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huangxiaoqiang

4 天以前 7f42a3ef9bc83bdc199317d12c1905d8696dac4f

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

@@ -129,12 +129,14 @@
                                                if (IsExecutingTask.TaskType == (int)TaskInboundTypeEnum.Inbound)
                                                {
                                                    IsExecutingTask.TargetStation = station.stationRemark;
                                                    IsExecutingTask.TaskState = (int)TaskInStatusEnum.RGV_TransFer;
                                                }
                                                else
                                                {
                                                    IsExecutingTask.TargetStation = station.remark;
                                                    IsExecutingTask.TaskState = (int)TaskOutStatusEnum.RGV_TransFer;
                                                }
                                                IsExecutingTask.TaskState = (int)TaskInStatusEnum.RGV_TransFer;
                                                
                                                _taskRepository.UpdateData(IsExecutingTask);
                                                Thread.Sleep(1000);
                                            }
@@ -288,15 +290,17 @@
                                                IsExecutingTask.RGVName = "RGV01";
                                                IsExecutingTask.CurrentAddress = IsExecutingTask.Remark;
                                                IsExecutingTask.Remark = "";
                                                IsExecutingTask.TaskState = (int)TaskInStatusEnum.RGV_TransFer;
                                                
                                                Dt_StationManager station = _stationManagerRepository.QueryFirst(x => x.stationChildCode == IsExecutingTask.NextAddress);
                                                IsExecutingTask.SourceStation = IsExecutingTask.CurrentAddress == "1025" ? 10 : 7;
                                                if (IsExecutingTask.TaskType == (int)TaskInboundTypeEnum.Inbound)
                                                {
                                                    IsExecutingTask.TaskState = (int)TaskInStatusEnum.RGV_TransFer;
                                                    IsExecutingTask.TargetStation = station.stationRemark;
                                                }
                                                else
                                                {
                                                    IsExecutingTask.TaskState = (int)TaskOutStatusEnum.RGV_TransFer;
                                                    IsExecutingTask.TargetStation = station.remark;
                                                }

@@ -433,8 +437,7 @@
                    {
                        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) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState < 230) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV02" && x.TaskNum == commonRGVSecond.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && (x.TaskState < 230||x.TaskState == (int)TaskInStatusEnum.RGV_TransFer|| x.TaskState == (int)TaskInStatusEnum.RGV_TransFerFInish)) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            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)
@@ -447,11 +450,32 @@

                                            Thread.Sleep(1000);

                                            if (task.Remark != null)
                                            if (task.Remark != null || ((task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV02" && task.TargetAddress == "1002") || (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV01" && (task.TargetAddress == "1030" || task.TargetAddress == "1029"))))
                                            {
                                                return GetDispatchExecutingTask(task);
                                                task.Remark = "1025";
                                                _taskRepository.UpdateData(task);
                                                return GetDispatchExecutingTask(task, taskSecond);
                                            }
                                            return task;
                                        }
                                    }
                                }
                                else if ((taskSecond.CurrentAddress == "1025" || taskSecond.CurrentAddress == "1026") && (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InExecuting))
                                {
                                    if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                                    {
                                        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.TaskNum)}】】");

                                            Thread.Sleep(1000);

                                            if (task.Remark != null || ((task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV02" && task.TargetAddress == "1002") || (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV01" && (task.TargetAddress == "1030" || task.TargetAddress == "1029"))))
                                            {
                                                task.Remark = "1025";
                                                _taskRepository.UpdateData(task);
                                                return GetDispatchExecutingTask(task, taskSecond);
                                            }
                                            return task;
                                        }
                                    }
@@ -464,9 +488,11 @@
                                        {
                                            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.TaskNum)}】】");
                                            Thread.Sleep(1000);
                                            if (task.Remark != null)
                                            if (task.Remark != null || ((task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV02" && task.TargetAddress == "1002") || (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV01" && (task.TargetAddress == "1030" || task.TargetAddress == "1029"))))
                                            {
                                                return GetDispatchExecutingTask(task);
                                                task.Remark = "1025";
                                                _taskRepository.UpdateData(task);
                                                return GetDispatchExecutingTask(task, taskSecond);
                                            }
                                            return task;
                                        }
@@ -482,6 +508,10 @@
                                }
                                if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 35000)
                                {
                                    if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running))
                                    {
                                        return null;
                                    }
                                    RGVTaskCommand command = new RGVTaskCommand()
                                    {
                                        PickupLocation = (byte)Convert.ToSByte(15),
@@ -489,16 +519,28 @@
                                        TaskType = (byte)Convert.ToSByte(1)
                                    };
                                    SendCommand(commonRGVSecond, command);
                                    Thread.Sleep(1000);
                                    Thread.Sleep(3000);
                                    if (!commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running))
                                    {
                                        return null;
                                    }
                                }
                                Thread.Sleep(1000);
                                if (task.Remark != null || ((task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV02" && task.TargetAddress == "1002") || (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV01" && (task.TargetAddress == "1030" || task.TargetAddress == "1029"))))
                                {
                                    task.Remark = "1025";
                                    _taskRepository.UpdateData(task);
                                    return GetDispatchExecutingTask(task);
                                }
                                return task;
                            }
                        }
                    }
                    if (task.Remark != null || ((task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV02" && task.TargetAddress == "1002") || (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV01" && (task.TargetAddress == "1030" || task.TargetAddress == "1029"))))
                    {
                        task.Remark = "1025";
                        _taskRepository.UpdateData(task);
                        return GetDispatchExecutingTask(task);
                    }
                    return task;
                }
@@ -509,7 +551,7 @@
                    {
                        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) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState < 230) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV01" && x.TaskNum == commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && (x.TaskState < 230 || x.TaskState == (int)TaskInStatusEnum.RGV_TransFer || x.TaskState == (int)TaskInStatusEnum.RGV_TransFerFInish)) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            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)
@@ -521,9 +563,30 @@
                                            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.TaskNum)}】】");
                                            Thread.Sleep(1000);

                                            if (task.Remark != null)
                                            if (task.Remark != null || ((task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV02" && task.TargetAddress == "1002") || (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV01" && (task.TargetAddress == "1030" || task.TargetAddress == "1029"))))
                                            {
                                                return GetDispatchExecutingTask(task);
                                                task.Remark = "1026";
                                                _taskRepository.UpdateData(task);
                                                return GetDispatchExecutingTask(task, taskSecond);
                                            }
                                            return task;
                                        }
                                    }
                                }
                                else if ((taskSecond.CurrentAddress == "1025" || taskSecond.CurrentAddress == "1026") && (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InExecuting))
                                {
                                    if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                                    {
                                        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.TaskNum)}】】");
                                            Thread.Sleep(1000);

                                            if (task.Remark != null || ((task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV02" && task.TargetAddress == "1002") || (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV01" && (task.TargetAddress == "1030" || task.TargetAddress == "1029"))))
                                            {
                                                task.Remark = "1026";
                                                _taskRepository.UpdateData(task);
                                                return GetDispatchExecutingTask(task, taskSecond);
                                            }
                                            return task;
                                        }
@@ -538,9 +601,11 @@
                                            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.TaskNum)}】】");
                                            Thread.Sleep(1000);

                                            if (task.Remark != null)
                                            if (task.Remark != null || ((task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV02" && task.TargetAddress == "1002") || (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV01" && (task.TargetAddress == "1030" || task.TargetAddress == "1029"))))
                                            {
                                                return GetDispatchExecutingTask(task);
                                                task.Remark = "1026";
                                                _taskRepository.UpdateData(task);
                                                return GetDispatchExecutingTask(task, taskSecond);
                                            }
                                            return task;
                                        }
@@ -556,6 +621,10 @@
                                }
                                if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) < 420000)
                                {
                                    if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running))
                                    {
                                        return null;
                                    }
                                    RGVTaskCommand command = new RGVTaskCommand()
                                    {
                                        PickupLocation = (byte)Convert.ToSByte(26),
@@ -563,16 +632,28 @@
                                        TaskType = (byte)Convert.ToSByte(1)
                                    };
                                    SendCommand(commonRGVFirst, command);
                                    Thread.Sleep(1000);
                                    Thread.Sleep(3000);
                                    if (!commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running))
                                    {
                                        return null;
                                    }
                                }
                                Thread.Sleep(1000);
                                if (task.Remark != null || ((task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV02" && task.TargetAddress == "1002") || (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV01" && (task.TargetAddress == "1030" || task.TargetAddress == "1029"))))
                                {
                                    task.Remark = "1026";
                                    _taskRepository.UpdateData(task);
                                    return GetDispatchExecutingTask(task);
                                }
                                return task;
                            }
                        }
                    }
                    if (task.Remark != null || ((task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV02" && task.TargetAddress == "1002") || (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.RGVName == "RGV01" && (task.TargetAddress == "1030" || task.TargetAddress == "1029"))))
                    {
                        task.Remark = "1026";
                        _taskRepository.UpdateData(task);
                        return GetDispatchExecutingTask(task);
                    }
                    return task;
                }
@@ -589,7 +670,7 @@
            try
            {
                var tasks = _taskService.QueryRGVTask();
                Dt_Task task;
                Dt_Task task = new Dt_Task();
                if (tasks.Count() == 0)
                {
                    return null;
@@ -601,18 +682,18 @@
                    {
                        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) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState < 230) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV02" && x.TaskNum == commonRGVSecond.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && (x.TaskState < 230 || x.TaskState == (int)TaskInStatusEnum.RGV_TransFer || x.TaskState == (int)TaskInStatusEnum.RGV_TransFerFInish)) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            if (taskSecond != null)
                            {
                                task = GetDispatchTask(tasks, taskSecond);

                                LogAndWarn("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.TaskNum)}】】");
                                Thread.Sleep(1000);

                                Thread.Sleep(1000);
                                return task;
                            }
                        }
                        var taskNews = tasks.Where(x => (x.TaskType == (int)TaskInboundTypeEnum.Inbound && Convert.ToInt32(x.SourceAddress) < 1015) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound && (x.Roadway == "SC01" || x.Roadway == "SC02" || x.Roadway == "SC03")) || x.RGVName == "RGV01").ToList();
                        var taskNews = tasks.Where(x => (x.TaskType == (int)TaskInboundTypeEnum.Inbound && (Convert.ToInt32(x.SourceAddress) < 1015|| Convert.ToInt32(x.SourceAddress)>1031)) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound && (x.Roadway == "SC01" || x.Roadway == "SC02" || x.Roadway == "SC03")) || x.RGVName == "RGV01").ToList();
                        if (taskNews.Count == 0)
                        {
                            return null;
@@ -623,6 +704,10 @@
                        }
                        if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 35000)
                        {
                            if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running))
                            {
                                return null;
                            }
                            RGVTaskCommand command = new RGVTaskCommand()
                            {
                                PickupLocation = (byte)Convert.ToSByte(15),
@@ -630,40 +715,42 @@
                                TaskType = (byte)Convert.ToSByte(1)
                            };
                            SendCommand(commonRGVSecond, command);
                            Thread.Sleep(1000);
                            Thread.Sleep(3000);
                            if (!commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running))
                            {
                                return null;
                            }
                        }

                        if (tasks.FirstOrDefault(x => x.RGVName == "RGV01") != null)
                        task = GetDispatchTask(taskNews, "RGV01");
                        if (task == null)
                        {
                            LogAndWarn("调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGVSecond.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(taskNews.FirstOrDefault(x => x.RGVName == "RGV01").TaskNum)}】】");
                            Thread.Sleep(1000);
                            return taskNews.FirstOrDefault(x => x.RGVName == "RGV01");
                            return tasks.FirstOrDefault(x => x.RGVName != "RGV02");
                        }
                        else
                        {
                            LogAndWarn("调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGVSecond.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(taskNews.FirstOrDefault(x => x.RGVName != "RGV02").TaskNum)}】】");
                            Thread.Sleep(1000);
                            return taskNews.FirstOrDefault(x => x.RGVName != "RGV02");
                        }
                        return task;
                        //if (taskNews.FirstOrDefault(x => x.RGVName == "RGV01") != null)
                        //{
                        //    return taskNews.FirstOrDefault(x => x.RGVName == "RGV01");
                        //}
                        //else
                        //{
                        //    return taskNews.FirstOrDefault(x => x.RGVName != "RGV02");
                        //}
                    }
                    else
                    {
                        if (tasks.FirstOrDefault(x => x.RGVName == "RGV01") != null)
                        {
                            LogAndWarn("调度任务控制", $"【未找到RGV02设备信息】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV01").TaskNum)}】】");
                            Thread.Sleep(1000);
                            return tasks.FirstOrDefault(x => x.RGVName == "RGV01");
                        }
                        else
                        {
                            LogAndWarn("调度任务控制", $"【未找到RGV02设备信息】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV02").TaskNum)}】】");
                            Thread.Sleep(1000);
                            return tasks.FirstOrDefault(x => x.RGVName != "RGV02");
                        }
                        return GetDispatchTask(tasks, "RGV01");
                        //if (tasks.FirstOrDefault(x => x.RGVName == "RGV01") != null)
                        //{
                        //    LogAndWarn("调度任务控制", $"【未找到RGV02设备信息】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV01").TaskNum)}】】");
                        //    Thread.Sleep(1000);
                        //    return tasks.FirstOrDefault(x => x.RGVName == "RGV01");
                        //}
                        //else
                        //{
                        //    LogAndWarn("调度任务控制", $"【未找到RGV02设备信息】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV02").TaskNum)}】】");
                        //    Thread.Sleep(1000);
                        //    return tasks.FirstOrDefault(x => x.RGVName != "RGV02");
                        //}
                    }
                }
                else
@@ -674,19 +761,18 @@
                        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) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState < 230) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            var taskFirst = _taskRepository.QueryFirst(x => x.RGVName == "RGV01" && x.TaskNum == commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && (x.TaskState < 230 || x.TaskState == (int)TaskInStatusEnum.RGV_TransFer || x.TaskState == (int)TaskInStatusEnum.RGV_TransFerFInish)) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            if (taskFirst != null)
                            {
                                task = GetDispatchTask(tasks, taskFirst);

                                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.TaskNum)}】】");
                                LogAndWarn("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.TaskNum)}】】");
                                Thread.Sleep(1000);

                                return task;
                            }

                        }
                        var taskNews = tasks.Where(x => (x.TaskType == (int)TaskInboundTypeEnum.Inbound && Convert.ToInt32(x.SourceAddress) > 1014) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound && (x.Roadway == "SC04" || x.Roadway == "SC05" || x.Roadway == "SC06")) || x.RGVName == "RGV02").ToList();
                        var taskNews = tasks.Where(x => (x.TaskType == (int)TaskInboundTypeEnum.Inbound && Convert.ToInt32(x.SourceAddress) > 1014 && Convert.ToInt32(x.SourceAddress)<1031) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound && (x.Roadway == "SC04" || x.Roadway == "SC05" || x.Roadway == "SC06")) || x.RGVName == "RGV02").ToList();
                        if (taskNews.Count == 0)
                        {
                            return null;
@@ -697,6 +783,10 @@
                        }
                        if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) < 420000)
                        {
                            if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running))
                            {
                                return null;
                            }
                            RGVTaskCommand command = new RGVTaskCommand()
                            {
                                PickupLocation = (byte)Convert.ToSByte(26),
@@ -704,43 +794,44 @@
                                TaskType = (byte)Convert.ToSByte(1)
                            };
                            SendCommand(commonRGVFirst, command);
                            Thread.Sleep(1000);
                            Thread.Sleep(3000);
                            if (!commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running))
                            {
                                return null;
                            }
                        }

                        if (tasks.FirstOrDefault(x => x.RGVName == "RGV02") != null)
                        task = GetDispatchTask(taskNews, "RGV02");
                        if (task == 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(taskNews.FirstOrDefault(x => x.RGVName == "RGV02").TaskNum)}】】");
                            Thread.Sleep(1000);
                            return taskNews.FirstOrDefault(x => x.RGVName == "RGV02");
                            return tasks.FirstOrDefault(x => x.RGVName != "RGV01");
                        }
                        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(taskNews.FirstOrDefault(x => x.RGVName != "RGV01").TaskNum)}】】");

                            Thread.Sleep(1000);
                            return taskNews.FirstOrDefault(x => x.RGVName != "RGV01");
                        }
                        return task;
                        //if (taskNews.FirstOrDefault(x => x.RGVName == "RGV02") != null)
                        //{
                        //    return taskNews.FirstOrDefault(x => x.RGVName == "RGV02");
                        //}
                        //else
                        //{
                        //    return taskNews.FirstOrDefault(x => x.RGVName != "RGV01");
                        //}
                    }
                    else
                    {
                        if (tasks.FirstOrDefault(x => x.RGVName == "RGV02") != null)
                        {
                            LogAndWarn("调度任务控制", $"【未找到RGV01设备信息】 è¿”回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV02").TaskNum)}】】");
                       return GetDispatchTask(tasks, "RGV02");
                        //if (tasks.FirstOrDefault(x => x.RGVName == "RGV02") != null)
                        //{
                        //    LogAndWarn("调度任务控制", $"【未找到RGV01设备信息】 è¿”回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV02").TaskNum)}】】");

                            Thread.Sleep(1000);
                            return tasks.FirstOrDefault(x => x.RGVName == "RGV02");
                        }
                        else
                        {
                            LogAndWarn("调度任务控制", $"【未找到RGV01设备信息】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV01").TaskNum)}】】");
                        //    Thread.Sleep(1000);
                        //    return tasks.FirstOrDefault(x => x.RGVName == "RGV02");
                        //}
                        //else
                        //{
                        //    LogAndWarn("调度任务控制", $"【未找到RGV01设备信息】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV01").TaskNum)}】】");

                            Thread.Sleep(1000);
                            return tasks.FirstOrDefault(x => x.RGVName != "RGV01");
                        }
                        //    Thread.Sleep(1000);
                        //    return tasks.FirstOrDefault(x => x.RGVName != "RGV01");
                        //}
                    }
                }
            }
@@ -756,7 +847,7 @@
            try
            {
                var tasks = _taskRepository.QueryData(x => x.Floor == "1F" && (x.TaskState == (int)TaskInStatusEnum.RGV_TransFerFInish || x.TaskState == (int)TaskOutStatusEnum.RGV_TransFerFInish));
                Dt_Task task;
                Dt_Task task = new Dt_Task();
                if (tasks.Count() == 0)
                {
                    return null;
@@ -768,8 +859,7 @@
                    {
                        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) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState < 230) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV02" && x.TaskNum == commonRGVSecond.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && (x.TaskState < 230 || x.TaskState == (int)TaskInStatusEnum.RGV_TransFer || x.TaskState == (int)TaskInStatusEnum.RGV_TransFerFInish)) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            if (taskSecond != null)
                            {
                                if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
@@ -800,6 +890,10 @@
                                }
                                if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 35000)
                                {
                                    if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running))
                                    {
                                        return null;
                                    }
                                    RGVTaskCommand command = new RGVTaskCommand()
                                    {
                                        PickupLocation = (byte)Convert.ToSByte(15),
@@ -807,7 +901,7 @@
                                        TaskType = (byte)Convert.ToSByte(1)
                                    };
                                    SendCommand(commonRGVSecond, command);
                                    Thread.Sleep(1000);
                                    Thread.Sleep(3000);
                                    if (!commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running))
                                    {
                                        return null;
@@ -851,13 +945,13 @@
                        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) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState < 230) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            var taskFirst = _taskRepository.QueryFirst(x => x.RGVName == "RGV01" && x.TaskNum == commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && (x.TaskState < 230 || x.TaskState == (int)TaskInStatusEnum.RGV_TransFer || x.TaskState == (int)TaskInStatusEnum.RGV_TransFerFInish)) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            if (taskFirst != null)
                            {
                                if (taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                                {

                                    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)) && x.RGVName == "RGV02");
                                    task = tasks.FirstOrDefault(x => ((taskFirst.TargetStation-x.SourceStation  > 1 &&taskFirst.SourceStation - x.SourceStation > 1 && x.TaskType == (int)TaskInboundTypeEnum.Inbound) || ( taskFirst.TargetStation- x.SourceStation > 1 &&  taskFirst.SourceStation- x.TargetStation > 1 &&  taskFirst.SourceStation- x.SourceStation > 1 && taskFirst.TargetStation - x.TargetStation > 1 && x.TaskType == (int)TaskOutboundTypeEnum.Outbound)) && x.RGVName == "RGV02");


                                    LogAndWarn("中转调度任务控制", $"【{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.TaskNum)}】】");
@@ -883,6 +977,10 @@
                                }
                                if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) < 420000)
                                {
                                    if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running))
                                    {
                                        return null;
                                    }
                                    RGVTaskCommand command = new RGVTaskCommand()
                                    {
                                        PickupLocation = (byte)Convert.ToSByte(26),
@@ -890,7 +988,7 @@
                                        TaskType = (byte)Convert.ToSByte(1)
                                    };
                                    SendCommand(commonRGVFirst, command);
                                    Thread.Sleep(1000);
                                    Thread.Sleep(3000);
                                    if (!commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running))
                                    {
                                        return null;
@@ -1030,20 +1128,51 @@
            return null;
        }

        public Dt_Task? GetDispatchTask(List<Dt_Task> tasks, Dt_Task oldtask)
        public Dt_Task? GetDispatchTask(List<Dt_Task> tasks,Dt_Task oldtask)
        {
            Dt_Task y = tasks.Where(x => x.Remark != null && ((x.SourceStation - oldtask.TargetStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TaskType == (int)TaskInboundTypeEnum.Inbound) || (x.SourceStation - oldtask.TargetStation > 1 && x.TargetStation - oldtask.SourceStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TargetStation - oldtask.TargetStation > 1 && x.TaskType == (int)TaskOutboundTypeEnum.Outbound))).FirstOrDefault();
            Dt_Task y = tasks.Where(x => x.Remark != null&& ((x.SourceStation - oldtask.TargetStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TaskType == (int)TaskInboundTypeEnum.Inbound) || (x.SourceStation - oldtask.TargetStation > 1 && x.TargetStation - oldtask.SourceStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TargetStation - oldtask.TargetStation > 1 && x.TaskType == (int)TaskOutboundTypeEnum.Outbound))).FirstOrDefault();
            if (y == null)
            {
                WriteInfo("查询任务", $" è¿”回任务：【{JsonConvert.SerializeObject(oldtask)}】】");
                if (oldtask.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || oldtask.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || oldtask.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                {
                    if (oldtask.RGVName == "RGV01")
                    {
                        return tasks.FirstOrDefault(x => (oldtask.TargetStation - x.SourceStation > 1 && oldtask.SourceStation - x.SourceStation > 1 && x.TaskType == (int)TaskInboundTypeEnum.Inbound) || (oldtask.TargetStation - x.SourceStation > 1 && oldtask.SourceStation - x.TargetStation > 1 && oldtask.SourceStation - x.SourceStation > 1 && oldtask.TargetStation - x.TargetStation > 1 && x.TaskType == (int)TaskOutboundTypeEnum.Outbound));
                    }
                    else
                    {
                        return tasks.FirstOrDefault(x => (x.SourceStation - oldtask.TargetStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TaskType == (int)TaskInboundTypeEnum.Inbound) || (x.SourceStation - oldtask.TargetStation > 1 && x.TargetStation - oldtask.SourceStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TargetStation - oldtask.TargetStation > 1 && x.TaskType == (int)TaskOutboundTypeEnum.Outbound));
                        
                    }
                }
                else if ((oldtask.CurrentAddress == "1025" || oldtask.CurrentAddress == "1026") && (oldtask.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || oldtask.TaskState == (int)TaskInStatusEnum.RGV_InExecuting))
                {
                    if (oldtask.RGVName == "RGV01")
                    {
                        return tasks.FirstOrDefault(x => (oldtask.TargetStation - x.SourceStation > 1 && oldtask.SourceStation - x.SourceStation > 1 && x.TaskType == (int)TaskInboundTypeEnum.Inbound) || (oldtask.TargetStation - x.SourceStation > 1 && oldtask.SourceStation - x.TargetStation > 1 && oldtask.SourceStation - x.SourceStation > 1 && oldtask.TargetStation - x.TargetStation > 1 && x.TaskType == (int)TaskOutboundTypeEnum.Outbound));
                    }
                    else
                    {
                        return tasks.FirstOrDefault(x => (x.SourceStation - oldtask.TargetStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TaskType == (int)TaskInboundTypeEnum.Inbound) || (x.SourceStation - oldtask.TargetStation > 1 && x.TargetStation - oldtask.SourceStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TargetStation - oldtask.TargetStation > 1 && x.TaskType == (int)TaskOutboundTypeEnum.Outbound));

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

                }
                else if (oldtask.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || oldtask.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
                {
                    return tasks.FirstOrDefault(x => x.SourceStation - oldtask.TargetStation > 1 && x.TargetStation - oldtask.TargetStation > 1);
                    if (oldtask.RGVName == "RGV01")
                    {
                        return tasks.FirstOrDefault(x => oldtask.TargetStation - x.SourceStation > 1 && oldtask.TargetStation - x.TargetStation > 1);
                        
                    }
                    else
                    {
                        return tasks.FirstOrDefault(x => x.SourceStation - oldtask.TargetStation > 1 && x.TargetStation - oldtask.TargetStation > 1);
                    }
                    
                }
                
                return null;
            }
            else
@@ -1063,14 +1192,19 @@
                    }
                    if (next != null)
                    {
                        oldtask.Remark = next;
                        _taskRepository.UpdateData(oldtask);
                        return oldtask;
                        y.Remark = next;
                        _taskRepository.UpdateData(y);
                        LogAndWarn("中转任务", $" è¿”回任务：【{JsonConvert.SerializeObject(y)}】】");
                        return y;
                    }
                }
                if (oldtask.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || oldtask.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || oldtask.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                {

                    return tasks.FirstOrDefault(x => (x.SourceStation - oldtask.TargetStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TaskType == (int)TaskInboundTypeEnum.Inbound) || (x.SourceStation - oldtask.TargetStation > 1 && x.TargetStation - oldtask.SourceStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TargetStation - oldtask.TargetStation > 1 && x.TaskType == (int)TaskOutboundTypeEnum.Outbound));
                }
                else if ((oldtask.CurrentAddress == "1025" || oldtask.CurrentAddress == "1026") && (oldtask.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || oldtask.TaskState == (int)TaskInStatusEnum.RGV_InExecuting))
                {
                    return tasks.FirstOrDefault(x => (x.SourceStation - oldtask.TargetStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TaskType == (int)TaskInboundTypeEnum.Inbound) || (x.SourceStation - oldtask.TargetStation > 1 && x.TargetStation - oldtask.SourceStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TargetStation - oldtask.TargetStation > 1 && x.TaskType == (int)TaskOutboundTypeEnum.Outbound));
                }
                else if (oldtask.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || oldtask.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
@@ -1081,30 +1215,157 @@
            }
        }

        public Dt_Task? GetDispatchExecutingTask(Dt_Task oldtask)
        public Dt_Task? GetDispatchTask(List<Dt_Task> tasks,string RGVName)
        {
            Dt_Task y = tasks.Where(x => x.Remark != null).FirstOrDefault();
            if (y == null)
            {
                if (RGVName == "RGV01")
                {
                    if (tasks.FirstOrDefault(x => x.RGVName == RGVName) != null)
                    {
                        return tasks.FirstOrDefault(x => x.RGVName == RGVName);
                    }
                    else
                    {
                        return tasks.FirstOrDefault(x => x.RGVName != "RGV02");
                    }
                }
                else
                {
                    if (tasks.FirstOrDefault(x => x.RGVName == RGVName) != null)
                    {
                        return tasks.FirstOrDefault(x => x.RGVName == RGVName);
                    }
                    else
                    {
                        return tasks.FirstOrDefault(x => x.RGVName != "RGV01");
                    }
                }
            }
            else
            {
                var stationManager = _stationManagerRepository.QueryData(x => x.stationType == 15);
                if (stationManager.Count() > 0)
                {
                    string next = null;
                    foreach (var item in stationManager)
                    {
                        var x = _taskRepository.QueryFirst(x => x.NextAddress == item.stationChildCode || x.CurrentAddress == item.stationChildCode);
                        if (x == null)
                        {
                            next = item.stationChildCode;
                            break;
                        }
                    }
                    if (next != null)
                    {
                        y.Remark = next;
                        _taskRepository.UpdateData(y);
                        LogAndWarn("中转任务", $" è¿”回任务：【{JsonConvert.SerializeObject(y)}】】");
                        return y;
                    }
                }
                if (RGVName == "RGV01")
                {
                    if (tasks.FirstOrDefault(x => x.RGVName == RGVName) != null)
                    {
                        return tasks.FirstOrDefault(x => x.RGVName == RGVName);
                    }
                    else
                    {
                        return tasks.FirstOrDefault(x => x.RGVName != "RGV02");
                    }
                }
                else
                {
                    if (tasks.FirstOrDefault(x => x.RGVName == RGVName) != null)
                    {
                        return tasks.FirstOrDefault(x => x.RGVName == RGVName);
                    }
                    else
                    {
                        return tasks.FirstOrDefault(x => x.RGVName != "RGV01");
                    }
                }
            }
        }

            var stationManager = _stationManagerRepository.QueryData(x => x.stationType == 15);
            if (stationManager.Count() > 0)
        public Dt_Task? GetDispatchExecutingTask(Dt_Task oldtask,Dt_Task task)
        {
            var stationManagers = _stationManagerRepository.QueryData(x => x.stationType == 15);
            if (stationManagers.Count() > 0)
            {
                string next = null;
                foreach (var item in stationManager)
                foreach (var item in stationManagers)
                {
                    var x = _taskRepository.QueryFirst(x => x.NextAddress == item.stationChildCode || x.CurrentAddress == item.stationChildCode);
                    if (x == null)
                    {
                        next = item.stationChildCode;
                        LogAndWarn("中转获取站台", $" è¿”回任务：【{JsonConvert.SerializeObject(x)}】】【{next}】");
                        break;
                    }
                }
                if (next != null)
                {
                    var stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == next);
                    oldtask.Remark = next;
                    //oldtask.CurrentAddress = next;
                    _taskRepository.UpdateData(oldtask);
                    if (task.RGVName == "RGV01")
                    {
                        if (task.TargetStation - stationManager.stationRemark > 1 && task.SourceStation - stationManager.stationRemark > 1 && task.SourceStation - oldtask.SourceStation > 1 && task.TargetStation - oldtask.SourceStation > 1)
                        {
                            LogAndWarn("中转任务GetDispatchExecutingTask", $" è¿”回任务：【{JsonConvert.SerializeObject(oldtask)}】】【{next}】");
                            return oldtask;
                        }
                        else
                        {
                            return null;
                        }
                    }
                    else
                    {
                        if (stationManager.stationRemark - task.TargetStation > 1 && stationManager.stationRemark - task.SourceStation > 1 && oldtask.SourceStation - task.SourceStation > 1 && oldtask.SourceStation - task.TargetStation > 1)
                        {
                            LogAndWarn("中转任务GetDispatchExecutingTask", $" è¿”回任务：【{JsonConvert.SerializeObject(oldtask)}】】");
                            return oldtask;
                        }
                        else
                        {
                            return null;
                        }
                    } 
                }
            }
            return null;
        }

        public Dt_Task? GetDispatchExecutingTask(Dt_Task oldtask)
        {
            var stationManagers = _stationManagerRepository.QueryData(x => x.stationType == 15);
            if (stationManagers.Count() > 0)
            {
                string next = null;
                foreach (var item in stationManagers)
                {
                    var x = _taskRepository.QueryFirst(x => x.NextAddress == item.stationChildCode || x.CurrentAddress == item.stationChildCode);
                    if (x == null)
                    {
                        next = item.stationChildCode;
                        LogAndWarn("中转获取站台", $" è¿”回任务：【{JsonConvert.SerializeObject(x)}】】【{next}】");
                        break;
                    }
                }
                if (next != null)
                {
                    var stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == next);
                    oldtask.Remark = next;
                    _taskRepository.UpdateData(oldtask);
                    return oldtask;
                }
            }

            return null;
        }