WCSNet6.git - Gitblit

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

			using Dm.filter;
			using DocumentFormat.OpenXml.Bibliography;
			using Elastic.Clients.Elasticsearch.Tasks;
			using Furion.Logging;
			@@ -10,6 +11,8 @@
			using System;
			using System.Data;
			using System.Reflection.Emit;
			using WCS.Application.Entity;
			using WCS.Application.Util;

			namespace WCS.Application;
			public static class PLCService
			@@ -25,16 +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);
			@@ -61,35 +64,60 @@
			// 跺机空闲，获取出库任务、移库任务
			{
			// 获取任务信息
			var modTask = _db.Queryable<WcsTask>().OrderBy(m => m.CreateTime).OrderBy(m => m.Levels, OrderByType.Desc)
			var modTask = _db.Queryable<WcsTask>().OrderBy(m => m.CreateTime).OrderBy(m => m.Levels, OrderByType.Asc)
			.First(s => s.Status == TaskStatusEnum.Wait && (s.TaskType == TaskTypeEnum.Out \|\| s.TaskType == TaskTypeEnum.Move)
			&& s.StartRoadway == modDevice.StationNum);
			if (modTask == null)
			{
			break;
			}

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

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

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

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

			// 目标工位不为null，需先判断放货工位是否空闲
			if (!string.IsNullOrEmpty(taskInfo.EndStation))
			{
			// 打开对应的输送线连接
			var plcConveyorConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == taskInfo.Ip);
			if (plcConveyorConn.Connected)
			{
			if (value.ToString() != "720") // 720:放货空位空闲，可放货
			// 获取放货工位配置信息
			var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == taskInfo.EndStation
			&& m.DeviceType == DeviceTypeEnum.Business);

			var (result, value) = plcConveyorConn.GetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.PlcPos);
			if (result.IsSucceed)
			{
			Log.Error(string.Format("任务号:{0}:放货工位占用，稍后执行。", modTask.TaskNo));
			if (value.ToString() != "720") // 720:放货空位空闲，可放货
			{
			Log.Error(string.Format("任务号:{0}:放货工位占用，稍后执行。", modTask.TaskNo));
			break;
			}
			else if (value.ToString() == "720")
			{
			// 若空闲提前占用此工位，同工位出入公用口放开此程序
			// var ret = plcConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "730");
			}
			}
			else
			{
			break;
			}
			}
			@@ -98,14 +126,10 @@
			break;
			}
			}
			else
			{
			break;
			}
			}

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

			@@ -135,7 +159,7 @@
			if (listResult.All(s => s.IsSucceed))
			{
			// 写入跺机任务下发完成
			plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "830");
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "830");

			// 将移库任务待执行改为正在执行
			_db.Updateable<WcsTask>()
			@@ -192,12 +216,12 @@
			var (res, val) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTask.PlcPos);

			var modPosEndStation = modDevice.listStation.FirstOrDefault(m => m.Text == "目的工位");
			var (endStationRes, endStation) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTask.PlcPos);
			var (endStationRes, endStation) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosEndStation.PlcPos);
			if (res.IsSucceed)
			{
			// 获取任务信息
			string tasknoVal = val.ToString();
			var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == true);
			var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
			if (modTask == null)
			{
			Log.Error(string.Format("PLC控制字840:未找到对应的任务。"));
			@@ -218,17 +242,17 @@
			{
			// 获取跺机起始工位点位配置,读取起始工位
			var modPosStartStation = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工位");
			var (startStationRes, startStationVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosStartStation.PlcPos);
			var (startStationRes, startStationVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.Short, modDevice.DbNumber, modPosStartStation.PlcPos);
			if (startStationRes.IsSucceed)
			{
			// 根据工位号获取对应的输送线IP
			var plcConveyorConn = PLCCommon.GetPlcIp(startStationVal);
			PLCUtil plcConveyorConn = PLCCommon.GetPlcIp(startStationVal.ToString());
			if (plcConveyorConn.Connected)
			{
			// 向取货工位写入流程字640 取货已完成
			var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == startStationVal
			&& m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == true);
			var retc = plcConveyorConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "640");
			var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == startStationVal.ToString()
			&& m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);

			var modcTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			@@ -236,12 +260,24 @@
			PlcName = ConveyorMod.Text,
			PalletNo = modTask.PalletNo,
			Status = TaskStatusEnum.Complete,
			StartLocat = startStationVal,
			StartLocat = startStationVal.ToString(),
			EndLocat = modTask.EndLocate // 目标储位地址
			};

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

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

			if (!retc.IsSucceed)
			{
			modcTaskMonitor.InteractiveMsg = string.Format("输送线取货工位：{0},写入取货完成640失败等待在次写入", startStationVal);
			modcTaskMonitor.InteractiveMsg = string.Format("工位：{0},写入取货完成640失败", startStationVal);
			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			//下发任务日志
			@@ -249,40 +285,58 @@
			break;
			}

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

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

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

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

			// 记录任务明细
			modInsertTaskMonitor.InteractiveMsg = string.Format("储位地址：{0}取货完成", modTask.StartLocate);
			modInsertTaskMonitor.EndLocat = endStation; // 放货工位
			//下发任务日志
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			else
			{
			@@ -295,12 +349,13 @@

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

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

			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			//下发任务日志
			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);
			}
			@@ -315,7 +370,7 @@
			if (res.IsSucceed)
			{
			string tasknoVal = val.ToString();
			var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == true);
			var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
			if (modTask == null)
			{
			Log.Error(string.Format("跺机控制字860:未找到对应的任务。"));
			@@ -352,24 +407,34 @@
			if (modTask.Origin == "WMS")
			{
			// 反馈WMS
			var requestMode = new TaskRequest()
			var requestMode = new TaskRequestWMS()
			{
			TaskNo = modTask.TaskNo,
			PalletNo = modTask.PalletNo,
			TaskType = TaskTypeEnum.In,
			TaskStatus = TaskStatusEnum.Complete
			TaskType = ((int)TaskTypeEnum.In).ToString(),
			TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
			};
			HttpService httpService = new HttpService();
			var modResponseTask = httpService.RequestTask(requestMode).Result;
			if (modResponseTask.StatusCode == "0")
			if (modResponseTask.StatusCode == 0)
			{
			modTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
			}
			else
			{
			Log.Error(string.Format("任务反馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
			}
			}
			// 根据任务号获取起始工位地址，根据起始工位地址获取LEDIP 推送到LED屏幕。
			modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == modTask.StartLocate).Select(s => s.LedIP).First();

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

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

			// 此处添加不空跑业务
			}
			@@ -384,7 +449,7 @@
			if (plcConveyorConn.Connected)
			{
			// 根据目标地址和巷道获取放货工位对应的排列层
			PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, modTask.TaskType.ToString(),
			PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, ((int)modTask.TaskType).ToString(),
			modTask.StartRoadway, modTask.EndRoadway);
			// 根据工位号获取工位信息
			var wcsDevice = PLCTaskAction.plcDevices.First(s => s.PlcId == plcConveyorConn.PlcId && s.Level == DeviceLevelEnum.Station && s.StationNum == taskInfo.EndStation);
			@@ -395,19 +460,19 @@
			var listResult = new List<Result>();
			//任务号
			var modPosTask = listPos.FirstOrDefault(s => s.Text == "任务号");
			listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
			listResult.Add(plcConveyorConn.SetPlcDBValue(modPosTask.PosType, wcsDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
			//任务类型
			var modPosTaskType = listPos.FirstOrDefault(s => s.Text == "任务类型");
			listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, ((int)modTask.TaskType).ToString()));
			listResult.Add(plcConveyorConn.SetPlcDBValue(modPosTaskType.PosType, wcsDevice.DbNumber, modPosTaskType.PlcPos, ((int)modTask.TaskType).ToString()));
			//托盘号
			var modPosPalletNo = listPos.FirstOrDefault(s => s.Text == "托盘码");
			listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
			listResult.Add(plcConveyorConn.SetPlcDBValue(modPosPalletNo.PosType, wcsDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
			//起始工位
			var modPosLocatNo = listPos.FirstOrDefault(s => s.Text == "起始工位");
			listResult.Add(plcConn.SetPlcDBValue(modPosLocatNo.PosType, modDevice.DbNumber, modPosLocatNo.PlcPos, taskInfo.EndStation));
			listResult.Add(plcConveyorConn.SetPlcDBValue(modPosLocatNo.PosType, wcsDevice.DbNumber, modPosLocatNo.PlcPos, taskInfo.EndStation));
			// 目标工位
			var modPosEndLocatNo = listPos.FirstOrDefault(s => s.Text == "目的工位");
			listResult.Add(plcConn.SetPlcDBValue(modPosEndLocatNo.PosType, modDevice.DbNumber, modPosEndLocatNo.PlcPos, outCode));
			listResult.Add(plcConveyorConn.SetPlcDBValue(modPosEndLocatNo.PosType, wcsDevice.DbNumber, modPosEndLocatNo.PlcPos, outCode));

			// 是否写入成功
			if (listResult.All(s => s.IsSucceed))
			@@ -435,6 +500,14 @@
			_db.Insertable(modcTaskMonitor).ExecuteCommand();
			//下发任务日志
			HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());

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

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

			break;
			}
			}
			@@ -446,21 +519,22 @@
			case TaskTypeEnum.Move: // 移库任务
			{
			var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
			var result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo);
			var result = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo);
			if (!result.IsSucceed)
			{
			Log.Error($"{modDevice.Text}写入任务号失败");
			break;
			}
			result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "30");
			result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
			if (!result.IsSucceed)
			{
			Log.Error($"{modDevice.Text}控制字写入30失败");
			Log.Error($"{modDevice.Text}控制字写入870失败");
			break;
			}
			// 改变任务状态
			modTask.Status = TaskStatusEnum.Complete;
			modTask.FinishDate = DateTime.Now;
			modTask.Levels = 999;
			_db.Updateable(modTask).ExecuteCommand();
			//下发任务日志
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			@@ -478,20 +552,23 @@
			if (modTask.Origin == "WMS")
			{
			// 反馈WMS
			var requestMode = new TaskRequest()
			var requestMode = new TaskRequestWMS()
			{
			TaskNo = modTask.TaskNo,
			PalletNo = modTask.PalletNo,
			TaskType = TaskTypeEnum.Move,
			TaskStatus = TaskStatusEnum.Complete
			TaskType = ((int)TaskTypeEnum.Move).ToString(),
			TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
			};
			HttpService httpService = new HttpService();
			var modResponseTask = httpService.RequestTask(requestMode).Result;
			if (modResponseTask.StatusCode == "0")
			if (modResponseTask.StatusCode == 0)
			{
			modcTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
			//修改储位信息任务类型执行状态起始位置目标位置

			}
			else
			{
			Log.Error(string.Format("任务反馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
			}
			}
			// 插入交互日志
			@@ -643,6 +720,164 @@
			}
			}
			/// <summary>
			/// 不空跑
			/// </summary>
			/// <param name="modTask">操作完成的任务</param>
			/// <param name="plcConn">plc连接</param>
			/// <param name="modDevice">设备信息</param>
			private static void ContinuousOperation(WcsTask modTask, PLCUtil plcConn, WcsDeviceDto modDevice)
			{
			// 查询所有待执行的任务
			var listTask = _db.Queryable<WcsTask>().Where(s => s.Status == TaskStatusEnum.Wait).ToList();
			WcsTask modNextTask = null;
			switch (modTask.TaskType)
			{
			case TaskTypeEnum.In:
			{
			// 先找出对应排列层的入库任务
			var listInTask = listTask.Where(s => s.TaskType == TaskTypeEnum.In)
			.Select(s => s.EndLocate.Substring(0, 6))
			.ToHashSet();

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

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

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

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

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

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

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

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

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

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

			/// <summary>
			/// 输送线业务处理
			/// </summary>
			/// <param name="modDevice"></param>
			@@ -651,6 +886,10 @@
			var plcConn = modDevice.PLCUtil;
			// 获取楼层数ceshi
			var louCeng = PLCCommon.GetRoadwayByStationNew(modDevice.StationNum);
			if (louCeng == "")
			{
			return;
			}
			switch (modDevice.Value.ToString())
			{
			case "320":
			@@ -659,10 +898,10 @@
			string strMsg = "";
			string taskModel = "";
			// 判断是否演示模式
			if (PLCTaskAction.boDemo)
			{
			taskModel = "1";// 演示模式
			}
			//if (PLCTaskAction.boDemo)
			//{
			// taskModel = "1";// 演示模式
			//}
			// 获取工位托盘码信息
			var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
			var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
			@@ -676,6 +915,10 @@

			if (!strMsg.Contains("-1"))
			{
			// 根据任务号获取起始工位地址，根据起始工位地址获取LEDIP 推送到LED屏幕。
			var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskNo == TaskNo);
			modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskInfo.StartLocate).Select(s => s.LedIP).First();

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

			@@ -699,9 +942,8 @@

			// 通知任务界面任务已存在更新请更新界面
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			// led更新内容
			//DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
			//LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
			// led显示内容
			LedDisplay(modDevice.LedIP, "工位:" + modDevice.StationNum, "申请入库 " + $"目标巷道：{EndLocate}", "托盘号:" + palletVal);
			}

			}
			@@ -730,6 +972,11 @@
			{
			// 此托盘没有对应的转移任务 led显示
			break;
			}
			//判断入库锁定是否打开
			if (PLCTaskAction.boEnterLock)
			{
			break;//入库锁定打开则不执行入库任务
			}

			// 获取巷道口入库工位
			@@ -762,6 +1009,8 @@

			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "340");

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

			if (ret.IsSucceed)
			{
			@@ -784,8 +1033,8 @@
			// 通知任务界面任务已存在更新请更新界面
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());

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

			@@ -820,6 +1069,11 @@
			string TaskNo = "";
			// 向WMS申请储位信息
			strMsg = http.RequestLocate(palletVal, modDevice.StationNum, taskModel, roadway, ref TaskNo);

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

			if (!strMsg.Contains("-1"))
			{
			// 写入流程字 630
			@@ -845,9 +1099,8 @@

			// 通知任务界面任务已存在更新请更新界面
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			// led更新内容
			//DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
			//LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
			// led显示内容
			LedDisplay(modDevice.LedIP, "工位:" + modDevice.StationNum, "入库中 " + $"申请储位地址:{strMsg}", "托盘号:" + palletVal);
			}
			}
			else
			@@ -906,7 +1159,9 @@
			string lie = int.Parse(endLocate.Substring(2, 2)).ToString();
			string ceng = int.Parse(endLocate.Substring(4, 2)).ToString();

			var djMod = PLCTaskAction.plcDevices.First(m => m.StationNum == modTask.EndRoadway
			var djmodel = _db.Queryable<WcsPlc>().First(m => m.IP == sInfo.Ip);

			var djMod = PLCTaskAction.plcDevices.First(m => m.PlcId == djmodel.Id
			&& m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);
			var djInfos = PLCTaskAction.plcPositions.Where(m => m.IsDelete == false && m.DeviceId == djMod.Id).ToList();
			var djInfo = djInfos.First(m => m.Text == "PLC流程字");
			@@ -914,7 +1169,7 @@
			// 获取跺机当前状态
			var (djRes, djVal) = plcStackeConn.GetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.PlcPos);

			if (!djRes.IsSucceed \|\| djVal != "820")
			if (!djRes.IsSucceed \|\| djVal.ToString() != "820")
			{
			// 跺机非空闲等待
			break;
			@@ -928,7 +1183,7 @@
			var modPosTaskType = djInfos.FirstOrDefault(s => s.Text == "任务类型");
			var taskTypeStr = (int)modTask.TaskType;
			listResult.Add(plcStackeConn.SetPlcDBValue(modPosTaskType.PosType, djMod.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
			var modPosPalletNo = djInfos.FirstOrDefault(s => s.Text == "托盘号");
			var modPosPalletNo = djInfos.FirstOrDefault(s => s.Text == "托盘码");
			listResult.Add(plcStackeConn.SetPlcDBValue(modPosPalletNo.PosType, djMod.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));

			//起始工位
			@@ -995,8 +1250,8 @@
			#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
			@@ -1032,9 +1287,12 @@
			// 通知任务界面任务已存在更新请更新界面
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());

			// led更新内容
			//DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
			//LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
			// 根据任务号获取起始工位地址，根据起始工位地址获取LEDIP 推送到LED屏幕。
			var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskNo == modInsertTaskMonitor.TaskNo);
			modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskInfo.EndLocate).Select(s => s.LedIP).First();

			// led显示内容
			LedDisplay(modDevice.LedIP, "到达工位:" + modDevice.StationNum, "出库完成 " + $"储位地址：{modInsertTaskMonitor.StartLocat}", "托盘号:" + palletVal);
			}
			// 反馈WMS出库完成
			//TaskReques taskReques = new TaskReques();
			@@ -1058,32 +1316,164 @@
			var (res2, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
			var modPosStarStationNum = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工位");
			var (res3, starVal) = plcConn.GetPlcDBValue(modPosStarStationNum.PosType, modDevice.DbNumber, modPosStarStationNum.PlcPos);

			string tasknoVal = taskVal.ToString();
			var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
			if (modTask == null)
			{
			Log.Error(string.Format("输送线440:未找到对应的任务。"));
			break;
			}
			// 改变任务状态
			modTask.Status = TaskStatusEnum.Complete;
			modTask.FinishDate = DateTime.Now;
			modTask.Levels = 999;
			_db.Updateable(modTask).ExecuteCommand();
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			// 插入任务明细
			var modInsertTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = taskVal,
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令450：{modDevice.StationNum}拣选完成,托盘离开工位",
			PalletNo = palletVal,
			Status = TaskStatusEnum.Complete,
			StartLocat = starVal,
			StartLocat = starVal.ToString(),
			EndLocat = modDevice.StationNum,
			};
			if (modTask.Origin == "WMS")
			{
			// 反馈WMS
			var requestMode = new TaskRequestWMS()
			{
			TaskNo = modTask.TaskNo,
			PalletNo = modTask.PalletNo,
			TaskType = ((int)TaskTypeEnum.Out).ToString(),
			TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
			};
			HttpService httpService = new HttpService();
			var modResponseTask = httpService.RequestTask(requestMode).Result;
			if (modResponseTask.StatusCode == 0)
			{
			modInsertTaskMonitor.InteractiveMsg += "，返回给WMS任务完成";
			}
			else
			{
			Log.Error(string.Format("任务反馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
			}
			}

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

			// 通知任务界面任务已存在更新请更新界面
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			// led更新内容
			//DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
			//LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
			// led显示内容
			modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == modTask.EndLocate).Select(s => s.LedIP).First();
			LedDisplay(modDevice.LedIP, "工位:" + modTask.StartLocate, $"拣选完成，托盘离开工位", "托盘号:" + modTask.PalletNo);
			}
			#endregion
			}
			break;

			#endregion

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

			// 调用WMS空托出库接口，返回出库任务存入出库表
			var strMsg = "";
			var http = new HttpService();
			strMsg = http.IssuePlnOutHouseWcs("1", "205");
			if (!strMsg.Contains("-1"))
			{
			// 写入plc流程字60
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "60");
			}
			else
			{
			// 申请巷道失败！LED显示
			Log.Error(string.Format($"工位号：{modDevice.StationNum}申请空托跺失败:{strMsg};"));
			}
			}
			break;
			case "80":
			// 空托盘跺已到位
			{
			// 调用wms任务出库任务完成
			// 获取跺机点位配置
			var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
			var (res, val) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
			// 根据任务号获取任务信息
			if (res.IsSucceed)
			{
			string tasknoVal = val.ToString();
			var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
			if (modTask == null)
			{
			Log.Error(string.Format($"工位号：{modDevice.StationNum}空托盘到达，未找到对应的任务!任务号{tasknoVal};"));
			break;
			}
			// 写入plc流程字90
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "90");
			if (ret.IsSucceed)
			{
			// 改变任务状态
			modTask.Status = TaskStatusEnum.Complete;
			modTask.FinishDate = DateTime.Now;
			modTask.Levels = 999;
			_db.Updateable(modTask).ExecuteCommand();

			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			var modTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			PalletNo = modTask.PalletNo,
			Status = TaskStatusEnum.Complete,
			StartLocat = modTask.StartLocate,
			EndLocat = modTask.EndLocate,
			InteractiveMsg = $"任务完成"
			};
			if (modTask.Origin == "WMS")
			{
			// 反馈WMS
			var requestMode = new TaskRequestWMS()
			{
			TaskNo = modTask.TaskNo,
			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;
			@@ -1104,7 +1494,439 @@
			/// <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 \|\| 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 = 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");

			var listResult = new List<Result>();
			// 写入托盘输送线码垛工位目的工位、任务号，写入交互流程组托成功执行入库{若需要可以写入任务号等等其他信息}
			listResult.Add(plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, endLocatVlue)); // 目标工位
			var modPosTask = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务号" && s.IsDelete == false);
			listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, numModel.DbNumber, modPosTask.PlcPos, TaskNo));
			var modPosTaskType = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务类型" && s.IsDelete == false);
			var taskTypeStr = (int)taskModel.TaskType;
			listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, numModel.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));

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

			// 插入任务明细
			var modInsertTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = TaskNo,
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令50：申请巷道成功",
			PalletNo = palletNo,
			Status = TaskStatusEnum.Complete,
			StartLocat = modDevice.StationNum,
			EndLocat = strMsg,
			};
			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			// 通知任务界面任务已存在更新请更新界面
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			}
			}
			}
			}
			}
			break;
			default:break;
			}
			}
			}

			/// <summary>
			@@ -1126,6 +1948,23 @@
			}
			}

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

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