ZhiHuiQiCe/LongDeLiLiKu.git

			@@ -88,6 +88,7 @@
			Dt_Task? task2 = tasks.FirstOrDefault(x => x.HeightType == 2);
			Dt_Task? task3 = tasks.FirstOrDefault(x => x.HeightType == 3);
			List<Dt_Task> tasksDown = _taskRepository.QueryData(x => _taskService.TaskInboundTypes.Contains(x.TaskType) && x.TaskState == TaskStatusEnum.RGV_Execute.ObjToInt() && x.DeviceCode == device.DeviceCode).OrderBy(x=>x.CreateDate).Take(3).ToList();
			List<Dt_Task> taskSends = new List<Dt_Task>();
			if (tasksDown.Count>0)
			{
			bool ReceivedDone = false;
			@@ -102,8 +103,7 @@
			device.SetValue(W_RgvCPDB.Qu1, tasksDown[0].CurrentAddress);
			device.SetValue(W_RgvCPDB.Fang1, tasksDown[0].NextAddress);
			tasksDown[0].HeightType = 1;
			_taskService.UpdateTask(tasksDown[0], TaskStatusEnum.RGV_Executing);
			Thread.Sleep(100);
			taskSends.Add(tasksDown[0]);
			ReceivedDone=true;
			}
			}
			@@ -114,19 +114,16 @@
			{
			//涓嬪彂鎵ц宸ヤ綅
			device.SetValue(W_RgvCPDB.WorkStation, 4);

			device.SetValue(W_RgvCPDB.WcsTask1, tasksDown[0].TaskNum);
			device.SetValue(W_RgvCPDB.Qu1, tasksDown[0].CurrentAddress);
			device.SetValue(W_RgvCPDB.Fang1, tasksDown[0].NextAddress);
			tasksDown[0].HeightType = 1;
			_taskService.UpdateTask(tasksDown[0], TaskStatusEnum.RGV_Executing);
			Thread.Sleep(100);
			device.SetValue(W_RgvCPDB.WcsTask2, tasksDown[1].TaskNum);
			device.SetValue(W_RgvCPDB.Qu2, tasksDown[1].CurrentAddress);
			device.SetValue(W_RgvCPDB.Fang2, tasksDown[1].NextAddress);
			tasksDown[1].HeightType = 2;
			_taskService.UpdateTask(tasksDown[1], TaskStatusEnum.RGV_Executing);
			Thread.Sleep(100);
			taskSends.Add(tasksDown[0]);
			taskSends.Add(tasksDown[1]);
			ReceivedDone = true;
			}
			}
			@@ -136,39 +133,53 @@
			{
			//涓嬪彂鎵ц宸ヤ綅
			device.SetValue(W_RgvCPDB.WorkStation, 7);

			device.SetValue(W_RgvCPDB.WcsTask1, tasksDown[0].TaskNum);
			device.SetValue(W_RgvCPDB.Qu1, tasksDown[0].CurrentAddress);
			device.SetValue(W_RgvCPDB.Fang1, tasksDown[0].NextAddress);
			tasksDown[0].HeightType = 1;
			_taskService.UpdateTask(tasksDown[0], TaskStatusEnum.RGV_Executing);
			Thread.Sleep(100);
			device.SetValue(W_RgvCPDB.WcsTask2, tasksDown[1].TaskNum);
			device.SetValue(W_RgvCPDB.Qu2, tasksDown[1].CurrentAddress);
			device.SetValue(W_RgvCPDB.Fang2, tasksDown[1].NextAddress);
			tasksDown[1].HeightType = 2;
			_taskService.UpdateTask(tasksDown[1], TaskStatusEnum.RGV_Executing);
			Thread.Sleep(100);
			device.SetValue(W_RgvCPDB.WcsTask3, tasksDown[2].TaskNum);
			device.SetValue(W_RgvCPDB.Qu3, tasksDown[2].CurrentAddress);
			device.SetValue(W_RgvCPDB.Fang3, tasksDown[2].NextAddress);
			tasksDown[2].HeightType = 3;
			_taskService.UpdateTask(tasksDown[2], TaskStatusEnum.RGV_Executing);
			Thread.Sleep(100);
			taskSends.Add(tasksDown[0]);
			taskSends.Add(tasksDown[1]);
			taskSends.Add(tasksDown[2]);
			ReceivedDone = true;
			}
			}
			//涓嬪彂鏇存柊浠诲姟
			if (ReceivedDone)
			{
			device.SetValue(W_RgvCPDB.TaskType, 4);
			device.SetValue(W_RgvCPDB.TaskReceivedDone, 1);
			foreach (var item in taskSends)
			{
			_taskService.UpdateTask(item, TaskStatusEnum.RGV_Executing);
			}
			}
			}
			}
			else if((rgvInfoRead.Mode == 5 \|\| rgvInfoRead.Mode == 4) && rgvInfoRead.TaskDone == 3)
			{
			int taskNum = 0;
			if (rgvInfoRead.RgvTask > 0)
			{
			taskNum = rgvInfoRead.RgvTask;
			}
			else if (rgvInfoRead.RgvEndTask > 0)
			{
			taskNum = rgvInfoRead.RgvEndTask;
			}
			else if (rgvInfoRead.RgvLastTask > 0)
			{
			taskNum = rgvInfoRead.RgvLastTask;
			}
			//鑾峰彇浠诲姟
			Dt_Task task = _taskRepository.QueryFirst(x =>x.TaskNum==rgvInfoRead.RgvTask && _taskService.TaskInboundTypes.Contains(x.TaskType) && x.TaskState == TaskStatusEnum.RGV_Executing.ObjToInt() && x.DeviceCode == device.DeviceCode);
			Dt_Task task = _taskRepository.QueryFirst(x =>x.TaskNum== taskNum && _taskService.TaskInboundTypes.Contains(x.TaskType) && x.TaskState == TaskStatusEnum.RGV_Executing.ObjToInt() && x.DeviceCode == device.DeviceCode);
			if (task != null)
			{
			//鑾峰彇涓嬩竴涓妭鐐圭殑璺敱
			@@ -178,18 +189,18 @@
			task.DeviceCode = stationManger.StationDeviceCode;
			device.SetValue(W_RgvCPDB.TaskReceivedDone, 2);
			_taskService.UpdateTask(task, TaskStatusEnum.Line_Execute);
			WriteInfo(device.DeviceName, $"RGV浠诲姟瀹屾垚,浠诲姟鍙穥rgvInfoRead.RgvEndTask}");
			WriteInfo(device.DeviceName, $"RGV浠诲姟瀹屾垚,浠诲姟鍙穥taskNum}");
			}
			else
			{
			WriteInfo(device.DeviceName, $"鏈壘鍒癛GV瀵瑰簲鐨勭粨鏉熶换鍔rgvInfoRead.RgvEndTask}");
			WriteInfo(device.DeviceName, $"鏈壘鍒癛GV瀵瑰簲鐨勭粨鏉熶换鍔taskNum}");
			}
			}
			else if (rgvInfoRead.TaskDone == 2 && rgvInfoWrite.TaskReceivedDone == 1)
			{
			device.SetValue(W_RgvCPDB.TaskReceivedDone, 0);
			}
			else if (rgvInfoRead.TaskDone == 0 && rgvInfoWrite.TaskReceivedDone == 2)
			else if (rgvInfoRead.TaskDone != 3 && rgvInfoWrite.TaskReceivedDone == 2)
			{
			device.SetValue(W_RgvCPDB.TaskReceivedDone, 0);
			}