优化输送线交互逻辑

chengsc

2024-09-12 d59da24ddf642f6a50d8134ad082eda90dc3dc1e

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

@@ -4,10 +4,12 @@
using Furion.Logging;
using IoTClient;
using Microsoft.AspNetCore.SignalR;
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;

namespace WCS.Application;
public static class PLCService
@@ -53,7 +55,7 @@
    /// 跺机业务处理
    /// </summary>
    /// <param name="modDevice"></param>
    private static async void StackingMachine(WcsDeviceDto modDevice)
    private static void StackingMachine(WcsDeviceDto modDevice)
    {
        var plcConn = modDevice.PLCUtil;
        switch (modDevice.Value.ToString())
@@ -62,8 +64,8 @@
                // 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)
                        .First(s => s.Status == TaskStatusEnum.Wait && (s.TaskType == TaskTypeEnum.Out || s.TaskType == TaskTypeEnum.Move) 
                    var modTask = _db.Queryable<WcsTask>().OrderBy(m => m.CreateTime).OrderBy(m => m.Levels, OrderByType.Desc)
                        .First(s => s.Status == TaskStatusEnum.Wait && (s.TaskType == TaskTypeEnum.Out || s.TaskType == TaskTypeEnum.Move)
                        && s.StartRoadway == modDevice.StationNum);
                    if (modTask == null)
                    {
@@ -71,11 +73,11 @@
                    }

                    // 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, 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)) 
                    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);
@@ -94,12 +96,12 @@
                                    break;
                                }
                            }
                            else 
                            else
                            {
                                break;
                            }
                        }
                        else 
                        else
                        {
                            break;
                        }
@@ -143,7 +145,7 @@
                            .SetColumns(s => s.Status == TaskStatusEnum.Doing)
                            .Where(s => s.Id == modTask.Id)
                            .ExecuteCommand();

                        _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
                        WcsTaskMonitor modInsertTaskMonitor;
                        if (string.IsNullOrEmpty(taskInfo.EndStation))
                        {
@@ -160,7 +162,7 @@
                                EndLocat = modTask.EndLocate,
                            };
                        }
                        else 
                        else
                        {
                            // 出库任务 跨巷道移库
                            modInsertTaskMonitor = new WcsTaskMonitor()
@@ -185,7 +187,7 @@
                    }
                }
                break;
            case "840": 
            case "840":
                // 取货完成
                {
                    // 获取跺机点位配置
@@ -194,11 +196,11 @@

                    var modPosEndStation = modDevice.listStation.FirstOrDefault(m => m.Text == "目的工位");
                    var (endStationRes, endStation) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTask.PlcPos);
                    if (res.IsSucceed) 
                    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 == true);
                        if (modTask == null)
                        {
                            Log.Error(string.Format("PLC控制字840:未找到对应的任务。"));
@@ -209,7 +211,7 @@
                        {
                            TaskNo = modTask.TaskNo,
                            PlcId = modDevice.Id,
                            PlcName = modDevice.Text, 
                            PlcName = modDevice.Text,
                            PalletNo = modTask.PalletNo,
                            Status = TaskStatusEnum.Complete,
                            StartLocat = modTask.StartLocate,
@@ -220,12 +222,11 @@
                            // 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);
                            if (startStationRes.IsSucceed) 
                            if (startStationRes.IsSucceed)
                            {
                                // 根据工位号获取对应的输送线IP
                                PlcTaskInfo taskInfo = PLCCommon.GetPlcIp(startStationVal);
                                var plcConveyorConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == taskInfo.Ip);
                                if (plcConveyorConn.Connected) 
                                var plcConveyorConn = PLCCommon.GetPlcIp(startStationVal);
                                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
@@ -241,7 +242,7 @@
                                        StartLocat = startStationVal,
                                        EndLocat = modTask.EndLocate                  // 目标储位地址
                                    };
                                    if (!retc.IsSucceed) 
                                    if (!retc.IsSucceed)
                                    {
                                        modcTaskMonitor.InteractiveMsg = string.Format("输送线取货工位：{0},写入取货完成640失败等待在次写入", startStationVal);
                                        // 插入交互日志
@@ -267,7 +268,7 @@

                                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
                                                                                                    // 插入交互日志
                                _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
                                //下发任务日志
                                _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
@@ -286,7 +287,7 @@
                            modInsertTaskMonitor.InteractiveMsg = string.Format("储位地址：{0}取货完成", modTask.StartLocate);
                            modInsertTaskMonitor.EndLocat = endStation;                  // 放货工位
                        }
                        else 
                        else
                        {
                            // 写入流程控制字
                            var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
@@ -329,7 +330,7 @@
                            case TaskTypeEnum.In:
                                {
                                    var res870 = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
                                    if (!res870.IsSucceed) 
                                    if (!res870.IsSucceed)
                                    {
                                        Log.Error(string.Format("跺机控制字860写入870失败!"));
                                        break;
@@ -337,34 +338,172 @@

                                    // 改变任务状态
                                    modTask.Status = TaskStatusEnum.Complete;
                                    modTask.FinishDate = DateTime.Now; 
                                    modTask.FinishDate = DateTime.Now;
                                    _db.Updateable(modTask).ExecuteCommand();

                                    if (modTask.Origin == "WMS") 
                                    _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
                                    var modcTaskMonitor = 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 TaskRequest()
                                        {
                                            TaskNo = modTask.TaskNo,
                                            PalletNo = modTask.PalletNo,
                                            TaskType = "1",
                                            TaskType = TaskTypeEnum.In,
                                            TaskStatus = TaskStatusEnum.Complete
                                        };

                                        // 此处添加调用WMS接口 liudl
                                        HttpService httpService = new HttpService();
                                        var modResponseTask = httpService.RequestTask(requestMode).Result;
                                        if (modResponseTask.StatusCode == "0")
                                        {
                                            modcTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
                                        }
                                    }
                                    // 插入交互日志
                                    _db.Insertable(modcTaskMonitor).ExecuteCommand();
                                    //下发任务日志
                                    _taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());

                                    // 此处添加不空跑业务
                                }
                                break;
                            case TaskTypeEnum.Out: // 出库任务
                                { 
                                    
                                {
                                    string roadway = modTask.StartRoadway;
                                    // 从出库任务获取放货工位
                                    string outCode = modTask.EndLocate;
                                    // 根据工位号获取对应的输送线IP
                                    var plcConveyorConn = PLCCommon.GetPlcIp(outCode);
                                    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(),
                                            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);
                                        // 读取当前工位各偏移量值
                                        var listPos = PLCTaskAction.plcPositions.Where(s => s.DeviceId == wcsDevice.Id).ToList();

                                        // 给PLC写入任务数据
                                        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));
                                        //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()));
                                        //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));
                                        //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));
                                        // 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));

                                        // 是否写入成功
                                        if (listResult.All(s => s.IsSucceed))
                                        {
                                            var result = plcConveyorConn.SetPlcDBValue(wcsDevice.PosType, wcsDevice.DbNumber, wcsDevice.WcsPos, "740");

                                            if (result.IsSucceed)
                                            {
                                                // 写入跺机wcs控制字 返回垛机执行完成
                                                result = modDevice.PLCUtil.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
                                                if (result.IsSucceed)
                                                {
                                                    var modcTaskMonitor = new WcsTaskMonitor()
                                                    {
                                                        TaskNo = modTask.TaskNo,
                                                        PlcId = wcsDevice.Id,
                                                        PlcName = wcsDevice.Text,
                                                        PalletNo = modTask.PalletNo,
                                                        Status = TaskStatusEnum.Complete,
                                                        StartLocat = taskInfo.EndStation,
                                                        EndLocat = outCode,
                                                        InteractiveMsg = $"写入指令：收到跺机放货完成；放货{taskInfo.EndStation}工位===》{outCode}出库口"
                                                    };
                                                    // 插入交互日志
                                                    _db.Insertable(modcTaskMonitor).ExecuteCommand();
                                                    //下发任务日志
                                                    _taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                                                    break;
                                                }
                                            }
                                        }
                                        //此处添加不空跑业务
                                    }
                                }
                                break;
                            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);
                                    if (!result.IsSucceed)
                                    {
                                        Log.Error($"{modDevice.Text}写入任务号失败");
                                        break;
                                    }
                                    result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "30");
                                    if (!result.IsSucceed)
                                    {
                                        Log.Error($"{modDevice.Text}控制字写入30失败");
                                        break;
                                    }
                                    // 改变任务状态
                                    modTask.Status = TaskStatusEnum.Complete;
                                    modTask.FinishDate = DateTime.Now;
                                    _db.Updateable(modTask).ExecuteCommand();
                                    //下发任务日志
                                    _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());

                                    var modcTaskMonitor = 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 TaskRequest()
                                        {
                                            TaskNo = modTask.TaskNo,
                                            PalletNo = modTask.PalletNo,
                                            TaskType = TaskTypeEnum.Move,
                                            TaskStatus = TaskStatusEnum.Complete
                                        };
                                        HttpService httpService = new HttpService();
                                        var modResponseTask = httpService.RequestTask(requestMode).Result;
                                        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

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

                                    // 此处添加不空跑业务
                                }
                                break;
                            default: break;
@@ -379,12 +518,128 @@
                break;
            case "843":
                {

                    //空取货异常
                    var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
                    var (result, TaskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
                    if (!result.IsSucceed)
                        break;
                    string taskNo = Convert.ToString(TaskNo);
                    var modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
                    if (modTask == null)
                    {
                        Log.Error($"【堆垛机】当前任务号不存在对应的任务，任务号：{modTask.TaskNo}");
                        break;
                    }
                    var res = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "844");
                    if (!res.IsSucceed)
                        break;
                    modTask.Status = TaskStatusEnum.Exception;
                    _db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
                    _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
                    Log.Information($"【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();
                    var modResponseTask = httpService.RequestEmptyException(modTaskRequest).Result;
                    if (modResponseTask.StatusCode == "0")
                    {
                        //请求成功
                        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>());
                    }
                    else
                    {
                        //请求失败
                        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>());
                    }
                }
                break;
            case "861":
                {
                    //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 (result, TaskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
                    if (!result.IsSucceed)
                        break;
                    string taskNo = Convert.ToString(TaskNo);
                    var modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
                    if (modTask == null)
                    {
                        Log.Error($"【堆垛机】当前任务号不存在对应的任务，任务号：{modTask.TaskNo}");
                        break;
                    }
                    modTask.Status = TaskStatusEnum.Exception;
                    _db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
                    _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
                    Log.Information($"【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();
                    var modResponseTask = httpService.RequestFullException(modTaskRequest).Result;
                    if (modResponseTask.StatusCode == "0")
                    {
                        //修改任务为正在执行
                        modTask.Status = TaskStatusEnum.Doing;
                        _db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
                        // 起始排列层
                        var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "取货排");
                        var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "取货列");
                        var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "取货层");
                        // 目标放货工位
                        var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "放货排");
                        var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "放货列");
                        var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "放货层");
                        string endLocat = modResponseTask.TaskList.EndLocate;
                        string row = int.Parse(endLocat.Substring(0, 2)).ToString();
                        string column = int.Parse(endLocat.Substring(2, 2)).ToString();
                        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));
                        // 是否写入成功
                        if (listResult.All(s => s.IsSucceed))
                        {
                            // 向跺机写入控制流程字
                            var res = modDevice.PLCUtil.SetPlcDBValue(modDevice.PosType, modDevice.WcsPos, "862");
                            var modcTaskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = modTask.TaskNo,
                                PlcId = modDevice.Id,
                                PlcName = modDevice.Text,
                                PalletNo = modTask.PalletNo,
                                Status = TaskStatusEnum.Complete,
                                StartLocat = modDevice.StationNum,
                                EndLocat = endLocat,
                                InteractiveMsg = $"写入指令：{modDevice.StationNum}工位====》" + endLocat + "储位地址!"
                            };
                            // 插入交互日志
                            _db.Insertable(modcTaskMonitor).ExecuteCommand();
                            //下发任务日志
                            _taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                        }

                    }
                    //else
                    //{
                    //    //请求失败
                    //    modTask.IsSuccess = TaskSuccessEnum.Fail;
                    //    modTask.Information = modResponseTask.Message;
                    //    _db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
                    //}
                }
                break;
            default:
@@ -415,6 +670,10 @@
                    // 获取工位托盘码信息
                    var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
                    var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
                    if (!res.IsSucceed)
                    {
                        break;
                    }
                    var http = new HttpService();
                    string TaskNo = "", EndLocate = "";
                    strMsg = http.RequestRoadWay(palletVal, modDevice.StationNum, taskModel, louCeng, ref EndLocate, ref TaskNo);
@@ -467,6 +726,10 @@
                    // 获取工位托盘码信息
                    var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
                    var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
                    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);
@@ -558,6 +821,10 @@
                    // 获取工位托盘码信息
                    var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
                    var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
                    if (!res.IsSucceed)
                    {
                        break;
                    }
                    var http = new HttpService();
                    string TaskNo = "";
                    // 向WMS申请储位信息
@@ -613,6 +880,10 @@
                    // 获取工位托盘码信息
                    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
@@ -626,7 +897,9 @@
                    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);
@@ -647,12 +920,13 @@

                        var djMod = PLCTaskAction.plcDevices.First(m => m.StationNum == modTask.EndRoadway
                            && m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);
                        var djInfos = PLCTaskAction.plcStation.Where(m => m.IsDelete == false && m.DeviceId == djMod.Id).ToList();
                        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 != "820")
                        {
                            // 跺机非空闲等待
                            break;
@@ -900,5 +1174,5 @@
    }


    

}