KuKa/BeiJingBeiQiAGV.git

			@@ -11,6 +11,7 @@
			using WIDESEAWCS_Common.StationEnum;
			using WIDESEAWCS_Common.TaskEnum;
			using WIDESEAWCS_Communicator;
			using WIDESEAWCS_Core.Helper;
			using WIDESEAWCS_DTO.PDA;
			using WIDESEAWCS_IBasicInfoRepository;
			using WIDESEAWCS_IBasicInfoService;
			@@ -58,32 +59,27 @@
			//string Region = "ååºæ¿1";
			//ModbusTcp modbusTcp = new ModbusTcp(ip, port, Region);
			//modbusTcp.Connect();
			Baseconversion baseconversion = new Baseconversion();
			Dictionary<int, int> Signal = new Dictionary<int, int>() { [10] = 2, [30] = 3, [50] = 4, [70] = 5 };
			Dictionary<int, int> FeedingPoint = new Dictionary<int, int>() { [10] = 2001, [30] = 2002, [50] = 2003, [70] = 2004 }; // å«æçç¹ä½ ç»ç¹ä½ç½®
			// Dictionary<int, int> Signal = new Dictionary<int, int>() { [10] = 2, [30] = 3, [50] = 4, [70] = 5 };
			// Dictionary<int, int> FeedingPoint = new Dictionary<int, int>() { [10] = 2001, [30] = 2002, [50] = 2003, [70] = 2004 }; // å«æçç¹ä½ ç»ç¹ä½ç½®

			Baseconversion baseconversion = new Baseconversion();
			try
			{
			for (int i = 10; i < 90; i += 20)
			{
			byte[] SignalNumber = device.Communicator.Read(Signal[i].ToString(), 1); // ä¿¡å· 1ï¼å«æ 2ï¼æåºç©ºæ¡
			List<Dt_StationManager> dt_StationManagers = _stationManagerRepository.QueryData(x =>
			x.StationStatus == ((int)StationEnum.Enable).ToString()
			&& x.StationArea == ((int)StationEnum.Rearbaseplate1).ToString()
			&& x.Remark == "ä¸çº¿ç¹").ToList();

			Dt_StationManager dt_StationManager = _stationManagerRepository.QueryFirst(
			x => x.StationLocation == FeedingPoint[i].ToString()
			&& x.StationStatus != ((int)StationEnum.Disable).ToString());
			if (dt_StationManager == null)
			{
			// è¿éåºè¯¥è¦å æ¥å¿ è®°å½æ¾ä¸å°ç«å°çä¿¡æ¯
			Console.WriteLine($"{DateTime.Now} å½åç«å°ã{FeedingPoint[i].ToString()} æªéç½®æå·²ç¦ç¨ã");
			continue;
			}
			foreach (var item in dt_StationManagers)
			{
			byte[] SignalNumber = device.Communicator.Read(item.StationChildCode, 1); // ä¿¡å· 1ï¼å«æ 2ï¼æåºç©ºæ¡

			if (SignalNumber[1] == 1)
			{
			byte[] PartNumber = device.Communicator.Read(i.ToString(), 20); // è¯»åé¶ä»¶å·
			byte[] PartNumber = device.Communicator.Read(item.StationDeviceCode, 20); // è¯»åé¶ä»¶å·

			string Ku1_Value = baseconversion.TenthTurn16(PartNumber);
			if (Ku1_Value != "" && Ku1_Value != null)
			if (Ku1_Value.IsNotEmptyOrNull())
			{
			// çåè½æµè¯å®ï¼è¿éè¦åæ¥å¿è®°å½

			@@ -91,7 +87,7 @@
			// æ¾å¯¹åºçé¶ä»¶å·æ¯å¦å·²ç»ç»å®(ç»ç) // è¿éè¦æ¹è¦å åºå å æ¯å¦å·²çæä»»å¡ è¿è¦æ ¹æ®æ¶é´æåº åç»å®çååè¿å»
			Dt_MaterialInfo? dt_MaterialInfo = _IDt_MaterialInfoRepository.QueryData(x => x.MaterialName == Ku1_Value
			&& x.Region == ((int)StationEnum.Rearbaseplate1).ToString()
			&& (x.EndPosition == null \|\| x.EndPosition == "")).OrderBy(x => x.CreateDate).FirstOrDefault();
			&& (x.IsNotEmptyOrNull())).OrderBy(x => x.CreateDate).FirstOrDefault();

			if (dt_MaterialInfo != null)
			{
			@@ -101,20 +97,19 @@
			dt_Task = new Dt_Task();
			dt_Task.PalletCode = dt_MaterialInfo.ContainerCode;
			dt_Task.SourceAddress = dt_MaterialInfo.Position; // å½åä½ç½®
			dt_Task.TargetAddress = FeedingPoint[i].ToString(); // ç»ç¹ä½ç½®
			dt_Task.TargetAddress = item.StationLocation; // ç»ç¹ä½ç½®
			dt_Task.Grade = 2;
			dt_Task.TaskState = TaskAGVCarryStatusEnum.AGV_CarryNew.ObjToInt();
			dt_Task.TaskType = TaskAGVCarryTypeEnum.Carry.ObjToInt();
			dt_Task.Roadway = (Signal[i] - 1).ToString(); // åº1 å«æé£å°±æ¯1å··é
			dt_Task.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryNew;
			dt_Task.TaskType = (int)TaskAGVCarryTypeEnum.Carry;
			dt_Task.Roadway = (int.Parse(item.StationChildCode) - 1).ToString(); // åº1 å«æé£å°±æ¯1å··é
			dt_Task.CurrentAddress = dt_MaterialInfo.Position; // å½åä½ç½®
			dt_Task.NextAddress = FeedingPoint[i].ToString(); // ç»ç¹ä½ç½®
			dt_Task.NextAddress = item.StationLocation; // ç»ç¹ä½ç½®

			dt_MaterialInfo.EndPosition = FeedingPoint[i].ToString(); // ç»ç¹ä½ç½®
			dt_MaterialInfo.EndPosition = item.StationLocation; // ç»ç¹ä½ç½®

			dt_StationManager.StationStatus = ((int)StationEnum.Thereisatask).ToString();
			dt_StationManager.StationRemark = dt_MaterialInfo.ContainerCode;
			_stationManagerRepository.UpdateData(dt_StationManager);

			item.StationStatus = ((int)StationEnum.Thereisatask).ToString();
			item.StationRemark = dt_MaterialInfo.ContainerCode;
			_stationManagerRepository.UpdateData(item);

			_taskRepository.AddData(dt_Task);
			_IDt_MaterialInfoRepository.UpdateData(dt_MaterialInfo);
			@@ -126,7 +121,7 @@

			if (SignalNumber[1] == 2) // è¡¨ç¤ºæåºç©ºæ¡
			{
			Dt_Task dt_Task = _taskRepository.QueryFirst(x => x.SourceAddress == FeedingPoint[i].ToString() && x.TaskType == (int)TaskAGVCarryTypeEnum.CarryEmpty);
			Dt_Task dt_Task = _taskRepository.QueryFirst(x => x.SourceAddress == item.StationLocation && x.TaskType == (int)TaskAGVCarryTypeEnum.CarryEmpty);
			if (dt_Task != null) continue;

			Dt_StationManager RecyclingpointStation = _stationManagerRepository.QueryFirst(x =>
			@@ -140,14 +135,14 @@
			continue;
			}
			dt_Task = new Dt_Task();
			dt_Task.PalletCode = dt_StationManager.StationRemark;
			dt_Task.SourceAddress = FeedingPoint[i].ToString();
			dt_Task.PalletCode = item.StationRemark;
			dt_Task.SourceAddress = item.StationLocation;
			dt_Task.TargetAddress = RecyclingpointStation.StationLocation;
			dt_Task.Grade = 2;
			dt_Task.TaskState = TaskAGVCarryStatusEnum.AGV_CarryNew.ObjToInt();
			dt_Task.TaskType = TaskAGVCarryTypeEnum.CarryEmpty.ObjToInt();
			dt_Task.Roadway = (Signal[i] - 1).ToString(); // åº1 å«æé£å°±æ¯1å··é
			dt_Task.CurrentAddress = FeedingPoint[i].ToString(); // å½åä½ç½®
			dt_Task.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryNew;
			dt_Task.TaskType = (int)TaskAGVCarryTypeEnum.CarryEmpty;
			dt_Task.Roadway = (int.Parse(item.StationChildCode) - 1).ToString(); // åº1 å«æé£å°±æ¯1å··é
			dt_Task.CurrentAddress = item.StationLocation; // å½åä½ç½®
			dt_Task.NextAddress = RecyclingpointStation.StationLocation;// ç»ç¹ä½ç½®

			RecyclingpointStation.StationStatus = ((int)StationEnum.Thereisatask).ToString();
			@@ -155,7 +150,6 @@
			_stationManagerRepository.UpdateData(RecyclingpointStation);
			_taskRepository.AddData(dt_Task);
			}

			}
			}
			catch (Exception)