1

huangxiaoqiang

9 天以前 0939aa5f3cc12a8856456a51cf2b661b6cd780c7

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RGVJob_FirstFloor/CommonRGV_FirstFloorJob.cs

@@ -19,8 +19,10 @@
using HslCommunication;
using Microsoft.Extensions.Logging;
using Newtonsoft.Json;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using Quartz;
using SixLabors.ImageSharp.Drawing;
using SqlSugar;
using System.Diagnostics.CodeAnalysis;
using System.Reflection;
using System.Text;
@@ -59,12 +61,12 @@
        private readonly IDt_StationManagerService _stationManagerService;
        private readonly IDt_StationManagerRepository _stationManagerRepository;
        private readonly IMapper _mapper;
        private readonly ICacheService _cacheService;
        private readonly WIDESEAWCS_Core.Caches.ICacheService _cacheService;
        private readonly INoticeService _noticeService;
        private static List<string>? userTokenIds;
        private static List<int>? userIds;

        public CommonRGV_FirstFloorJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, IRouterService routerService, IDt_StationManagerService stationManagerService, IMapper mapper, ICacheService cacheService, INoticeService noticeService, ITaskRepository taskRepository, IDt_StationManagerRepository stationManagerRepository)
        public CommonRGV_FirstFloorJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, IRouterService routerService, IDt_StationManagerService stationManagerService, IMapper mapper, WIDESEAWCS_Core.Caches.ICacheService cacheService, INoticeService noticeService, ITaskRepository taskRepository, IDt_StationManagerRepository stationManagerRepository)
        {
            _taskService = taskService;
            _taskExecuteDetailService = taskExecuteDetailService;
@@ -105,14 +107,17 @@
                            var IsExecutingTask = DispatchExecutingTask(FirstRgv, task);
                            if (IsExecutingTask != null)
                            {
                                RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(task);
                                RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(IsExecutingTask);
                                if (rgvTaskCommand != null)
                                {
                                    Thread.Sleep(1000);
                                    bool sendFlag = SendCommand(FirstRgv, rgvTaskCommand);
                                    if (sendFlag)
                                    {
                                        _taskService.UpdateTaskStatusToNext(task.TaskNum);
                                        IsExecutingTask.RGVName = FirstRgv.DeviceCode;
                                        _taskRepository.UpdateData(IsExecutingTask);
                                        _taskService.UpdateTaskStatusToNext(IsExecutingTask.TaskNum);
                                        Thread.Sleep(1000);
                                    }
                                }
                            }
@@ -129,7 +134,10 @@
                                    bool sendFlag = SendCommand(FirstRgv, rgvTaskCommand);
                                    if (sendFlag)
                                    {
                                        taskNew.RGVName = FirstRgv.DeviceCode;
                                        _taskRepository.UpdateData(taskNew);
                                        _taskService.UpdateTaskStatusToNext(taskNew.TaskNum);
                                        Thread.Sleep(1000);
                                    }
                                }
                            }
@@ -197,14 +205,20 @@
                        if (task != null)
                        {
                            var IsExecutingTask = DispatchExecutingTask(SecondRgv, task);
                            RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(task);
                            if (rgvTaskCommand != null)
                            if (IsExecutingTask != null)
                            {
                                Thread.Sleep(1000);
                                bool sendFlag = SendCommand(SecondRgv, rgvTaskCommand);
                                if (sendFlag)
                                RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(IsExecutingTask);
                                if (rgvTaskCommand != null)
                                {
                                    _taskService.UpdateTaskStatusToNext(task.TaskNum);
                                    Thread.Sleep(1000);
                                    bool sendFlag = SendCommand(SecondRgv, rgvTaskCommand);
                                    if (sendFlag)
                                    {
                                        IsExecutingTask.RGVName = SecondRgv.DeviceCode;
                                        _taskRepository.UpdateData(IsExecutingTask);
                                        _taskService.UpdateTaskStatusToNext(IsExecutingTask.TaskNum);
                                        Thread.Sleep(1000);
                                    }
                                }
                            }
                        }
@@ -220,7 +234,10 @@
                                    bool sendFlag = SendCommand(SecondRgv, rgvTaskCommand);
                                    if (sendFlag)
                                    {
                                        taskNew.RGVName = SecondRgv.DeviceCode;
                                        _taskRepository.UpdateData(taskNew);
                                        _taskService.UpdateTaskStatusToNext(taskNew.TaskNum);
                                        Thread.Sleep(1000);
                                    }
                                }
                            }
@@ -291,22 +308,7 @@
                    CommonRGV_FirstFloor? commonRGVSecond = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV02") as CommonRGV_FirstFloor;
                    if (commonRGVSecond != null)
                    {
                        if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock))
                        {
                            if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
                            {
                                RGVTaskCommand command = new RGVTaskCommand()
                                {
                                    PickupLocation = (byte)Convert.ToSByte(15),
                                    TaskNum = Convert.ToInt16(1000),
                                    TaskType = (byte)Convert.ToSByte(1)
                                };
                                SendCommand(commonRGVSecond, command);
                            }
                            LogAndWarn("执行调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(task)}】】");
                            return task;
                        }
                        else if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault))
                        if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault))
                        {
                            var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV02" && x.TaskNum == commonRGVSecond.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
                            if (taskSecond != null)
@@ -315,7 +317,7 @@
                                {
                                    if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                                    {
                                        if (task.TargetStation > taskSecond.SourceStation && task.TargetStation > taskSecond.TargetStation)
                                        if (task.TargetStation- taskSecond.SourceStation > 1 && task.TargetStation - taskSecond.TargetStation > 1)
                                        {
                                            LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
                                            return task;
@@ -326,7 +328,7 @@
                                {
                                    if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                                    {
                                        if (task.TargetStation > taskSecond.TargetStation)
                                        if (task.TargetStation - taskSecond.TargetStation > 1)
                                        {
                                            LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
                                            return task;
@@ -337,7 +339,7 @@
                            }
                            else
                            {
                                if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
                                if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 35000)
                                {
                                    RGVTaskCommand command = new RGVTaskCommand()
                                    {
@@ -359,22 +361,8 @@
                    CommonRGV_FirstFloor? commonRGVFirst = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV01") as CommonRGV_FirstFloor;
                    if (commonRGVFirst != null)
                    {
                        if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock))
                        {
                            if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
                            {
                                RGVTaskCommand command = new RGVTaskCommand()
                                {
                                    PickupLocation = (byte)Convert.ToSByte(26),
                                    TaskNum = Convert.ToInt16(1000),
                                    TaskType = (byte)Convert.ToSByte(1)
                                };
                                SendCommand(commonRGVFirst, command);
                            }
                            LogAndWarn("执行调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(task)}】】");
                            return task;
                        }
                        else if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault))
                        
                        if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault))
                        {
                            var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV01" && x.TaskNum == commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
                            if (taskSecond != null)
@@ -384,7 +372,7 @@
                                {
                                    if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                                    {
                                        if (task.TargetStation < taskSecond.SourceStation && task.TargetStation < taskSecond.TargetStation)
                                        if (taskSecond.SourceStation - task.TargetStation > 1 && taskSecond.TargetStation - task.TargetStation > 1)
                                        {
                                            LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
                                            return task;
@@ -395,7 +383,7 @@
                                {
                                    if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                                    {
                                        if (task.TargetStation < taskSecond.TargetStation)
                                        if (taskSecond.TargetStation-task.TargetStation >1 )
                                        {
                                            LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
                                            return task;
@@ -406,7 +394,7 @@
                            }
                            else
                            {
                                if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
                                if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) < 420000)
                                {
                                    RGVTaskCommand command = new RGVTaskCommand()
                                    {
@@ -446,37 +434,16 @@
                    CommonRGV_FirstFloor? commonRGVSecond = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV02") as CommonRGV_FirstFloor;
                    if (commonRGVSecond != null)
                    {
                        if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock))
                        {
                            if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
                            {
                                RGVTaskCommand command = new RGVTaskCommand()
                                {
                                    PickupLocation = (byte)Convert.ToSByte(15),
                                    TaskNum = Convert.ToInt16(1000),
                                    TaskType = (byte)Convert.ToSByte(1)
                                };
                                SendCommand(commonRGVSecond, command);
                            }
                            if (tasks.FirstOrDefault(x => x.RGVName == "RGV01") != null)
                            {
                                LogAndWarn("调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV01"))}】】");
                                return tasks.FirstOrDefault(x => x.RGVName == "RGV01");
                            }
                            else
                            {
                                LogAndWarn("调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV02"))}】】");
                                return tasks.FirstOrDefault(x => x.RGVName != "RGV02");
                            }
                        }
                        else if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault))
                        if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault))
                        {
                            var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV02" && x.TaskNum == commonRGVSecond.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
                            if (taskSecond != null)
                            {
                                if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_Indispatch || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                                {
                                    task = tasks.FirstOrDefault(x => x.SourceStation > taskSecond.TargetStation && x.TargetStation > taskSecond.SourceStation && x.SourceStation > taskSecond.SourceStation && x.TargetStation > taskSecond.TargetStation);
                                    //task = tasks.FirstOrDefault(x =>x.SourceStation- taskSecond.TargetStation > 1  && x.TargetStation - taskSecond.SourceStation > 1 && x.SourceStation - taskSecond.SourceStation > 1 && x.TargetStation - taskSecond.TargetStation> 1);

                                    task = tasks.FirstOrDefault(x =>(x.SourceStation- taskSecond.TargetStation > 1 && x.SourceStation - taskSecond.SourceStation > 1&&x.TaskType==(int)TaskInboundTypeEnum.Inbound) ||(x.SourceStation - taskSecond.TargetStation > 1 && x.TargetStation - taskSecond.SourceStation > 1 && x.SourceStation - taskSecond.SourceStation > 1 && x.TargetStation - taskSecond.TargetStation > 1&&x.TaskType== (int)TaskOutboundTypeEnum.Outbound));


                                    LogAndWarn("执行调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
@@ -486,7 +453,7 @@
                                }
                                else if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
                                {
                                    task = tasks.FirstOrDefault(x => x.SourceStation > taskSecond.TargetStation && x.TargetStation > taskSecond.TargetStation);
                                    task = tasks.FirstOrDefault(x => x.SourceStation - taskSecond.TargetStation> 1 &&x.TargetStation - taskSecond.TargetStation > 1);

                                    LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");

@@ -496,7 +463,7 @@
                            }
                            else
                            {
                                if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
                                if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 35000)
                                {
                                    RGVTaskCommand command = new RGVTaskCommand()
                                    {
@@ -551,39 +518,16 @@
                    CommonRGV_FirstFloor? commonRGVFirst = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV01") as CommonRGV_FirstFloor;
                    if (commonRGVFirst != null)
                    {
                        if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock))
                        {
                            if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
                            {
                                RGVTaskCommand command = new RGVTaskCommand()
                                {
                                    PickupLocation = (byte)Convert.ToSByte(26),
                                    TaskNum = Convert.ToInt16(1000),
                                    TaskType = (byte)Convert.ToSByte(1)
                                };
                                SendCommand(commonRGVFirst, command);
                            }
                            if (tasks.FirstOrDefault(x => x.RGVName == "RGV02") != null)
                            {
                                LogAndWarn("调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV02"))}】】");

                                return tasks.FirstOrDefault(x => x.RGVName == "RGV02");
                            }
                            else
                            {
                                LogAndWarn("调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV01"))}】】");

                                return tasks.FirstOrDefault(x => x.RGVName != "RGV01");
                            }
                        }
                        else if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault))
                        if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault))
                        {
                            var taskFirst = _taskRepository.QueryFirst(x => x.RGVName == "RGV01" && x.TaskNum == commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
                            if (taskFirst != null)
                            {
                                if (taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_Indispatch || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                                {
                                    task = tasks.FirstOrDefault(x => x.SourceStation < taskFirst.TargetStation && x.TargetStation < taskFirst.SourceStation && x.SourceStation < taskFirst.SourceStation && x.TargetStation < taskFirst.TargetStation);
                                    //task = tasks.FirstOrDefault(x =>taskFirst.TargetStation - x.SourceStation > 1 && taskFirst.SourceStation - x.TargetStation > 1 && taskFirst.SourceStation - x.SourceStation > 1 && taskFirst.TargetStation - x.TargetStation > 1);

                                    task = tasks.FirstOrDefault(x => (x.SourceStation - taskFirst.TargetStation > 1 && x.SourceStation - taskFirst.SourceStation > 1 && x.TaskType == (int)TaskInboundTypeEnum.Inbound) || (x.SourceStation - taskFirst.TargetStation > 1 && x.TargetStation - taskFirst.SourceStation > 1 && x.SourceStation - taskFirst.SourceStation > 1 && x.TargetStation - taskFirst.TargetStation > 1 && x.TaskType == (int)TaskOutboundTypeEnum.Outbound));

                                    LogAndWarn("执行调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskFirst)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");

@@ -591,7 +535,7 @@
                                }
                                else if (taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
                                {
                                    task = tasks.FirstOrDefault(x => x.SourceStation < taskFirst.TargetStation && x.TargetStation < taskFirst.TargetStation);
                                    task = tasks.FirstOrDefault(x => taskFirst.TargetStation - x.SourceStation > 1 && taskFirst.TargetStation - x.TargetStation > 1);

                                    LogAndWarn("执行调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskFirst)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");

@@ -601,11 +545,11 @@
                            }
                            else
                            {
                                if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
                                if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) < 420000)
                                {
                                    RGVTaskCommand command = new RGVTaskCommand()
                                    {
                                        PickupLocation = (byte)Convert.ToSByte(15),
                                        PickupLocation = (byte)Convert.ToSByte(26),
                                        TaskNum = Convert.ToInt16(1000),
                                        TaskType = (byte)Convert.ToSByte(1)
                                    };
@@ -703,7 +647,9 @@
                                CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                                Thread.Sleep(100);
                                DeviceProDTO? devicePro = conveyorLine.DeviceProDTOs.Where(x => x.DeviceChildCode == stationManager.stationChildCode && x.DeviceProParamName == "ConveyorLineBarcode").FirstOrDefault();
                                var x = conveyorLine.Communicator.Read(devicePro.DeviceProAddress, 5);

                                var x = conveyorLine.Communicator.Read(devicePro.DeviceProAddress, 7);

                                string Barcode = Encoding.UTF8.GetString(x);

                                if (Barcode == null || Barcode == "")
@@ -755,47 +701,9 @@
        {
            if (InStock)
            {
                return _taskService.QueryRGVExecutingTask(commonRGV.DeviceCode, commonRGV.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
                return _taskService.QueryRGVExecutingTask(commonRGV.DeviceCode);
            }
            return null;

            #region
            //if (commonRGV.LastTaskType == null)
            //{
            //    task = _taskService.QueryRGVTask(commonRGV.DeviceCode);
            //}
            //else
            //{
            //    if (commonRGV.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
            //    {
            //        task = _taskService.QueryRGVInTask(commonRGV.DeviceCode);
            //        if (task == null)
            //        {
            //            task = _taskService.QueryRGVOutTask(commonRGV.DeviceCode);
            //        }
            //    }
            //    else
            //    {
            //        task = _taskService.QueryRGVOutTask(commonRGV.DeviceCode);
            //    }
            //}

            //if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
            //{
            //    if (task == null)
            //    {
            //        task = _taskService.QueryRGVInTask(commonRGV.DeviceCode);
            //    }
            //    else
            //    {
            //        return task;
            //    }
            //}
            //else if (task == null)
            //{
            //    task = _taskService.QueryRGVInTask(commonRGV.DeviceCode);
            //}
            #endregion
        }

        /// <summary>
@@ -827,7 +735,6 @@
                }
                else
                {
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.NextAddress}】信息，无法获取对应的堆垛机取货站台信息");
                    return null;
                }
            }
@@ -848,7 +755,6 @@
                }
                else
                {
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.NextAddress}】信息，无法获取对应的堆垛机取货站台信息");
                    return null;
                }
            }