资料，优化程序

huanghongfeng

2025-01-24 829eabf256e29392ca63f6da48829dba3b075dfe

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs

@@ -1,9 +1,12 @@
using Microsoft.AspNetCore.Components.Routing;
using Autofac.Core;
using Microsoft.AspNetCore.Components.Routing;
using Microsoft.AspNetCore.Hosting;
using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
using Quartz;
using System;
using System.Collections.Generic;
using System.Diagnostics.CodeAnalysis;
using System.Diagnostics.Eventing.Reader;
using System.Linq;
using System.Reflection.Metadata;
using System.Text;
@@ -17,6 +20,7 @@
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
@@ -47,6 +51,8 @@
                CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
                if (commonStackerCrane != null)
                {
                    Signalinteraction(commonStackerCrane);  //出库信号交互
                    Siganlinteraction2(commonStackerCrane); //入库信号交互
                    if (!commonStackerCrane.IsEventSubscribed)
                    {
                        commonStackerCrane.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
@@ -54,10 +60,6 @@

                    if (commonStackerCrane.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneStatusValue == StackerCraneStatus.Normal)
                    {
                        CommonConveyorLine conveyorLine = (CommonConveyorLine)context.JobDetail.JobDataMap.Get("JobParams");
                        Signalinteraction(conveyorLine, commonStackerCrane);


                        commonStackerCrane.CheckStackerCraneTaskCompleted();//防止任务完成事件监测超时，再手动触发一次

                        if (commonStackerCrane.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
@@ -114,57 +116,59 @@
        private Dt_Task? GetTask(CommonStackerCrane commonStackerCrane)
        {
            Dt_Task task;
            if (commonStackerCrane.LastTaskType == null)
            {
                task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
            }
            else
            {
                if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                {
                    task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
                    if (task == null)
                    {
                        task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                    }
                }
                else
                {
                    task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                }
            }
            task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);

            if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
            if (task != null && task.TaskType== (int)TaskOutboundTypeEnum.Outbound)
            {
                string[] targetCodes = task.SourceAddress.Split("-");
                if (targetCodes[4] == "02")
                {

                    task = OutTaskMovelibrary(task);
                    if (task != null)
                    Dt_Task taskst = OutTaskMovelibrary(task);
                    if (taskst != null)
                    {
                        return task;
                        if(taskst.TaskType == (int)TaskRelocationTypeEnum.Relocation) 
                        {
                            return taskst;
                        }
                        else
                        {
                            if(taskst.TargetAddress== "R02-001-021-001-02" || taskst.TargetAddress == "R02-001-022-001-02")
                            {
                                return taskst;
                            }
                            else
                            {
                                if (OutTaskStationIsOccupied(taskst) != null)
                                {
                                    return taskst;
                                }
                            }
                                
                        }
                        
                    }
                }
                if (OutTaskStationIsOccupied(task) != null)
                {
                    return task;
                    task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
                }
                else
                {
                    List<string> otherOutStaionCodes = _routerService.QueryNextRoutes(commonStackerCrane.DeviceCode, task.NextAddress).Select(x => x.ChildPosi).ToList();
                    List<Dt_Task> tasks = _taskService.QueryStackerCraneOutTasks(commonStackerCrane.DeviceCode, otherOutStaionCodes);
                    foreach (var item in tasks)
                    if (task.TargetAddress == "R02-001-021-001-02" || task.TargetAddress == "R02-001-022-001-02")
                    {
                        return task;
                    }
                    else
                    {
                        if (OutTaskStationIsOccupied(task) != null)
                        {
                            return task;
                        }
                    }
                    
                    task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
                }
            }


            }
            return task;
        }

@@ -175,13 +179,18 @@
        /// <returns>如果未被占用，返回传入的任务信息，否则，返回null</returns>
        private Dt_Task? OutTaskStationIsOccupied([NotNull] Dt_Task task)
        {
            IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "1002");
            IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Exists(x => x.DeviceChildCode == task.TargetAddress));
            if (device != null)
            {
                CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                if (conveyorLine.IsOccupied(task.TargetAddress))//出库站台未被占用
                DeviceProDTO? deviceProDTO = GetDeviceProDTO(conveyorLine, task.TargetAddress, "R_Event");    //根据堆垛机地址，地址名称找协议
                if (deviceProDTO != null)
                {
                    return task;
                    int B_Event_Test = GetLine(conveyorLine, deviceProDTO.DeviceProDataBlock);        //判断输送线是否允许放货信号
                    if (B_Event_Test == 1)
                    {
                        return task;
                    }
                }
            }
            else
@@ -212,10 +221,10 @@
                }
                targetCodes[4] = "01";
                string SourceAddress = string.Join("-", targetCodes); //组装浅库位地址
                Dt_Task? tasks = _taskService.QueryStationIsOccupiedOutTasks(task.Roadway, SourceAddress).FirstOrDefault();
                Dt_Task? tasks = _taskService.QueryStationIsOccupiedOutTasks(task.Roadway, SourceAddress).FirstOrDefault(); //找浅库位是否有任务
                if (tasks != null)
                {
                    return task;
                    return tasks;
                }
                else
                {
@@ -235,20 +244,857 @@
            return null;
        }

        public void Signalinteraction(CommonConveyorLine conveyorLine, CommonStackerCrane commonStackerCrane)
        public void Signalinteraction(CommonStackerCrane commonStackerCrane)
        {
            //入库信号交互
            int B_Event = conveyorLine.Communicator.Read<int>("PLC_WCS_B.01_EVENT");
            int B_Event2 = conveyorLine.Communicator.Read<int>("PLC_WCS_C.03_EVENT");
            if (B_Event == 1 || B_Event2 == 1)
            if (Applyrelease(commonStackerCrane)) //读取堆垛机放货申请
            {
                Stackerstatic(conveyorLine,commonStackerCrane);
            }
                Dt_Task task = _taskService.IngStackerCraneTask2(commonStackerCrane.DeviceCode);
                if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && (task.TargetAddress != "R02-001-021-001-02" && task.TargetAddress != "R02-001-022-001-02"))
                {
                    IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Exists(x => x.DeviceChildCode == task.TargetAddress));
                    if (device != null)
                    {
                        CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                        DeviceProDTO? deviceProDTO = GetDeviceProDTO(conveyorLine, task.TargetAddress, "R_Event");    //根据堆垛机地址，地址名称找协议
                        if (deviceProDTO != null)
                        {
                            int B_Event_Test = GetLine(conveyorLine, deviceProDTO.DeviceProDataBlock);        //判断输送线是否允许放货信号
                            if (B_Event_Test == 1)
                            {

            //出库信号交互
            //Stackerstatic2(conveyorLine, commonStackerCrane);
                                if (Releasespermitted(commonStackerCrane, task.TargetAddress,true))  //写入堆垛机允许放货信
                                {

                                    wcs_PLCto06(task.TargetAddress + "成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", "写入堆垛机允许放货信号成功：true");
                                }
                                else
                                {
                                    wcs_PLCto06(task.TargetAddress + "错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", "写入堆垛机允许放货信号失败");
                                }
                            }
                            else
                            {
                                if (Releasespermitted(commonStackerCrane, task.TargetAddress,false))  //写入堆垛机不允许放货信
                                {

                                    wcs_PLCto06(task.TargetAddress + "成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", "写入堆垛机不允许放货信号成功：false");
                                }
                                else
                                {
                                    wcs_PLCto06(task.TargetAddress + "错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", "写入堆垛机不允许放货信号失败");
                                }
                            }
                        }
                    }
                }
            }
            else
            {
                Dt_Task task = _taskService.IngStackerCraneTask2(commonStackerCrane.DeviceCode);
                if (task !=null && task.TaskType == (int)TaskOutboundTypeEnum.Outbound &&(task.TargetAddress != "R02-001-021-001-02" && task.TargetAddress != "R02-001-022-001-02"))
                {
                    if (Completesignal(commonStackerCrane, task.TargetAddress))        //读取到放货完成信号
                    {
                        IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Exists(x => x.DeviceChildCode == task.TargetAddress));
                        if (device != null)
                        {
                            CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                            if (task.TargetAddress == "R02-002-027-011-01" || task.TargetAddress == "R01-002-041-011-01")   //写入输送线去向
                            {
                                byte PLCtost = (byte)task.PLCTo;
                                if (PLCSignal2(conveyorLine, task.TargetAddress, "W_Destination", PLCtost))
                                {

                                    wcs_PLCto06(task.TargetAddress + "成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入去向成功，去向为：{PLCtost}");
                                }
                                else
                                {
                                    wcs_PLCto06(task.TargetAddress + "错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入去向失败，去向为：{PLCtost}");
                                }
                            }

                            if (PLCSignal(conveyorLine, task.TargetAddress, (byte)1)) //写入输送线 å †åž›æœºæ”¾è´§ ä¿¡å·
                            {
                                //读取输送线反馈  å †åž›æœºæ”¾ä¸‹ä¿¡å·
                                DeviceProDTO? deviceProDTO2 = GetDeviceProDTO(conveyorLine, task.TargetAddress, "R_StackerCraneLowered");    //输送线协议找读取信号
                                if (deviceProDTO2 != null)
                                {
                                    int B_TAKE = GetLine(conveyorLine, deviceProDTO2.DeviceProDataBlock);        //读取输送线的  å †åž›æœºæ”¾ä¸‹ ä¿¡å·
                                    WriteLog.GetLog("输送线").Write($"站台编号：{task.TargetAddress},任务号：{task.TaskNum},信息：读取到输送线-堆垛机放下信号：{B_TAKE}", $"（放货）读取{task.TargetAddress}");

                                    if (B_TAKE == 1)
                                    {
                                        if (task.TargetAddress == "R02-002-027-011-01" || task.TargetAddress == "R01-002-041-011-01")
                                        {
                                            DeviceProDTO? deviceProDTO3 = GetDeviceProDTO(conveyorLine, task.TargetAddress, "R_Destination");
                                            if (deviceProDTO3 != null)
                                            {
                                                int PLCwcstost = GetLine(conveyorLine, deviceProDTO3.DeviceProDataBlock);
                                                if (PLCwcstost == task.PLCTo)
                                                {
                                                    byte PLCtost2 = 0;
                                                    if (PLCSignal2(conveyorLine, task.TargetAddress, "W_Destination", PLCtost2))
                                                    {
                                                        wcs_PLCto06(task.TargetAddress + "成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"清除去向成功");
                                                    }
                                                    else
                                                    {
                                                        wcs_PLCto06(task.TargetAddress + "错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"清除去向失败");
                                                    }
                                                    // æ¸…除输送线
                                                    if (PLCSignal(conveyorLine, task.TargetAddress, (byte)0))
                                                    {
                                                        wcs_PLCto06(task.TargetAddress + "成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入输送线清除-堆垛机放下信号成功");
                                                    }
                                                    else
                                                    {
                                                        wcs_PLCto06(task.TargetAddress + "错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入输送线清除-堆垛机放下信号失败");
                                                    }
                                                    //堆垛机写完成
                                                    if (Releasespermitted4(commonStackerCrane, task.TargetAddress, true))
                                                    {
                                                        wcs_PLCto06(task.TargetAddress + "成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入堆垛机放下信号成功：true");
                                                    }
                                                    else
                                                    {
                                                        wcs_PLCto06(task.TargetAddress + "错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入堆垛机放下信号失败:true");
                                                    }

                                                }
                                                else
                                                {
                                                    wcs_PLCto06(task.TargetAddress + "错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"去向比对不一致，输送线去向为：{PLCwcstost}，wcs写入去向为：{task.PLCTo}");
                                                }
                                            }
                                        }
                                        
                                        if (task.TargetAddress != "R02-002-027-011-01" && task.TargetAddress != "R01-002-041-011-01")
                                        {
                                            // æ¸…除输送线
                                            if (PLCSignal(conveyorLine, task.TargetAddress, 0))
                                            {
                                                wcs_PLCto06(task.TargetAddress + "成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入输送线清除-堆垛机放下信号成功");
                                            }
                                            else
                                            {
                                                wcs_PLCto06(task.TargetAddress + "错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入输送线清除-堆垛机放下信号失败");
                                            }

                                            //堆垛机写完成
                                            if (Releasespermitted4(commonStackerCrane, task.TargetAddress, true))
                                            {

                                                wcs_PLCto06(task.TargetAddress + "成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入堆垛机放下信号成功：true");
                                            }
                                            else
                                            {
                                                wcs_PLCto06(task.TargetAddress + "错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入堆垛机放下信号失败:true");

                                            }
                                        }

                                            
                                    }
                                    else
                                    {
                                        // æ¸…除输送线
                                        if (PLCSignal(conveyorLine, task.TargetAddress, 0))
                                        {
                                            wcs_PLCto06(task.TargetAddress + "成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"未读取到输送线反馈堆垛机完成反馈信号，重置为0");
                                        }
                                        else
                                        {
                                            wcs_PLCto06(task.TargetAddress + "错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"未读取到输送线反馈堆垛机完成反馈信号，重置为0失败");
                                        }
                                    }
                                }
                            }
                            else
                            {
                                wcs_PLCto06(task.TargetAddress + "错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入输送线0-堆垛机放下信号失败");

                            }
                        }
                    }
                    else
                    {
                        wcs_PLCto06(task.TargetAddress + "错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"未读取到堆垛机放货完成信号");
                    }
                }
            }
        }

        public void Siganlinteraction2(CommonStackerCrane commonStackerCrane)
        {
            Dt_Task task = _taskService.IngStackerCraneTask(commonStackerCrane.DeviceCode);
            if (task != null && task.TaskType == (int)TaskInboundTypeEnum.Inbound)
            {
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Exists(x => x.DeviceChildCode == task.SourceAddress));
                if (device != null)
                {
                    CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                    DeviceProDTO? deviceProDTO = GetDeviceProDTO(conveyorLine, task.SourceAddress, "R_Event");    //根据堆垛机地址，地址名称找协议
                    if (deviceProDTO != null)
                    {
                        int B_Event_Test = GetLine(conveyorLine, deviceProDTO.DeviceProDataBlock);        //判断输送线是否允许取货信号
                        if (B_Event_Test == 1)
                        {
                            if (Releasespermitted2(commonStackerCrane, task.SourceAddress,true))  //写入堆垛机允许取货信号
                            {
                                wcs_PLCto05(task.SourceAddress+"：成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入堆垛机允许取货信号成功:true");
                            }
                            else
                            {
                                wcs_PLCto05(task.SourceAddress + "：错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入堆垛机允许取货信号成功:true");
                            }
                        }
                        else
                        {
                            if (Releasespermitted2(commonStackerCrane, task.SourceAddress,false))  //写入堆垛机允许取货信号
                            {
                                wcs_PLCto05(task.SourceAddress + "：成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"未读取到输送线允许取货信号，写入堆垛机允许取货信号成功:false");
                            }
                            else
                            {

                                wcs_PLCto05(task.SourceAddress + "：错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"未读取到输送线允许取货信号，写入堆垛机允许取货信号失败");
                            }
                           
                        }
                    }

                    if (Completesignal2(commonStackerCrane, task.SourceAddress))    //读取堆垛机取货完成信号
                    {
                        if(PLCSignal2(conveyorLine, task.SourceAddress, "W_StackerCranePicked", 1))    //写入输送线取货完成信号
                        {
                            wcs_PLCto05(task.SourceAddress + "：成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入输送线取货完成信号，地址：{conveyorLine}");
                            DeviceProDTO? deviceProDTO2 = GetDeviceProDTO(conveyorLine, task.SourceAddress, "R_StackerCranePicked");    //输送线协议找读取信号
                            if (deviceProDTO != null)
                            {
                                int B_TAKE = GetLine(conveyorLine, deviceProDTO2.DeviceProDataBlock);        //读取输送线的  å †åž›æœºå–èµ° ä¿¡å·
                                if (B_TAKE == 1)
                                {
                                    //写入给堆垛机，输送线的  å †åž›æœºå–èµ° ä¿¡å·
                                    if(Releasespermitted3(commonStackerCrane, task.SourceAddress,true))
                                    {
                                        wcs_PLCto05(task.SourceAddress + "：成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入堆垛机取走信号成功:true");
                                    }
                                    else
                                    {
                                        wcs_PLCto05(task.SourceAddress + "：错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入堆垛机取走信号失败:true");
                                    }
                                }
                                else
                                {
                                    if (Releasespermitted3(commonStackerCrane, task.SourceAddress,false))
                                    {
                                        wcs_PLCto05(task.SourceAddress + "：成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"未读取输送线的堆垛机取走信号，写入堆垛机取走信号成功:false");
                                    }
                                    else
                                    {
                                        wcs_PLCto05(task.SourceAddress + "：错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"未读取输送线的堆垛机取走信号，写入堆垛机取走信号失败:false");
                                    }
                                }
                            }
                        }
                        else
                        {
                            wcs_PLCto05(task.SourceAddress + "：成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入输送线取货完成信号失败，地址：{conveyorLine}");
                        }
                    }
                    else
                    {
                        if (PLCSignal2(conveyorLine, task.SourceAddress, "W_StackerCranePicked", 0))    //写入输送线清除信号
                        {
                            wcs_PLCto05(task.SourceAddress + "：成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入输送线清除信号成功，地址：{conveyorLine}");
                            DeviceProDTO? deviceProDTO2 = GetDeviceProDTO(conveyorLine, task.SourceAddress, "R_StackerCranePicked");    //输送线协议找读取信号
                            if (deviceProDTO != null)
                            {
                                int B_TAKE = GetLine(conveyorLine, deviceProDTO2.DeviceProDataBlock);        //读取输送线的  å †åž›æœºå–èµ° ä¿¡å·
                                if (B_TAKE == 0)
                                {
                                    //写入给堆垛机，输送线的  å †åž›æœºå–èµ° ä¿¡å·
                                    if (Releasespermitted3(commonStackerCrane, task.SourceAddress, false))
                                    {
                                        wcs_PLCto05(task.SourceAddress + "：成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入堆垛机取走信号成功:true");
                                    }
                                    else
                                    {
                                        wcs_PLCto05(task.SourceAddress + "：错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入堆垛机取走信号失败:true");
                                    }
                                }
                                else
                                {
                                    if (Releasespermitted3(commonStackerCrane, task.SourceAddress, false))
                                    {
                                        wcs_PLCto05(task.SourceAddress + "：成功信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"未读取输送线的堆垛机取走信号，写入堆垛机取走信号成功:false");
                                    }
                                    else
                                    {
                                        wcs_PLCto05(task.SourceAddress + "：错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"未读取输送线的堆垛机取走信号，写入堆垛机取走信号失败:false");
                                    }
                                }
                            }
                        }
                        else
                        {
                            wcs_PLCto05(task.SourceAddress + "：错误信息", $"任务号：{task.TaskNum}，托盘条码：{task.PalletCode}", $"写入输送线清除信号失败，地址：{conveyorLine}");
                        }
                    }
                }
            } 

        }

        //获取输送线实例
        public DeviceProDTO? GetDeviceProDTO(CommonConveyorLine conveyorLine,string SCAddress,string Interactivet)
        {
            return conveyorLine.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == SCAddress && x.DeviceProParamName == Interactivet);
        }

        //获取堆垛机例
        public DeviceProDTO? GetDeviceProDTO2(CommonStackerCrane commonStackerCrane, string DeviceName, string Interactivet)
        {
            return commonStackerCrane.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == DeviceName && x.DeviceProParamName == Interactivet);
        }

        //读取堆垛机申请放货信号
        public bool Applyrelease(CommonStackerCrane commonStackerCrane)
        {
            if (commonStackerCrane.DeviceCode == "SC02")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryRequest_Bout");
                if (deviceProDTO != null)
                {
                    if(GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress).Status)
                    {
                        return true;
                    }
                }
                DeviceProDTO? deviceProDTO2 = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryRequest_Dout");
                if (deviceProDTO2 != null)
                {
                    if (GetStacker(commonStackerCrane, deviceProDTO2.DeviceProAddress).Status)
                    {
                        return true;
                    }
                }
            }

            if (commonStackerCrane.DeviceCode == "SC01")
            {
                DeviceProDTO? deviceProDTO4 = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryRequest_Cout");
                if (deviceProDTO4 != null)
                {
                    if (GetStacker(commonStackerCrane, deviceProDTO4.DeviceProAddress).Status)
                    {
                        return true;
                    }
                }
                DeviceProDTO? deviceProDTO3 = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryRequest_Dout");
                if (deviceProDTO3 != null)
                {
                    if (GetStacker(commonStackerCrane, deviceProDTO3.DeviceProAddress).Status)
                    {
                        return true;
                    }
                }
                DeviceProDTO? deviceProDTO5 = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryRequest_Aout");
                if (deviceProDTO5 != null)
                {
                    if(GetStacker(commonStackerCrane, deviceProDTO5.DeviceProAddress).Status)
                    {
                        return true;
                    }
                }
                DeviceProDTO? deviceProDTO6 = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryRequest_A2in");  //空托出入库
                if (deviceProDTO6 != null)
                {
                    if (GetStacker(commonStackerCrane, deviceProDTO6.DeviceProAddress).Status)
                    {
                        return true;
                    }
                }
            }
            return false;

        }
        
        //写入堆垛机允许放货信号
        public bool Releasespermitted(CommonStackerCrane commonStackerCrane, string Destinationaddress,bool SCcrane)
        {
            if (Destinationaddress == "R02-002-027-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryPermission_Bout");
                if (deviceProDTO != null)
                {
                    if(SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }
            if (Destinationaddress == "R02-002-027-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryPermission_Dout");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }
            //1号
            if (Destinationaddress == "R01-002-041-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryPermission_Cout");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }
            if (Destinationaddress == "R01-002-041-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryPermission_Dout");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }

            if (Destinationaddress == "R01-002-044-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryPermission_Aout");
                if (deviceProDTO != null)
                {
                   if(SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }

            if (Destinationaddress == "R01-002-043-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryPermission_A2in");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }

            return false;
        }
        
        //读取堆垛机的放货完成信号
        public bool Completesignal(CommonStackerCrane commonStackerCrane,string Destinationaddress)
        {
            if (Destinationaddress == "R02-002-027-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompleted_Bout");
                if (deviceProDTO != null)
                {
                    if(GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress).Status)
                    {
                        return true;
                    }
                    
                }
            }
            if (Destinationaddress == "R02-002-027-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompleted_Dout");
                if (deviceProDTO != null)
                {
                    if (GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress).Status)
                    {
                        return true;
                    }
                }
            }
            //1号
            if (Destinationaddress == "R01-002-041-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompleted_Cout");
                if (deviceProDTO != null)
                {
                    if (GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress).Status)
                    {
                        return true;
                    }
                }
            }
            if (Destinationaddress == "R01-002-041-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompleted_Dout");
                if (deviceProDTO != null)
                {
                    if (GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress).Status)
                    {
                        return true;
                    }
                }
            }

            if (Destinationaddress == "R01-002-044-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompleted_Aout");
                if (deviceProDTO != null)
                {
                    if (GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress).Status)
                    {
                        return true;
                    }
                }
            }
            if (Destinationaddress == "R01-002-043-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompleted_A2in");
                if (deviceProDTO != null)
                {
                    if (GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress).Status)
                    {
                        return true;
                    }
                }
            }
            return false;

        }
        
        //写入堆垛机放货确认信号
        public bool Releasespermitted4(CommonStackerCrane commonStackerCrane, string Destinationaddress, bool SCcrane)
        {
            if (Destinationaddress == "R02-002-027-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompletion_Bout");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }
            if (Destinationaddress == "R02-002-027-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompletion_Dout");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }
            //1号
            if (Destinationaddress == "R01-002-041-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompletion_Cout");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }
            if (Destinationaddress == "R01-002-041-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompletion_Dout");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }
            if (Destinationaddress == "R01-002-044-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompletion_Aout");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }
            if (Destinationaddress == "R01-002-043-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompletion_A2in");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }
            return false;
        }


        //写入堆垛机允许取货信号
        public bool Releasespermitted2(CommonStackerCrane commonStackerCrane, string Destinationaddress, bool SCcrane)
        {
            if (Destinationaddress == "R02-003-027-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupRequest_Bin");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }
            if (Destinationaddress == "R02-003-027-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupRequest_Din");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }
            //1号
            if (Destinationaddress == "R01-003-041-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupRequest_Cin");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }
            if (Destinationaddress == "R01-003-041-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupRequest_Din");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }

            if (Destinationaddress == "R01-002-042-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupRequest_Ain");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }
            if (Destinationaddress == "R01-002-043-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupRequest_A2in");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }

            return false;
        }
        
        //读取堆垛机取货完成信号
        public bool Completesignal2(CommonStackerCrane commonStackerCrane, string Destinationaddress)
        {
            if (Destinationaddress == "R02-003-027-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompleted_Bin");
                if (deviceProDTO != null)
                {
                    if (GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress).Status)
                    {
                        return true;
                    }
                }
            }
            if (Destinationaddress == "R02-003-027-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompleted_Din");
                if (deviceProDTO != null)
                {
                    if (GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress).Status)
                    {
                        return true;
                    }
                }
            }
            //1号
            if (Destinationaddress == "R01-003-041-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompleted_Cin");
                if (deviceProDTO != null)
                {
                    if (GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress).Status)
                    {
                        return true;
                    }
                }
            }
            if (Destinationaddress == "R01-003-041-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompleted_Din");
                if (deviceProDTO != null)
                {
                    if (GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress).Status)
                    {
                        return true;
                    }
                }
            }

            if (Destinationaddress == "R01-002-042-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompleted_Ain");
                if (deviceProDTO != null)
                {
                    if (GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress).Status)
                    {
                        return true;
                    }
                }
            }

            if (Destinationaddress == "R01-002-043-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompleted_A2in");
                if (deviceProDTO != null)
                {
                    if (GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress).Status)
                    {
                        return true;
                    }
                }
            }

            return false;

        }

        //写入堆垛机取货确认信号
        public bool Releasespermitted3(CommonStackerCrane commonStackerCrane, string Destinationaddress, bool SCcrane)
        {
            if (Destinationaddress == "R02-003-027-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompletion_Bin");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }
            if (Destinationaddress == "R02-003-027-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompletion_Din");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }
            //1号
            if (Destinationaddress == "R01-003-041-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompletion_Cin");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }
            if (Destinationaddress == "R01-003-041-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompletion_Din");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }

            if (Destinationaddress == "R01-002-042-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompletion_Ain");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }
            if (Destinationaddress == "R01-002-043-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompletion_A2in");
                if (deviceProDTO != null)
                {
                    if (SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, SCcrane).Status) { return true; }
                }
            }

            return false;
        }
        

        //写入输送线放货完成信号，条码，层数，类型
        public bool PLCSignal(CommonConveyorLine conveyorLine,string TargetAddress,byte staLow)
        {
            //处理出库放料完成后逻辑
            DeviceProDTO? deviceProDTO2 = GetDeviceProDTO(conveyorLine, TargetAddress, "W_StackerCraneLowered");    //放货完成信号
            if (deviceProDTO2 != null)
            {
                if (SetLine(conveyorLine, deviceProDTO2.DeviceProDataBlock, staLow))
                {
                    return true;

                }
            }
            return false;
        }

        //写入输送线 å †åž›æœºå–货完成信号
        public bool PLCSignal2(CommonConveyorLine conveyorLine, string SourceAddress,string DeviceProParamName,Byte stock)
        {
            DeviceProDTO? deviceProDTO2 = GetDeviceProDTO(conveyorLine, SourceAddress, DeviceProParamName);    //取货完成信号
            if (deviceProDTO2 != null)
            {
                return SetLine(conveyorLine, deviceProDTO2.DeviceProDataBlock, stock);
            }
            return false;
        }

        
        /// <summary>
        /// æ ¹æ®åè®®ï¼Œåœ°å€ï¼Œå€¼ï¼Œå†™å…¥è¾“送线信息,
        /// </summary>
        /// <param name="conveyorLine"></param>
        /// <param name="DeviceProDataBlock"></param>
        /// <param name="Pali"></param>
        /// <returns></returns>
        public bool SetLine(CommonConveyorLine conveyorLine,string DeviceProDataBlock,byte Pali)
        {
            return conveyorLine.Communicator.Write(DeviceProDataBlock, Pali);
        }
        public bool SetLinestring(CommonConveyorLine conveyorLine, string DeviceProDataBlock, string Pali)
        {
            return conveyorLine.Communicator.Write(DeviceProDataBlock, Pali);
        }
        /// <summary>
        /// æ ¹åœ°å€è¯»å–输送线信息
        /// </summary>
        /// <param name="conveyorLine"></param>
        /// <param name="DeviceProDataBlock"></param>
        /// <returns></returns>
        public int GetLine(CommonConveyorLine conveyorLine, string DeviceProDataBlock)
        {
            return conveyorLine.Communicator.Read<byte>(DeviceProDataBlock);
        }

        /// <summary>
        /// è¯»å–堆垛机地址
        /// </summary>
        /// <param name="conveyorLine"></param>
        /// <param name="DeviceProDataBlock"></param>
        /// <returns></returns>
        public WebResponseContent GetStacker(CommonStackerCrane commonStackerCrane,string DeviceProDataBlock)
        {
            WebResponseContent content= new WebResponseContent();
            if (commonStackerCrane.Communicator.Read<bool>(DeviceProDataBlock))
            {
                return content.OK();
            }
            else
            {
                return content.Error();
            }
            
        }

        /// <summary>
        /// å†™å…¥å †åž›æœºä¿¡å·
        /// </summary>
        /// <param name="conveyorLine"></param>
        /// <param name="DeviceProDataBlock"></param>
        /// <returns></returns>
        public WebResponseContent SetStacker(CommonStackerCrane commonStackerCrane, string DeviceProDataBlock,bool Pali)
        {
            WebResponseContent content = new WebResponseContent();
            if (commonStackerCrane.Communicator.Write(DeviceProDataBlock, Pali))
            {
                return content.OK();
            }
            else
            {
                return content.Error();
            }
        }

        /// <summary>
        /// ä»»åŠ¡å®žä½“转换成命令Model
        /// </summary>
@@ -259,7 +1105,7 @@
        {
            StackerCraneTaskCommand stackerCraneTaskCommand = new StackerCraneTaskCommand();

            stackerCraneTaskCommand.Barcode = task.PalletCode;
            stackerCraneTaskCommand.Barcode = ""; /*task.PalletCode;*/
            stackerCraneTaskCommand.TaskNum = task.TaskNum;
            stackerCraneTaskCommand.WorkType = 1;
            stackerCraneTaskCommand.TrayType = 0;
@@ -268,9 +1114,9 @@
                string[] targetCodest = task.SourceAddress.Split("-");
                if (targetCodest.Length == 5)
                {
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodest[1]);
                    stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodest[2]);
                    stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodest[3]);
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(targetCodest[1]);
                    stackerCraneTaskCommand.StartColumn = Convert.ToInt16(targetCodest[2]);
                    stackerCraneTaskCommand.StartLayer = Convert.ToInt16(targetCodest[3]);
                }
                else
                {
@@ -353,188 +1199,14 @@
            return stackerCraneTaskCommand;
        }

        /// <summary>
        /// æ ¹æ®ç«™å°åç§°å†™å…¥
        /// </summary>
        /// <param name="commonStackerCrane"></param>
        /// <param name="platform"></param>
        public void Stackerstatic(CommonConveyorLine conveyorLine,CommonStackerCrane commonStackerCrane)
        {
            // è°ƒç”¨æ–¹æ³•å¤„理不同 SourceAddress çš„任务
            Dt_Task task = _taskService.IngStackerCraneTask(commonStackerCrane.DeviceName);

            if (task.SourceAddress == "R01-003-027-001-01")
            {
                HandleStackerCraneTask(conveyorLine,commonStackerCrane,task, StackerCraneDBName.Requestpickup.ToString(), StackerCraneDBName.toRequestpickup.ToString(), "WCS_PLC_B.01_WCS_TAKE");
            }
            else if (task.SourceAddress == "R01-003-041-001-01")
            {
                HandleStackerCraneTask(conveyorLine, commonStackerCrane,task, StackerCraneDBName.Requestpickuptwo.ToString(), StackerCraneDBName.toRequestpickuptwo.ToString(), "WCS_PLC_C.03_WCS_TAKE");
            }
        public void wcs_PLCto05(string SCLLinStack, string Logtype, string Magessadd)
        {
            WriteLog.Write_Log("入库交互信息", SCLLinStack, Logtype, new { ä¿¡æ¯ = Magessadd });
        }


        /// <summary>
        /// å‡ºåº“信息交互
        /// </summary>
        /// <param name="commonStackerCrane"></param>
        /// <param name="platform"></param>
        public void Stackerstatic2(CommonConveyorLine conveyorLine, CommonStackerCrane commonStackerCrane)
        public void wcs_PLCto06(string SCLLinStack, string Logtype, string Magessadd)
        {
            //读取堆垛机两个站台是否有放货申请
            // æ£€æŸ¥å †åž›æœºæ˜¯å¦è¯·æ±‚放货信号
            if (commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.Requestpickupout))
            {
                LogSignalStatus("读取到堆垛机申请放货信号", "R01-002-027-001-01");
                Dt_Task? task = _taskService.IngStackerCraneTask(commonStackerCrane.DeviceName);
                WriteLogAndHandleConveyorSignal(conveyorLine, commonStackerCrane, task, StackerCraneDBName.toRequestpickupout, "R01-002-027-001-01");
            }

            

            // åˆ¤æ–­ä¸åŒçš„站台
            /*if (task.SourceAddress == "R01-002-027-001-01")
            {
                HandleStackerCraneForAddress027001(conveyorLine, commonStackerCrane, task);
            }
            else if (task.SourceAddress == "R01-002-041-001-01")
            {
                HandleStackerCraneForAddress041001(conveyorLine, commonStackerCrane, task);
            }*/
        }

        // å°è£…入库站台
        // å®šä¹‰ä¸€ä¸ªæ–¹æ³•æ¥å¤„理重复的堆垛机与PLC交互操作
        private void HandleStackerCraneTask(CommonConveyorLine conveyorLine, CommonStackerCrane commonStackerCrane,Dt_Task task, string requestSignal, string completionSignal, string writeAddress)
        {
            // å°† completionSignal è½¬æ¢ä¸º StackerCraneDBName æžšä¸¾å€¼
            if (Enum.TryParse(completionSignal, out StackerCraneDBName completionEnum))
            {
                // èŽ·å–堆垛机完成信号
                if (commonStackerCrane.GetValue<StackerCraneDBName, bool>(completionEnum))
                {
                    WriteLog.GetLog("堆垛机与plc交互信号").Write($"读取到堆垛机完成信号为 true，站台编号：{task.SourceAddress}", "站台信息");

                    // å‘输送线写入取货完成信号
                    if (conveyorLine.Communicator.Write(writeAddress, 1))
                    {
                        WriteLog.GetLog("堆垛机与plc交互信号").Write($"写入输送线取货完成信号成功，1，站台编号：{task.SourceAddress}", "站台信息");
                    }
                    else
                    {
                        WriteLog.GetLog("堆垛机与plc交互信号").Write($"写入输送线取货完成信号失败，站台编号：{task.SourceAddress}", "站台信息");
                    }
                }
                else
                {
                    WriteLog.GetLog("堆垛机与plc交互信号").Write($"读取到堆垛机完成信号为 false，站台编号：{task.SourceAddress}", "站台信息");
                }
            }
            else
            {
                WriteLog.GetLog("堆垛机与plc交互信号").Write($"无法将completionSignal字符串{completionSignal}转换为有效的枚举值", "站台信息");
            }

            if(Enum.TryParse(requestSignal, out StackerCraneDBName completionEnum2)){
                // å†™å…¥è¯·æ±‚信号
                if (commonStackerCrane.SetValue(completionEnum2, true))
                {
                    WriteLog.GetLog("堆垛机与plc交互信号").Write($"写入信号成功，{requestSignal}", "站台信息");
                }
                else
                {
                    WriteLog.GetLog("堆垛机与plc交互信号").Write($"写入信号失败，{requestSignal}", "站台信息");
                }
            }
            else
            {
                WriteLog.GetLog("堆垛机与plc交互信号").Write($"无法将completionSignal字符串{completionSignal}转换为有效的枚举值", "站台信息");
            }
            
        }

        private void HandleStackerCraneForAddress027001(CommonConveyorLine conveyorLine, CommonStackerCrane commonStackerCrane, Dt_Task task)
        {
            // æ£€æŸ¥å †åž›æœºæ˜¯å¦è¯·æ±‚放货信号
            if (commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.Requestpickupout))
            {
                WriteLogAndHandleConveyorSignal(conveyorLine, commonStackerCrane, task, StackerCraneDBName.toRequestpickupout, "R01-002-027-001-01");
            }
            else
            {
                LogSignalStatus("未读取到堆垛机申请放货信号", task.SourceAddress);
            }

            // æ£€æŸ¥å †åž›æœºå®Œæˆä¿¡å·
            if (commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.toRequestpickup))
            {
                WriteLogAndHandleConveyorSignal(conveyorLine, commonStackerCrane, task, StackerCraneDBName.toRequestpickup, "R01-002-027-001-01");
            }
            else
            {
                LogSignalStatus("读取到堆垛机完成信号为，false", task.SourceAddress);
            }
        }

        private void HandleStackerCraneForAddress041001(CommonConveyorLine conveyorLine, CommonStackerCrane commonStackerCrane, Dt_Task task)
        {
            if (commonStackerCrane.SetValue(StackerCraneDBName.Requestpickuptwo, true))
            {
                WriteLog.GetLog("堆垛机与plc交互信号").Write($"写入信号成功，Requestpickup", "站台信息");
            }
            else
            {
                WriteLog.GetLog("堆垛机与plc交互信号").Write($"写入信号失败，Requestpickup", "站台信息");
            }

            // æ£€æŸ¥å †åž›æœºå®Œæˆä¿¡å·
            if (commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.toRequestpickuptwo))
            {
                WriteLogAndHandleConveyorSignal(conveyorLine, commonStackerCrane, task, StackerCraneDBName.toRequestpickuptwo, "R01-002-041-001-01");
            }
            else
            {
                LogSignalStatus("读取到堆垛机完成信号为，false", task.SourceAddress);
            }
        }

        private void WriteLogAndHandleConveyorSignal(CommonConveyorLine conveyorLine, CommonStackerCrane commonStackerCrane, Dt_Task task, StackerCraneDBName signalType, string sourceAddress)
        {
            // è¯»å–输送线信号
            int events = conveyorLine.Communicator.Read<int>("PLC_WCS_B.01_EVENT");
            if (events == 0)
            {
                LogSignalStatus("读取到输送线允许放货信号", sourceAddress);

                // å†™å…¥å †åž›æœºä¿¡å·
                if (commonStackerCrane.SetValue(signalType, true))
                {
                    LogSignalStatus($"写入堆垛机允许放货信号", sourceAddress);
                }
                else
                {
                    LogSignalStatus($"未写入堆垛机允许放货信号", sourceAddress);
                }
            }
            else
            {
                LogSignalStatus($"未读取到输送线允许放货信号", sourceAddress);
            }

            // å†™å…¥å–货完成信号
            if (conveyorLine.Communicator.Write("WCS_PLC_B.01_WCS_TAKE", 1))
            {
                LogSignalStatus($"写入输送线取货完成信号成功", sourceAddress);
            }
            else
            {
                LogSignalStatus($"写入输送线取货完成信号失败", sourceAddress);
            }
        }

        private void LogSignalStatus(string message, string sourceAddress)
        {
            WriteLog.GetLog("堆垛机与plc交互信号").Write($"{message}，站台编号：{sourceAddress}", "站台信息");
            WriteLog.Write_Log("出库交互信息", SCLLinStack, Logtype, new { ä¿¡æ¯ = Magessadd });
        }
    }
}