增加缠膜机交互和修改满放和空取程序

IPC-610

2025-01-02 d77d9ff80f5fd8cd70c775fbfc30dc27061bfad2

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

@@ -3,9 +3,11 @@
using DocumentFormat.OpenXml.Bibliography;
using DocumentFormat.OpenXml.Drawing.Charts;
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;
@@ -613,7 +615,7 @@
                    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");
@@ -648,7 +650,7 @@
                {
                    //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;
@@ -656,7 +658,7 @@
                    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;
                    }
                    modTask.Status = TaskStatusEnum.Exception;
@@ -685,17 +687,38 @@
                        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))
                        {
@@ -967,6 +990,35 @@

                    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 Qty = plcConn.GetPlcDBValue(PLCDataTypeEnum.Int,"DB135.0").ToString();//获取叠托机叠托数量
                        groupMsg = http.BindPlnInHouseWcs(Qty, 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"))
@@ -977,7 +1029,6 @@

                        // 写入330
                        var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "330");

                        if (ret.IsSucceed)
                        {
                            // 插入任务明细 
@@ -992,9 +1043,21 @@
                                StartLocat = modDevice.StationNum,
                                EndLocat = EndLocate,
                            };

                            // 插入交互日志
                            _db.Insertable(modInsertTaskMonitor).ExecuteCommand();

                            //判断是否裹包
                            var gbPos = modDevice.listStation.FirstOrDefault(s => s.Text == "Element_1");
                            strMsg = new HttpService().RequestPackWcs(palletVal);
                            if (IsBale == "1")
                            {
                                //写入裹包指令
                                ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, gbPos.PlcPos, "2");
                            }
                            else
                            {
                                ret = plcConn.SetPlcDBValue(modDevice.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>());
@@ -1153,12 +1216,11 @@
                    // 向WMS申请储位信息
                    strMsg = http.RequestLocate(palletVal, modDevice.StationNum, taskModel, roadway, ref TaskNo);

                    // 根据任务号获取起始工位地址，根据起始工位地址获取LEDIP 推送到LED屏幕。
                    var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskNo == TaskNo);
                    modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskInfo.StartLocate).Select(s => s.LedIP).First();

                    if (!strMsg.Contains("-1"))
                    {
                        // 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");

@@ -1584,6 +1646,95 @@
                }
                break;
            #endregion
            case "10":
                {
                    #region 缠膜完成 11
                    // 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);

                    strMsg = http.RequestPackedWcs(palletVal);
                    if (!strMsg.Contains("-1"))
                    {
                        var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "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 //23：人工拆
                    // 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);

                    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;

            default: break;
        }
@@ -2066,15 +2217,469 @@
    private static void StackingRobot(WcsDeviceDto modDevice)
    {
        var plcConn = modDevice.PLCUtil;
        switch (modDevice.Value.ToString())
        if (modDevice.DbNumber == "DB131" && modDevice.DbNumber == "DB132" && modDevice.DbNumber == "DB133" && modDevice.DbNumber == "DB134")
        {
            case "0":
                {
                    // 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
                }
                break;
            default:
                break;
            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
                    var strMsg = "";
                    var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "20");
                    if (ret.IsSucceed)
                    {
                        var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
                        var (res, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
                        //根据托盘号判断当前任务表中是否有此任务,任务由WMS出库时下发
                        string palletno = Convert.ToString(palletVal);
                        var taskInfo = _db.Queryable<WcsTask>().First(w => w.PalletNo == palletno && w.Status == TaskStatusEnum.Doing);
                        if (taskInfo == null)
                        {
                            Log.Error(string.Format($"出库任务未下发，请人工处理，无法拆垛！"));
                            break;
                        }
                        //绑定机器人拆垛位任务


                        //下发拆托规格，拆箱数和托盘上总箱数

                    }
                            
                    
                    break;
                default:
                    break;
            }
        }
    }

    /// <summary>
    /// 件箱拆垛分拣
    /// </summary>
    /// <param name="modDevice"></param>
    private static async void BoxCheckConveyorLine(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 && w.Status == "1");
                                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.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)
                                        {
                                            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($"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;
                            }

                            var rowCount = _db.Updateable(boxInfo).ExecuteCommand();
                            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 解绑分道
                                    AutoEndLot(boxInfo[0].LotNo, plcConn, "0");
                                }
                            }
                            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;
                                }
                                string sqlStr = $"insert into WCSBoxInfoLog select * from WCSBoxInfo where IsDelete=0 and PalletNo='{palletNo}'";
                                int insertCount = _db.Ado.ExecuteCommand(sqlStr);
                                if (insertCount > 0)
                                {
                                    // 组托成功后将信息存到log表
                                    string sqlStr2 = $"delete from WCSBoxInfoLog 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");

                                        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;
            }
        }
    }