设备呼叫空托跺

IPC-610

2024-09-26 cff60cb1cccf70fe33ed9c951c46143fe41fc43a

 Admin.NET/WCS.Application/PLC/PLCService.cs

@@ -1,4 +1,5 @@

using Dm.filter;
using DocumentFormat.OpenXml.Bibliography;
using Elastic.Clients.Elasticsearch.Tasks;
using Furion.Logging;
@@ -10,6 +11,7 @@
using System;
using System.Data;
using System.Reflection.Emit;
using WCS.Application.Entity;
using WCS.Application.Util;

namespace WCS.Application;
@@ -26,16 +28,16 @@
            switch (mod.Type)
            {
                case PLCTypeEnum.StackingMachine:
                    StackingMachine(mod);
                    StackingMachine(mod);                           // 跺机
                    break;
                case PLCTypeEnum.ConveyorLine:
                    ConveyorLine(mod);
                    ConveyorLine(mod);                              // 托盘输送线
                    break;
                case PLCTypeEnum.AGV:
                    AGV(mod);
                    AGV(mod);                                       // AGV调度
                    break;
                case PLCTypeEnum.PalletMachine:
                    PalletMachine(mod);
                case PLCTypeEnum.BoxConveyorLine:
                    BoxConveyorLine(mod);                             // 码垛机器人
                    break;
                case PLCTypeEnum.StackingRobot:
                    PalletMachine(mod);
@@ -332,7 +334,7 @@
                            //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);
                    }
@@ -397,7 +399,7 @@
                                        {
                                            modTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
                                        }
                                        else 
                                        else
                                        {
                                            Log.Error(string.Format("任务反馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
                                        }
@@ -697,15 +699,12 @@
    /// </summary>
    /// <param name="modTask">操作完成的任务</param>
    /// <param name="plcConn">plc连接</param>
    private static void ContinuousOperation(WcsTask modTask, PLCUtil plcConn)
    /// <param name="modDevice">设备信息</param>
    private static void ContinuousOperation(WcsTask modTask, PLCUtil plcConn, WcsDeviceDto modDevice)
    {
        //列 todo:上面代码拿来的，这里不理解为啥是1,2 不是2,2？
        int col = modTask.EndLocate.Substring(1, 2).ToInt();
        int row = modTask.EndLocate.Substring(0, 2).ToInt();
        int storey = modTask.EndLocate.Substring(4, 2).ToInt();
        int deep = modTask.EndLocate.Substring(6, 2).ToInt();
        // 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:
@@ -728,6 +727,7 @@

                        // 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;
                    }
                }
@@ -752,19 +752,103 @@

                        // 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 modDevice = _db.Queryable<WcsDevice>().Where(s => s.PlcId == plcConn.PlcId && s.DeviceType == DeviceTypeEnum.Show).First();
                    var (result, value) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.PlcPos);
                    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);
            }
        }
    }

@@ -843,7 +927,7 @@
                break;
            case "330":
                {
                   

                    // 写入任务 托盘移动 340

                    // 获取工位托盘码信息
@@ -1133,8 +1217,8 @@
                    #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
@@ -1261,6 +1345,95 @@

            #endregion

            #region 叫空托盘跺
            case "50":
                // plc申请空托
                {
                    // 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($"工位号：{modDevice.StationNum}申请空托跺失败:{strMsg};"));
                    }                    
                }
                break;
            case "80":
                // 空托盘跺已到位
                {
                    // 调用wms任务出库任务完成
                    // 获取跺机点位配置
                    var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
                    var (res, val) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTask.PlcPos);
                    // 根据任务号获取任务信息
                    if (res.IsSucceed)
                    {
                        string tasknoVal = val.ToString();
                        var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
                        if (modTask == null)
                        {
                            Log.Error(string.Format($"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;
                            _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,
                                    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

            default: break;
        }

@@ -1279,7 +1452,376 @@
    /// <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>
    /// 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 async void BoxConveyorLine(WcsDeviceDto modDevice) 
    {
        var plcConn = modDevice.PLCUtil;

        if (modDevice.DbNumber == "DB101")
        {
            // 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1分道
                            var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "1");
                            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("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;
                                        }
                                    }
                                }
                                // 根据箱内品种号获取码躲绑定工位及对应的分道号
                                var checkTaskInfo = _db.Queryable<WcsCheckTask>().First(w => w.SkuNo == boxInfo.SkuNo && w.SkuName == boxInfo.SkuName && w.LotNo == boxInfo.LotNo);
                                if (checkTaskInfo == null)
                                {
                                    // 绑定信息为null写入剔除通道号
                                    var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
                                    if (ret.IsSucceed)
                                    {
                                        // 写入流程控制字 2
                                        var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
                                        if (retVal.IsSucceed)
                                        {
                                            Log.Error("箱码未绑定分拣任务，进行剔除。");
                                            break;
                                        }
                                    }
                                }
                                else
                                {
                                    // 与plc交互写入分道号和流程控制字
                                    var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, checkTaskInfo.RoboatNo);
                                    if (ret.IsSucceed)
                                    {
                                        // 写入流程控制字 2
                                        var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
                                        if (retVal.IsSucceed)
                                        {
                                            break;
                                        }
                                    }
                                }
                            }
                        }
                    }
                    break;
                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(string.Format("码垛工位{0}，箱码为null插码失败!请人工强制结批。"), modDevice.StationNum);
                                // 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>().First(w => w.IsDelete == false && w.BoxNo == boxNo);
                            if (boxInfo == null) 
                            {
                                Log.Error(string.Format("码垛工位{0}，箱码{1}不存在!请人工强制结批。"), modDevice.StationNum,boxNo);
                                // 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
                            boxInfo.PalletNo = palletNo;
                            boxInfo.UpdateTime = DateTime.Now;
                            var rowCount = _db.Updateable(boxInfo).ExecuteCommand();
                            if (rowCount > 0)
                            {
                                // 插码成功
                                var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "1");
                            }
                            else 
                            {
                                // 插码失败
                                Log.Error(string.Format("箱码{0};码垛工位{1}，插码失败，请强制结批"),boxNo,modDevice.StationNum);
                                var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "2");
                            }
                        }
                    }
                    break;
                case "40":
                    // 请求组托，申请入库
                    {
                        // 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);
                                if (taskModel != null) 
                                {
                                    // 获取入库取货工位
                                    string endLocatVlue = PLCCommon.RoadwayToStationNum(taskModel.EndRoadway, "2");     

                                    // 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 = await _db.Queryable<WcsBoxInfo>().Where(w => w.IsDelete == false && w.PalletNo == palletNo).ToListAsync();
                            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;
                            }
                            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
                            {
                                // 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");     

                                    // 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)
                                    {
                                        // 写入组托回复流程字
                                        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();
                                        }
                                    }
                                }
                            }
                        }
                    }
                    break;
                default:break;
            }
        }        
    }

    /// <summary>