status = TaskStatusEnum.Complete,
			StartLocat = modDevice.StationNum
			};
			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			}
			}


			#endregion

			}
			break;
			#region 小车可放信号
			case "150":
			{ // 获取工位任务号信息
			var strMsg = "";
			var http = new HttpService();
			// 获取托盘任务号
			var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
			var (res1, val) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
			if (res1.IsSucceed)
			{
			string tasknoVal = val.ToString();
			var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
			if (modTask == null)
			{
			//读取成功后写入151
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "151");//收到可放信号后写入151
			if (ret.IsSucceed)
			{
			//回传WMS可放信号
			strMsg = http.RequesContinueAgv(val.ToString(), modDevice.StationNum);
			if (!strMsg.Contains("-1"))
			{
			// 插入任务明细
			var modInsertTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = tasknoVal,
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令151：{modDevice.StationNum}工位可接受AGV放货入库",
			Status = TaskStatusEnum.Complete,
			StartLocat = modDevice.StationNum
			};
			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			}
			}
			break;
			}
			}
			//

			}
			break;
			#endregion

			default: break;
			@@ -1104,76 +1821,1048 @@
			/// <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>
			/// 拆垛机器人业务处理
			/// 件箱输送和码垛机器人业务处理配置的是件箱输送
			/// </summary>
			/// <param name="modDevice"></param>
			private static void StackingRobot(WcsDeviceDto modDevice)
			private static async void BoxConveyorLine(WcsDeviceDto modDevice)
			{
			var plcConn = modDevice.PLCUtil;
			switch (modDevice.Value.ToString())
			//二楼主扫分道
			if (modDevice.DbNumber == "DB101")//&& modDevice.DbNumber == "DB102"&& (modDevice.DbNumber == "DB102"\|\|modDevice.PlcIdIP == "10.18.51.110")
			{
			case "0":
			// 主扫交互流程
			switch (modDevice.Value.ToString())
			{
			case "1":
			// 主扫申请分道 wcs写入2
			{
			// 判断是否演示模式 true：演示模式 false:生产模式
			if (PLCTaskAction.boDemo)
			{
			// 通道号
			var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "通道号");

			// 演示模式直接写入分道号
			//Random random = new Random();
			//int ranNumber = random.Next(2) == 0 ? 1 : 5;
			if (fendao == 1)
			{
			fendao = 5;
			}
			else
			{
			fendao = 1;
			}
			var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, fendao.ToString()); //
			if (ret.IsSucceed)
			{
			Log.Information(string.Format("分道成功，道号是：" + fendao));
			// 写入流程控制字 2
			var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
			if (!retVal.IsSucceed)
			{
			Log.Error("演示模式写入分道号失败!");
			break;
			}
			}
			}
			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(modBoxNo.PosType, 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;
			}
			}
			}


			// 验证是否零箱
			if (boxInfo.BitBoxMark == "1")
			{
			// 是零箱直接剔除，进行人工组托
			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("零箱，进行剔除。");
			break;
			}
			}
			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 && w.Status == "1");
			if (checkTaskInfo == null)
			{
			// 判断是否关联单据 wcsordertask
			var orderModel = _db.Queryable<WcsOderTask>()
			.First(m => m.SkuNo == boxInfo.SkuNo && m.Status == TaskStatusEnum.Wait && m.LotNo == boxInfo.LotNo && m.IsDelete == false);
			if (orderModel != null)
			{
			// 根据boxinfo表产线字段自动绑定分道(1线产品只能绑定到8道)
			if (boxInfo.LineNo != "1")
			{// 绑定到除8道外其他道

			// 获取未绑定道
			var lineNoModels = _db.Queryable<WcsCheckTask>()
			.Where(m => m.Status == "0" && m.LineNo != "8" && m.RoboatType == PLCTypeEnum.RobotPalletizer).ToList();
			if (lineNoModels.Count > 0)
			{
			// 获取当前物料品种号
			var skuInfo = await _db.Queryable<WcsMateialPzInfo>().Where(w => w.SkuNo == boxInfo.SkuNo).FirstAsync();
			if (skuInfo == null)
			{
			// 此产品若没设定品规，进行剔除处理。防止堵塞件箱线
			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("没有空闲分道，进行剔除。");
			break;
			}
			}
			break;
			}

			foreach (var lineNoModel in lineNoModels)
			{
			// 读取设备验证是否绑定分道
			var (respg, pzNo) = plcConn.GetPlcDBValue(lineNoModel.PosType, lineNoModel.DbNumber, lineNoModel.PlcPos);
			if (respg.IsSucceed)
			{
			if (pzNo != 0)
			{
			// plc此分道未解绑
			break;
			}
			else
			{
			// 自动绑定分道
			lineNoModel.OrderNo = orderModel.OrderNo;
			lineNoModel.LotNo = boxInfo.LotNo;
			lineNoModel.SkuNo = boxInfo.SkuNo;
			lineNoModel.SkuName = boxInfo.SkuName;
			lineNoModel.Qty = orderModel.Qty;
			lineNoModel.Status = "1";//已绑定
			lineNoModel.PZNo = skuInfo.PZNo;

			// 给PLC写入品规
			var ret = plcConn.SetPlcDBValue(lineNoModel.PosType, lineNoModel.DbNumber, lineNoModel.PlcPos, skuInfo.PZNo);
			if (ret.IsSucceed)
			{
			//写入流程字成功后更新分拣任务
			_db.Updateable(lineNoModel).ExecuteCommand();
			//更新WcsOderTask表
			orderModel.Status = TaskStatusEnum.Doing;
			_db.Updateable(orderModel).ExecuteCommand();
			// Liudl 通知前端更新分拣任务
			//下发分拣任务
			HubUtil.PublicCheckTask(lineNoModel.Adapt<WcsDeviceTaskOrderDto>());
			break;
			}
			else
			{
			throw Oops.Bah("与PCL交互失败，绑定失败！");
			}
			}
			}
			else
			{
			// 读取plc失败
			break;
			}
			}

			}
			else
			{
			// 若没有空闲道，进行剔除处理。防止堵塞件箱线
			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("没有空闲分道，进行剔除。");
			break;
			}
			}
			break;
			}
			}
			else
			{// 绑定到8道
			// 获取未绑定道
			var lineNo8Model = _db.Queryable<WcsCheckTask>()
			.First(m => m.Status == "0" && m.LineNo == "8" && m.RoboatType == PLCTypeEnum.RobotPalletizer);
			if (lineNo8Model != null)
			{
			// 获取当前物料品种号
			var skuInfo = await _db.Queryable<WcsMateialPzInfo>().Where(w => w.SkuNo == boxInfo.SkuNo).FirstAsync();
			if (skuInfo == null)
			{
			// 此产品若没设定品规，进行剔除处理。防止堵塞件箱线
			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("没有空闲分道，进行剔除。");
			break;
			}
			}
			break;
			}


			// 读取设备验证是否绑定分道
			var (respg, pzNo) = plcConn.GetPlcDBValue(lineNo8Model.PosType, lineNo8Model.DbNumber, lineNo8Model.PlcPos);
			if (respg.IsSucceed)
			{
			if (pzNo != 0)
			{
			// plc此分道未解绑
			break;
			}
			else
			{
			// 自动绑定分道
			lineNo8Model.OrderNo = orderModel.OrderNo;
			lineNo8Model.LotNo = boxInfo.LotNo;
			lineNo8Model.SkuNo = boxInfo.SkuNo;
			lineNo8Model.SkuName = boxInfo.SkuName;
			lineNo8Model.Qty = orderModel.Qty;
			lineNo8Model.Status = "1";//已绑定
			lineNo8Model.PZNo = skuInfo.PZNo;

			// 给PLC写入品规
			var ret = plcConn.SetPlcDBValue(lineNo8Model.PosType, lineNo8Model.DbNumber, lineNo8Model.PlcPos, skuInfo.PZNo);
			if (ret.IsSucceed)
			{
			//写入流程字成功后更新分拣任务
			_db.Updateable(lineNo8Model).ExecuteCommand();
			//更新WcsOderTask表
			orderModel.Status = TaskStatusEnum.Doing;
			_db.Updateable(orderModel).ExecuteCommand();

			// Liudl 通知前端更新分拣任务
			//下发分拣任务
			HubUtil.PublicCheckTask(lineNo8Model.Adapt<WcsDeviceTaskOrderDto>());
			break;
			}
			else
			{
			throw Oops.Bah("与PCL交互失败，绑定失败！");
			}
			}
			}
			else
			{
			// 读取plc失败
			break;
			}


			}
			else
			{
			// 没有空闲道，进行剔除处理。防止堵塞件箱线
			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("没有空闲分道，进行剔除。");
			break;
			}
			}
			break;
			}
			}
			}
			else
			{
			// 不关联单据直接进行剔除处理
			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.LineNo);
			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)
			{
			{ // liudl 此段程序不会执行确认后直接删除
			if (modDevice.DbNumber == "DB102")//1L拆跺分拣后需要回传箱码
			{
			var http = new HttpService();
			IsBaleModel2 ret1 = http.RequestBoxno(boxNoVal);
			if (ret1.Success == -1)
			{
			Log.Error("箱码分拣回传失败，需要手动拣货。失败箱码：" + boxNoVal);
			break;
			}
			}
			}
			break;
			}
			}
			}
			}
			}
			}
			break;
			default: break;
			}
			}
			//一楼主扫分道
			else if (modDevice.DbNumber == "DB102")
			{
			switch (modDevice.Value.ToString())
			{
			case "1":
			// 1楼件箱PLC请求WCS读码
			{
			// 读取plc箱码
			var modBoxNo = modDevice.listStation.FirstOrDefault(m => m.Text == "主扫条码");
			var (res, boxNo) = plcConn.GetPlcDBValue(modBoxNo.PosType, modDevice.DbNumber, modBoxNo.PlcPos);
			if (string.IsNullOrWhiteSpace(boxNo.ToString()))
			{

			// 箱信息为null写入剔除通道号:0
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "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;
			}
			}
			}
			else
			{
			// 箱码
			string boxNoVal = boxNo.ToString();
			// 通道号
			var modLineNo = modDevice.listStation.FirstOrDefault(m => m.Text == "通道号");

			// 调用wms接口验证箱码是否可拣货并返回装车口
			var http = new HttpService();
			RequestloadingAddre requesModel = http.ResultBoxInfoExportWcs(boxNoVal);
			if (requesModel.Success != "1")
			{
			// 箱信息为null写入剔除通道号:0
			var ret = plcConn.SetPlcDBValue(modLineNo.PosType, modDevice.DbNumber, modLineNo.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("出库分拣根据箱码获取装车口失败，进行剔除。" + requesModel.Message);
			break;
			}
			}
			}
			else
			{
			// 写入出库分道号
			// var ret = plcConn.SetPlcDBValue(modLineNo.PosType, modDevice.DbNumber, modLineNo.PlcPos, requesModel.loadingAddre);
			var ret = plcConn.SetPlcDBValue(modLineNo.PosType, modDevice.DbNumber, modLineNo.PlcPos, requesModel.loadingAddre);
			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 "10":
			// 1楼件箱PLC读码失败，WCS不做处理直接剔除手持拣货。
			{

			}; break;
			default:
			break;
			}
			}
			else
			{
			// 插码交互
			switch (modDevice.Value.ToString())
			{
			case "1":
			// 托盘条码可读
			{
			// 获取托盘条码配置
			var modPalletNo = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘条码");
			// 读取PLC托盘条码号
			var (res, palletVal) = plcConn.GetPlcDBValue(modPalletNo.PosType, modDevice.DbNumber, modPalletNo.PlcPos);
			string palletNo = palletVal.ToString();
			if (string.IsNullOrEmpty(palletNo))
			{
			Log.Error(string.Format("{0}，读取的托盘号为null", modDevice.Text));
			break;
			}

			// 根据工位号将托盘号保存在分道表
			var checkTaskMedel = _db.Queryable<WcsCheckTask>().First(m => m.Port == modDevice.StationNum && m.IsDelete == false);
			if (checkTaskMedel == null)
			{
			Log.Error(string.Format("根据码垛工位{0}，获取分道失败!", modDevice.StationNum));
			break;
			}
			checkTaskMedel.PalletNo = palletNo;
			var rowCount = _db.Updateable(checkTaskMedel).ExecuteCommand();
			if (rowCount > 0)
			{
			// plc写入读取成功表示 2
			var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
			if (retVal.IsSucceed)
			{
			// liudl 此处需添加
			// 通知分拣码垛页更新
			}
			}
			}
			break;
			case "20":
			// 申请插码
			{
			// 获取托盘条码配置
			var modAddCode = modDevice.listStation.FirstOrDefault(m => m.Text == "插码结果");
			// 判断是否演示模式 true：演示模式 false:生产模式
			if (PLCTaskAction.boDemo)
			{
			// 演示模式直接写入插码结果 1：成功
			var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "1");
			break;
			}
			else
			{
			// 获取箱条码
			// 获取箱条码配置
			var modBoxNo = modDevice.listStation.FirstOrDefault(m => m.Text == "箱条码");
			var (res, boxVal) = plcConn.GetPlcDBValue(modBoxNo.PosType, modDevice.DbNumber, modBoxNo.PlcPos);
			string boxNo = boxVal.ToString();
			if (string.IsNullOrEmpty(boxNo))
			{
			Log.Error($"码垛工位{modDevice.StationNum}，箱码为null插码失败!请人工强制结批。");
			// 写入插入结果 2：插码失败
			var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "2");

			break;
			}
			// 验证箱码表是否存在此箱码
			var boxInfo = _db.Queryable<WcsBoxInfo>().Where(w => w.IsDelete == false && w.BoxNo == boxNo).ToList();
			if (boxInfo.Count == 0)
			{
			Log.Error($"码垛工位{modDevice.StationNum}，箱码{boxNo}不存在!请人工强制结批。");
			// 写入插入结果 2：插码失败
			var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "2");
			break;
			}
			// 获取当前分道托盘号
			var checkTaskMedel = _db.Queryable<WcsCheckTask>().First(m => m.Port == modDevice.StationNum && m.IsDelete == false);
			if (checkTaskMedel == null)
			{
			Log.Error(string.Format("根据码垛工位{0}，获取分道失败!", modDevice.StationNum));
			break;
			}
			string palletNo = checkTaskMedel.PalletNo;
			if (string.IsNullOrEmpty(palletNo))
			{
			Log.Error(string.Format("获取码垛工位{0}上的托盘号失败！", modDevice.StationNum));
			break;
			}
			// 修改插码表
			foreach (WcsBoxInfo item in boxInfo)
			{
			item.PalletNo = palletNo;
			item.UpdateTime = DateTime.Now;
			item.OrderCode = checkTaskMedel.OrderNo;
			}

			var rowCount = _db.Updateable(boxInfo).ExecuteCommand();
			Log.Information(string.Format("插码成功，箱码是：" + boxNo, modDevice.StationNum));
			if (rowCount > 0)
			{
			// 插码成功
			var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "1");

			//是否结批箱
			if (boxInfo[0].EndLotFlag == "1" && retVal.IsSucceed)
			{
			// 触发结批分道变为结批中
			AutoEndLot(boxInfo[0].LotNo, plcConn, "2");
			}

			//检查已码垛箱数，码垛数量与完工数量相等后自动结批
			//var finishiqty = _db.Queryable<WcsBoxInfoLog>().Count(m => m.SkuNo = )
			//if (true)
			//{

			//}
			}
			else
			{
			// 插码失败
			Log.Error($"箱码{boxNo};码垛工位{modDevice.StationNum}，插码失败，请强制结批");
			var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "2");
			if (retVal.IsSucceed)
			{
			// 触发结批不解绑分道
			AutoEndLot(boxInfo[0].LotNo, plcConn, "1");
			}
			}
			}
			}
			break;
			case "40":
			// 请求组托，申请入库
			{
			lock (OLock)
			{
			// 根据工位号，获取托盘号
			var checkTaskMedel = _db.Queryable<WcsCheckTask>().First(m => m.Port == modDevice.StationNum && m.IsDelete == false);
			// 根据工位号获取托盘线该工位号的配置信息
			var numModel = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business && m.PlcId != modDevice.PlcId);
			var posModel = PLCTaskAction.plcPositions.First(m => m.DeviceId == numModel.Id && m.Text == "目的工位" && m.IsDelete == false);
			if (checkTaskMedel == null)
			{
			Log.Error(string.Format("组托失败根据码垛工位{0}，获取托盘号失败!", modDevice.StationNum));

			// 写入交互工位目标地址
			var retVal = plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, "234");
			if (retVal.IsSucceed)
			{
			// 写入组托回复流程字
			retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
			}
			break;
			}

			// 码垛工位托盘号
			string palletNo = checkTaskMedel.PalletNo;

			// 是否演示模式
			if (PLCTaskAction.boDemo)
			{
			// 直接箱wms申请巷道
			var http = new HttpService();
			string TaskNo = "", EndLocate = "";
			string strMsg = http.RequestRoadWay(palletNo, modDevice.StationNum, "1", "2", ref EndLocate, ref TaskNo);
			if (strMsg.Contains("-1"))
			{
			Log.Error(string.Format("申请巷道失败，码垛工位{0};原因{1}", modDevice.StationNum, strMsg));
			break;
			}
			else
			{
			// 获取入库任务信息
			var taskModel = _db.Queryable<WcsTask>().First(m => m.TaskNo == TaskNo && m.IsDelete == false && (m.Status == TaskStatusEnum.Wait \|\| m.Status == TaskStatusEnum.Doing));
			if (taskModel != null)
			{
			// 获取入库取货工位
			string endLocatVlue = PLCCommon.RoadwayToStationNum(taskModel.EndRoadway, "2");

			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执行入库{若需要可以写入任务号等等其他信息}
			listResult.Add(plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, endLocatVlue)); // 目标工位
			var modPosTask = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务号" && s.IsDelete == false);
			listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, numModel.DbNumber, modPosTask.PlcPos, TaskNo));
			var modPosTaskType = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务类型" && s.IsDelete == false);
			var taskTypeStr = (int)taskModel.TaskType;
			listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, numModel.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));

			if (listResult.All(s => s.IsSucceed))
			{
			// 写入组托回复流程字
			var retVal1 = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
			if (retVal1.IsSucceed)
			{
			// 将入库任务由正在执行改为正在执行
			taskModel.Status = TaskStatusEnum.Doing;
			_db.Updateable(taskModel).ExecuteCommand();

			// 插入任务明细
			var modInsertTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = TaskNo,
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令50：申请巷道成功",
			PalletNo = palletNo,
			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>());
			}
			}

			//// 写入托盘输送线码垛工位目的工位，写入交互流程组托成功执行入库{若需要可以写入任务号等等其他信息}
			//var retVal = plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, endLocatVlue);
			//if (retVal.IsSucceed)
			//{
			// // 写入码垛交互-组托回复流程字
			// retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");

			// // 将入库任务由正在执行改为正在执行
			// taskModel.Status = TaskStatusEnum.Doing;
			// _db.Updateable(taskModel).ExecuteCommand();
			//}
			}
			}
			}
			else
			{
			// 根据托盘号，将组托信息插入boxinfolog表并删除boxinfo表数据
			var boxInfoList = _db.Queryable<WcsBoxInfo>().Where(w => w.IsDelete == false && w.PalletNo == palletNo).ToList();
			if (boxInfoList.Count <= 0)
			{
			Log.Error(string.Format("申请巷道失败，码垛工位{0}，箱码信息不存在", modDevice.StationNum));

			// 写入交互工位目标地址
			var retVal = plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, "234");
			if (retVal.IsSucceed)
			{
			// 写入组托回复流程字
			retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
			}
			break;
			}
			//判断托盘上的箱码是否已组盘
			foreach (var item in boxInfoList)
			{
			var groupBoxno = _db.Queryable<WcsBoxInfoLog>().Where(w => w.BoxNo == item.BoxNo).ToList();
			if (groupBoxno.Count>0)
			{
			Log.Error(string.Format("申请巷道失败，码垛工位{0}，箱码信息不存在", modDevice.StationNum));
			// 写入交互工位目标地址
			var retVal = plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, "234");
			if (retVal.IsSucceed)
			{
			// 写入组托回复流程字
			retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
			}
			break;
			}
			}

			// 组托成功后将信息存到log表
			string sqlStr = $"insert into WCSBoxInfoLog select * from WCSBoxInfo where IsDelete=0 and PalletNo='{palletNo}'";
			int insertCount = _db.Ado.ExecuteCommand(sqlStr);
			if (insertCount > 0)
			{
			string sqlStr2 = $"delete from WCSBoxInfo where IsDelete=0 and PalletNo='{palletNo}'";
			_db.Ado.ExecuteCommand(sqlStr2);
			}

			// 向WMS申请巷道
			var http = new HttpService();
			string TaskNo = "", EndLocate = "";
			string strMsg = http.BindRequestRoadWay(checkTaskMedel.OrderNo, palletNo, checkTaskMedel.BoxCount.ToDecimal(), "0", checkTaskMedel.SkuNo, checkTaskMedel.LotNo, "", "", boxInfoList,
			modDevice.StationNum, "1", "2", ref EndLocate, ref TaskNo);
			if (strMsg.Contains("-1"))
			{
			Log.Error(string.Format("申请巷道失败，码垛工位{0};原因{1}", modDevice.StationNum, strMsg));
			break;
			}
			else
			{
			//判断是否结批中
			var (res, jiepi) = plcConn.GetPlcDBValue(checkTaskMedel.PosType, modDevice.DbNumber, checkTaskMedel.PosLot);
			if (jiepi == 2)//结批中
			{
			// 分道解绑，抓箱品种写入0
			var ret1 = plcConn.SetPlcDBValue(checkTaskMedel.PosTypeLot, modDevice.DbNumber, checkTaskMedel.PlcPos, "0");
			if (ret1.IsSucceed)
			{
			//写入流程字成功后更新分拣任务 liudl 最后一托盘申请完入库才可清空
			checkTaskMedel.OrderNo = "";
			checkTaskMedel.TaskNo = "";
			checkTaskMedel.LotNo = "";
			checkTaskMedel.SkuNo = "";
			checkTaskMedel.SkuName = "";
			checkTaskMedel.BoxType = "";
			checkTaskMedel.Qty = 0;
			checkTaskMedel.PZNo = "";
			checkTaskMedel.Status = "0"; // 绑定分道 0：解绑 1：绑定

			//更新分拣任务
			_db.Updateable(checkTaskMedel).IgnoreColumns(ignoreAllNullColumns: true).ExecuteCommandAsync();
			}
			}
			// 获取入库任务信息
			var taskModel = _db.Queryable<WcsTask>().First(m => m.TaskNo == TaskNo && m.IsDelete == false && m.Status == TaskStatusEnum.Wait);
			if (taskModel != null)
			{
			// 获取入库取货工位
			string endLocatVlue = PLCCommon.RoadwayToStationNum(taskModel.EndRoadway, "2");

			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执行入库{若需要可以写入任务号等等其他信息}
			listResult.Add(plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, endLocatVlue)); // 目标工位
			var modPosTask = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务号" && s.IsDelete == false);
			listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, numModel.DbNumber, modPosTask.PlcPos, TaskNo));
			var modPosTaskType = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务类型" && s.IsDelete == false);
			var taskTypeStr = (int)taskModel.TaskType;
			listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, numModel.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));

			if (listResult.All(s => s.IsSucceed))
			{
			// 写入组托回复流程字
			var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
			if (retVal.IsSucceed)
			{
			// 将入库任务由正在执行改为正在执行
			taskModel.Status = TaskStatusEnum.Doing;
			_db.Updateable(taskModel).ExecuteCommand();

			// 插入任务明细
			var modInsertTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = TaskNo,
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令50：申请巷道成功",
			PalletNo = palletNo,
			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>());
			}
			}
			}
			}
			}
			}
			}
			break;
			default: break;
			}
			}
			}

			/// <summary>
			/// 出库件箱输送和拆垛机器人业务处理
			/// </summary>
			/// <param name="modDevice"></param>
			private static void StackingRobot(WcsDeviceDto modDevice)
			{
			var plcConn = modDevice.PLCUtil;
			if (modDevice.DbNumber == "DB131" \|\| modDevice.DbNumber == "DB132" \|\| modDevice.DbNumber == "DB133" \|\| modDevice.DbNumber == "DB134")
			{
			switch (modDevice.Value.ToString())
			{
			case "10"://10 plc请求wcs读托盘码 20 wcs读取ok wcs 写入数量及规格 30

			//wcs读取ok20
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "20");
			if (ret.IsSucceed)
			{
			//获取托盘码
			var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
			var (res, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
			// 获取托盘任务号
			var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
			var (res1, val) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
			string tasknoVal = val.ToString();

			// 根据任务号获取任务信息
			if (res1.IsSucceed)
			{
			var modTask = _db.Queryable<WcsTask>().First(m => m.TaskNo == tasknoVal && m.EndLocate == "009" && m.IsDelete == false);
			if (modTask == null)
			{
			Log.Error(string.Format($"出库任务未下发，请人工处理，无法拆垛！"));
			break;
			}

			//通过任务号和托盘号向WMS申请此托盘的拆垛信息
			var http = new HttpService();
			RequestBoxInfoCheckAll tasklist = http.RequestBoxCheckinfo(palletVal, tasknoVal);
			if (tasklist.Success != -1)
			{
			//获取拆垛物料品种(需要增加物料判断，同一个物料号可能会出现不同的码垛规则)
			var pz = _db.Queryable<WcsMateialPzInfo>().First(m => m.SkuNo == tasklist.data.SkuNo);
			//下发拆托规格，拆箱数和托盘上总箱数（不绑定机器人，拆垛任务信息只下发一次）
			// 给PLC写入任务数据
			var listResult = new List<Result>();
			// 获取托盘规则
			var Standard = modDevice.listStation.FirstOrDefault(m => m.Text == "规格");
			listResult.Add(plcConn.SetPlcDBValue(Standard.PosType, modDevice.DbNumber, Standard.PlcPos, pz.PZNo));
			//抓箱数
			var qty = modDevice.listStation.FirstOrDefault(m => m.Text == "拆箱数量");
			listResult.Add(plcConn.SetPlcDBValue(qty.PosType, modDevice.DbNumber, qty.PlcPos, tasklist.data.Qty.ToString()));
			//总箱数
			var qtycount = modDevice.listStation.FirstOrDefault(m => m.Text == "总箱数");
			listResult.Add(plcConn.SetPlcDBValue(qtycount.PosType, modDevice.DbNumber, qtycount.PlcPos, tasklist.data.QtyCount.ToString()));


			// 是否写入成功
			if (listResult.All(s => s.IsSucceed))
			{
			//wcs 写入数量及规格 30
			var ret1 = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "30");

			}
			else
			{
			Log.Error(string.Format($"码垛信息未写入！托盘号：" + palletVal + "，码垛位：" + modDevice.StationNum));
			break;
			}
			}
			}
			}
			break;
			}
			}
			}

			/// <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 (Exception ex)
			{
			Log.Error(ex.Message);
			}
			}
			/// <summary>
			/// LED信息展示
			/// </summary>
			/// <param name="ip"></param>
			/// <param name="text"></param>
			private static void LedDisplay(string ip,string text)
			{
			try
			{
			LedDll Led = new LedDll();
			Led.ConsoleLeds(ip, text);
			// 设置实例
			//Led.ConsoleLeds("10.18.51.238", $"任务类型:{TaskTypeEnum.Move.GetDescription()}\n\n任务号:TK2024102100001\n托盘号:LN000145\n\n起始位:033\n目标位:R01-02010102");
			}
			catch (Exception ex)
			{
			Log.Error(ex.Message);
			}
			}

			/// <summary>
			/// 自动结批并解绑分道
			/// </summary>
			/// <param name="lotNo">批次号</param>
			/// <param name="plcConn">Plc连接</param>
			/// <param name="status">是否解绑分道 0：解绑 1：绑定</param>
			private static void AutoEndLot(string lotNo,PLCUtil plcConn,string status)
			{
			try
			{
			if (string.IsNullOrWhiteSpace(lotNo))
			{
			Console.WriteLine("批次号为nul");
			}
			var checkTaskList = _db.Queryable<WcsCheckTask>().Where(w => w.LotNo == lotNo && w.Status == "1").ToList();
			if (checkTaskList.Count <= 0)
			{
			Console.WriteLine("未找到分道绑定信息");
			}
			foreach (var item in checkTaskList)
			{
			#region#给PLC写入结批批次号
			// 写入结批信号
			var ret = plcConn.SetPlcDBValue(item.PosTypeLot, item.DbNumber, item.PosLot, "1");
			// 分道解绑，抓箱品种写入0
			//var ret1 = plcConn.SetPlcDBValue(item.PosTypeLot, item.DbNumber, item.PlcPos, "0");
			if (ret.IsSucceed)
			{
			// 若拆垛工位为空闲，查询任务表是否有未绑定的出库任务，做绑定操作
			//写入流程字成功后更新分拣任务 liudl 最后一托盘申请完入库才可清空
			//item.OrderNo = "";
			//item.TaskNo = "";
			//item.LotNo = "";
			//item.SkuNo = "";
			//item.SkuName = "";
			//item.BoxType = "";
			//item.Qty = 0;
			item.PZNo = "";
			item.Status = status; // 绑定分道 0：解绑 1：绑定 2:结批中

			//更新分拣任务
			_db.Updateable(item).IgnoreColumns(ignoreAllNullColumns: true).ExecuteCommandAsync();
			}
			break;
			default:
			break;
			#endregion
			}
			}
			catch (Exception ex)
			{
			Log.Error(ex.Message);
			throw;
			}
			}

			private static void Test(WcsDeviceDto modDevice)
			{
			//写死测试读string
			var (res, val) = modDevice.PLCUtil.GetPlcDBValue(PLCDataTypeEnum.String, "DB100", "64");
			Console.WriteLine("DB100.64----" + val);
			//测试批量读取
			Dictionary<string, PLCDataTypeEnum> listaddress = new Dictionary<string, PLCDataTypeEnum>();
			foreach (var modStation in modDevice.listStation)
			{
			listaddress.Add(modStation.PlcPos, modStation.PosType);
			}
			var result = modDevice.PLCUtil.GetPlcBatchDBValue(listaddress);
			if (result.Value.Count > 0)
			{
			foreach (var value in result.Value)
			{
			Console.WriteLine("地址" + value.Key + "----值" + value, value);
			}
			}
			if (!result.IsSucceed)
			{
			foreach (var err in result.ErrList)
			{
			Console.WriteLine(err);
			}
			if (result.Value.Count > 0)//有错误的也有成功的
			{
			//var strMsg = new HttpService().RequestPackWcs("LN000001");
			////写死测试读string
			//var (res, val) = modDevice.PLCUtil.GetPlcDBValue(PLCDataTypeEnum.String, "DB100", "64");
			//Console.WriteLine("DB100.64----" + val);
			////测试批量读取
			//Dictionary<string, PLCDataTypeEnum> listaddress = new Dictionary<string, PLCDataTypeEnum>();
			//foreach (var modStation in modDevice.listStation)
			//{
			// listaddress.Add(modStation.PlcPos, modStation.PosType);
			//}
			//var result = modDevice.PLCUtil.GetPlcBatchDBValue(listaddress);
			//if (result.Value.Count > 0)
			//{
			// foreach (var value in result.Value)
			// {
			// Console.WriteLine("地址" + value.Key + "----值" + value, value);
			// }
			//}
			//if (!result.IsSucceed)
			//{
			// foreach (var err in result.ErrList)
			// {
			// Console.WriteLine(err);
			// }
			// if (result.Value.Count > 0)//有错误的也有成功的
			// {

			}
			}
			if (modDevice.Value == 820)
			{
			//测试写入830
			//var result = mod.PLCUtil.SetPlcDBValue(mod.PosType.Value, mod.DbNumber, mod.PlcPos, "830");
			////写入是否成功
			//if (result.IsSucceed)
			//{
			// }
			//}
			//if (modDevice.Value == 820)
			//{
			// //测试写入830
			// //var result = mod.PLCUtil.SetPlcDBValue(mod.PosType.Value, mod.DbNumber, mod.PlcPos, "830");
			// ////写入是否成功
			// //if (result.IsSucceed)
			// //{

			//}
			}
			else if (modDevice.Value == 840)
			{
			// //}
			//}
			//else if (modDevice.Value == 840)
			//{

			}
			else if (modDevice.Value == 860)
			{
			//}
			//else if (modDevice.Value == 860)
			//{

			}
			//}
			}