Merge branch 'master' of http://47.95.120.53:8083/r/WCSNet6

hwh

2024-09-14 f735e389c01eed24d6b9792b35d2f98d15f3ecbb

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

@@ -4,8 +4,10 @@
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;

@@ -38,6 +40,9 @@
                    AGV(mod);
                    break;
                case PLCTypeEnum.PalletMachine:
                    PalletMachine(mod);
                    break;
                case PLCTypeEnum.StackingRobot:
                    PalletMachine(mod);
                    break;
                default:
@@ -143,7 +148,7 @@
                            .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))
                        {
@@ -338,7 +343,7 @@
                                    modTask.Status = TaskStatusEnum.Complete;
                                    modTask.FinishDate = DateTime.Now;
                                    _db.Updateable(modTask).ExecuteCommand();

                                    _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
                                    var modcTaskMonitor = new WcsTaskMonitor()
                                    {
                                        TaskNo = modTask.TaskNo,
@@ -516,12 +521,128 @@
                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:
@@ -534,6 +655,460 @@
    /// <param name="modDevice"></param>
    private static void ConveyorLine(WcsDeviceDto modDevice)
    {
        var plcConn = modDevice.PLCUtil;
        // 获取楼层数ceshi
        var louCeng = PLCCommon.GetRoadwayByStationNew(modDevice.StationNum);
        switch (modDevice.Value.ToString())
        {
            case "320":
                {
                    // 申请巷道
                    string strMsg = "";
                    string taskModel = "";
                    // 判断是否演示模式
                    if (PLCTaskAction.boDemo)
                    {
                        taskModel = "1";// 演示模式
                    }
                    // 获取工位托盘码信息
                    var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
                    var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
                    if (!res.IsSucceed)
                    {
                        break;
                    }
                    var http = new HttpService();
                    string TaskNo = "", EndLocate = "";
                    strMsg = http.RequestRoadWay(palletVal, modDevice.StationNum, taskModel, louCeng, ref EndLocate, ref TaskNo);
                    
                    if (!strMsg.Contains("-1"))
                    {
                        // 写入330
                        var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "330");
                        
                        if (ret.IsSucceed)
                        {
                            // 插入任务明细 
                            var modInsertTaskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = TaskNo,
                                PlcId = modDevice.Id,
                                PlcName = modDevice.Text,
                                InteractiveMsg = $"写入指令330：{modDevice.StationNum}工位申请巷道",
                                PalletNo = palletVal,
                                Status = TaskStatusEnum.Complete,
                                StartLocat = modDevice.StationNum,
                                EndLocat = EndLocate,
                            };
                            
                            // 插入交互日志
                            _db.Insertable(modInsertTaskMonitor).ExecuteCommand();

                            // 通知任务界面任务已存在更新 请更新界面
                            if (PLCTaskAction.boRefresh)
                            {
                                _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                            }
                            // led更新内容
                            //DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and  StationNum = '{EndLocat}'")[0];
                            //LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
                        }

                    }
                    else
                    {
                        // 申请巷道失败！LED显示
                        Log.Error(string.Format($"申请巷道失败:{ strMsg },读写plc错误")); 
                    }
                }
                break;
            case "330":
                {
                    // 写入任务 托盘移动 340

                    // 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);
                    if (modTask == null)
                    {
                        // 此托盘没有对应的转移任务 led显示
                        break;
                    }
                    
                    // 获取巷道口入库工位
                    string endLocatVlue = PLCCommon.RoadwayToStationNum(modTask.EndRoadway, louCeng);
                    // 给PLC写入任务数据
                    var listResult = new List<Result>();
                    // 任务号、任务类型、托盘号
                    var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
                    listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
                    var modPosTaskType = modDevice.listStation.FirstOrDefault(s => s.Text == "任务类型");
                    var taskTypeStr = (int)modTask.TaskType;
                    listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
                    var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
                    listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
                    // 起始工位、目的工位
                    var modPosStrLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "起始工位");
                    listResult.Add(plcConn.SetPlcDBValue(modPosStrLocat.PosType, modDevice.DbNumber, modPosStrLocat.PlcPos, modDevice.StationNum));
                    var modPosEndLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "目的工位");
                    listResult.Add(plcConn.SetPlcDBValue(modPosEndLocat.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, endLocatVlue));
                    

                    if (listResult.All(s => s.IsSucceed))
                    {
                        // 将任务状态变更为正在执行
                        _db.Updateable<WcsTask>()
                           .SetColumns(s => s.Status == TaskStatusEnum.Doing)
                           .Where(s => s.Id == modTask.Id)
                           .ExecuteCommand();
                        // 写入流程字 330 340
                        
                        var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "340");
                         
                        
                        if (ret.IsSucceed)
                        {
                            // 插入任务明细 
                            var modInsertTaskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = modTask.TaskNo,
                                PlcId = modDevice.Id,
                                PlcName = modDevice.Text,
                                InteractiveMsg = $"写入指令340：{modDevice.StationNum}储位====》{endLocatVlue}工位",
                                PalletNo = palletVal,
                                Status = TaskStatusEnum.Complete,
                                StartLocat = modDevice.StationNum,
                                EndLocat = endLocatVlue,
                            };

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

                            // 通知任务界面任务已存在更新 请更新界面
                            if (PLCTaskAction.boRefresh)
                            {
                                _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                            }

                            // led更新内容
                            //LedDisplay(modDevice.LedIP, "工位:" + modTask.EndLocate, "出库中 " + $"储位地址：{modTask.StartLocate}", "托盘号:" + modTask.PalletNo);
                        }
                    }

                }
                break;
            case "620":
                {
                    // 申请储位 更新入库任务(储位地址) 630
                                        
                    var strMsg = "";
                    var taskModel = "";
                    // 判断是否演示模式
                    if (PLCTaskAction.boDemo)
                    {
                        // 演示模式
                        taskModel = "1";
                    }
                    // 根据工位号获取巷道号
                    var roadway = PLCCommon.GetRoadwayByStation(modDevice.StationNum);
                    if (roadway == "")
                    {
                        break;
                    }
                    // 获取工位托盘码信息
                    var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
                    var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
                    if (!res.IsSucceed)
                    {
                        break;
                    }
                    var http = new HttpService();
                    string TaskNo = "";
                    // 向WMS申请储位信息
                    strMsg = http.RequestLocate(palletVal, modDevice.StationNum, taskModel, roadway, ref TaskNo);
                    if (!strMsg.Contains("-1"))
                    {
                        // 写入流程字 630
                        var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "630");

                        if (ret.IsSucceed)
                        {
                            // 插入任务明细 
                            var modInsertTaskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = TaskNo,
                                PlcId = modDevice.Id,
                                PlcName = modDevice.Text,
                                InteractiveMsg = $"写入指令340：{modDevice.StationNum}工位申请储位",
                                PalletNo = palletVal,
                                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
                            if (PLCTaskAction.boRefresh)
                            {
                                _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                            }
                            // led更新内容
                            //DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and  StationNum = '{EndLocat}'")[0];
                            //LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
                        }
                    }
                    else
                    {
                        // 申请储位失败！LED显示
                        Log.Error(string.Format($"申请储位失败:{strMsg},读写plc错误"));
                    }
                    
                }
                break;
            case "630":
                {
                    #region 写入跺机取货任务 640

                    // 获取工位托盘码信息
                    var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
                    var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
                    // 获取工位任务号信息
                    var modPosTaskNo = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
                    var (taskRes, taskNoVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTaskNo.PlcPos);
                    if (!res.IsSucceed || !taskRes.IsSucceed )
                    {
                        break;
                    }
                    string pallet = palletVal.ToString();
                    string taskNo = taskNoVal.ToString();
                    // 获取任务信息
                    var modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.PalletNo == pallet && s.Status == TaskStatusEnum.Doing && s.TaskType == TaskTypeEnum.In && s.TaskNo == taskNo);
                    if (modTask == null)
                    {
                        // 此托盘没有对应的转移任务 led显示
                        break;
                    }
                    
                    var sInfo = PLCCommon.GetStokePlc(modTask.EndRoadway, louCeng);
                    if (string.IsNullOrWhiteSpace(sInfo.Ip))
                    {
                        //需加上LED显示
                        Log.Error(string.Format($"根据巷道获取跺机IP失败，请联系管理员"));
                        break; 
                    }
                    // 跺机连接
                    var plcStackeConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == sInfo.Ip);
                    if (plcStackeConn.Connected)
                    {
                        // 目标排列层
                        var endLocate = modTask.EndLocate;
                        if (string.IsNullOrWhiteSpace(modTask.EndLocate))
                        {
                            Log.Error(string.Format($"目标位置为空，请人工处理,读写plc错误"));
                            break;
                        }

                        var paiVal = PLCCommon.GetDjAdress(modTask.EndRoadway.Substring(1, 2), endLocate.Substring(0, 2), endLocate.Substring(6, 2));
                        string pai = paiVal.ToString();
                        string lie = int.Parse(endLocate.Substring(2, 2)).ToString();
                        string ceng = int.Parse(endLocate.Substring(4, 2)).ToString();

                        var djMod = PLCTaskAction.plcDevices.First(m => m.StationNum == modTask.EndRoadway
                            && m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);
                        var djInfos = PLCTaskAction.plcPositions.Where(m => m.IsDelete == false && m.DeviceId == djMod.Id).ToList();
                        var djInfo = djInfos.First(m => m.Text == "PLC流程字");

                        // 获取跺机当前状态
                        var (djRes, djVal) = plcStackeConn.GetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.PlcPos);
                        
                        if (!djRes.IsSucceed || djVal != "820")
                        {
                            // 跺机非空闲等待
                            break;
                        }
                        // 给PLC写入任务数据
                        var listResult = new List<Result>();

                        // 任务号、任务类型、托盘号
                        var modPosTask = djInfos.FirstOrDefault(s => s.Text == "任务号");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosTask.PosType, djMod.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
                        var modPosTaskType = djInfos.FirstOrDefault(s => s.Text == "任务类型");
                        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");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosPalletNo.PosType, djMod.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
                        
                        //起始工位
                        var modPosStrStationNum = djInfos.FirstOrDefault(s => s.Text == "起始工位");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrStationNum.PosType, djMod.DbNumber, modPosStrStationNum.PlcPos, modDevice.StationNum));

                        //取货排、列、层
                        var modPosStrPai = djInfos.FirstOrDefault(s => s.Text == "取货排");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrPai.PosType, djMod.DbNumber, modPosStrPai.PlcPos, sInfo.Pai));
                        var modPosStrLie = djInfos.FirstOrDefault(s => s.Text == "取货列");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrLie.PosType, djMod.DbNumber, modPosStrLie.PlcPos, sInfo.Lie));
                        var modPosStrCeng = djInfos.FirstOrDefault(s => s.Text == "取货层");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrCeng.PosType, djMod.DbNumber, modPosStrCeng.PlcPos, sInfo.Ceng));
                        //放货排、列、层
                        var modPosEndPai = djInfos.FirstOrDefault(s => s.Text == "放货排");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndPai.PosType, djMod.DbNumber, modPosEndPai.PlcPos, pai));
                        var modPosEndLie = djInfos.FirstOrDefault(s => s.Text == "放货列");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndLie.PosType, djMod.DbNumber, modPosEndLie.PlcPos, lie));
                        var modPosEndCeng = djInfos.FirstOrDefault(s => s.Text == "放货层");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndCeng.PosType, djMod.DbNumber, modPosEndCeng.PlcPos, ceng));

                        if (listResult.All(s => s.IsSucceed))
                        {
                            // 写入跺机 830
                            var retc2 = plcStackeConn.SetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.WcsPos, "830");

                            // 插入任务明细 任务明细实体类
                            var modInsertTaskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = modTask.TaskNo,
                                PlcId = modDevice.Id,
                                PlcName = modDevice.Text,
                                PalletNo = modTask.PalletNo,
                                Status = TaskStatusEnum.Complete,
                                StartLocat = modDevice.StationNum,
                                EndLocat = modTask.EndLocate                  // 目标储位地址
                            };
                            if (!retc2.IsSucceed)
                            {
                                modInsertTaskMonitor.InteractiveMsg = $"输送线取货工位：{modDevice.StationNum},写入垛机取货任务830失败等待再次写入";
                                // 插入交互日志
                                _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
                                //下发任务日志
                                _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                                break;

                            }
                            modInsertTaskMonitor.InteractiveMsg = $"跺机写入指令830：{modDevice.StationNum}工位====》" + modTask.EndLocate + "储位地址!";
                            // 插入交互日志
                            _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
                            if (PLCTaskAction.boRefresh)
                            {   //下发任务日志
                                _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                            }
                            
                        }
                        
                       

                        
                    }
                    
                    #endregion
                }
                break;
            #region 出库交互

            case "420":
                {
                    #region 托盘到达拣选工位/出库口
                    // 出库口
                    // led显示托盘信息
                    // 写入430
                    var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "430");
                   
                    if (ret.IsSucceed)
                    {
                        var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
                        var (res, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
                        var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
                        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);
                        // 插入任务明细 
                        var modInsertTaskMonitor = new WcsTaskMonitor()
                        {
                            TaskNo = taskVal,
                            PlcId = modDevice.Id,
                            PlcName = modDevice.Text,
                            InteractiveMsg = $"写入指令430：托盘到达{modDevice.StationNum}工位",
                            PalletNo = palletVal,
                            Status = TaskStatusEnum.Complete,
                            StartLocat = starVal,
                            EndLocat = modDevice.StationNum,
                        };

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

                        // 通知任务界面任务已存在更新 请更新界面
                        if (PLCTaskAction.boRefresh)
                        {
                            _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                        }
                         
                        // led更新内容
                        //DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and  StationNum = '{EndLocat}'")[0];
                        //LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
                    }
                    // 反馈WMS出库完成
                    //TaskReques taskReques = new TaskReques();
                    //taskReques.taskNo = TaskNo;
                    //taskReques.TaskType = "1";
                    //taskReques.TaskStatus = "2";
                    //bool bl = wcsMySql.RequestTasks(taskReques);
                    #endregion
                }
                break;
            case "440":
                {
                    #region 拣选完成,托盘离开工位
                    // 写入450
                    var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "450");
                    if (ret.IsSucceed)
                    {
                        var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
                        var (res, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
                        var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
                        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);
                        // 插入任务明细 
                        var modInsertTaskMonitor = new WcsTaskMonitor()
                        {
                            TaskNo = taskVal,
                            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,
                            EndLocat = modDevice.StationNum,
                        };

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

                        // 通知任务界面任务已存在更新 请更新界面
                        if (PLCTaskAction.boRefresh)
                        {
                            _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                        }
                        // led更新内容
                        //DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and  StationNum = '{EndLocat}'")[0];
                        //LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
                    }
                    #endregion
                }
                break;

            #endregion

            default: break;
        }

    }
    /// <summary>
@@ -553,6 +1128,25 @@

    }

    /// <summary>
    /// 拆垛机器人业务处理
    /// </summary>
    /// <param name="modDevice"></param>
    private static void StackingRobot(WcsDeviceDto modDevice) 
    {
        var plcConn = modDevice.PLCUtil;
        switch (modDevice.Value.ToString())
        {
            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;
        }
    }

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