ZhuHaiChuangZhi/GanFengLiYeNew.git

			@@ -1,4 +1,5 @@
			ï»¿using WIDESEAWCS_Common.AGVEnum;
			ï»¿using System.Threading.Tasks;
			using WIDESEAWCS_Common.AGVEnum;
			using WIDESEAWCS_Common.TaskEnum;
			using WIDESEAWCS_DTO.TaskInfo;
			using WIDESEAWCS_ITaskInfoRepository;
			@@ -283,22 +284,22 @@
			}

			// è¯»åä»»å¡ç¶æ
			int taskFbInteractive = plcClient.Communicator.Read<int>(taskFbInteractiveR);
			int taskFbInteractiveW = plcClient.Communicator.Read<int>(taskFbInteractive2);
			int resetTaskFbInteractiveRValue = plcClient.Communicator.Read<int>(resetTaskFbInteractiveR);
			int taskFbInteractive = plcClient.Communicator.Read<ushort>(taskFbInteractiveR);
			int taskFbInteractiveW = plcClient.Communicator.Read<ushort>(taskFbInteractive2);
			int resetTaskFbInteractiveRValue = plcClient.Communicator.Read<ushort>(resetTaskFbInteractiveR);

			// å¦æresetTaskFbInteractiveRä¸º1ï¼åéç½®taskFbInteractiveWä¸º0ï¼å¹¶çå¾å¶åä¸º0
			if (resetTaskFbInteractiveRValue == 1)
			{
			plcClient.Communicator.Write(taskFbInteractive2, 0);
			plcClient.Communicator.Write<ushort>(taskFbInteractive2, 0);
			// é¿åä½¿ç¨Thread.Sleepæ¥çå¾ç¶æååï¼ä½¿ç¨æ´é«æççå¾æºå¶
			for (int i = 0; i < 5; i++)
			{
			Task.Delay(300).Wait(); // ä½¿ç¨Task.Delayæ¿ä»£Thread.Sleepï¼é¿åé»å¡çº¿ç¨æ± ä¸ççº¿ç¨
			int agvNumber = plcClient.Communicator.Read<int>(taskFbInteractive2);
			int agvNumber = plcClient.Communicator.Read<ushort>(taskFbInteractive2);
			if (agvNumber != 0)
			{
			plcClient.Communicator.Write(taskFbInteractive2, 0);
			plcClient.Communicator.Write<ushort>(taskFbInteractive2, 0);
			}
			else
			{
			@@ -310,8 +311,8 @@
			// åªæå½taskFbInteractiveä¸º1ä¸taskFbInteractiveWä¸º0æ¶æå¤çä»»å¡ç¶æ
			if (taskFbInteractive == 1 && taskFbInteractiveW == 0)
			{
			string taskId = plcClient.Communicator.Read<int>(taskIDFb).ToString(); // ä»»å¡ID
			int taskState = plcClient.Communicator.Read<int>(taskStatusFb); // ä»»å¡ç¶æ
			string taskId = plcClient.Communicator.Read<string>(taskIDFb).ToString(); // ä»»å¡ID
			int taskState = plcClient.Communicator.Read<ushort>(taskStatusFb); // ä»»å¡ç¶æ

			// å¦æä»»å¡ç¶ææ æï¼åç´æ¥è¿å
			if (taskState == 0)
			@@ -320,10 +321,11 @@
			}

			// æ ¹æ®ä»»å¡IDæ¥è¯¢æ°æ®åºä¸çä»»å¡
			var agvTask = taskRepository.QueryFirst(r => r.TaskNum.ToString() == taskId);
			int tasknum = int.Parse(taskId.Split('-')[1]);
			var agvTask = taskRepository.QueryFirst(r => r.TaskNum.ToString() == tasknum.ToString());
			if (agvTask == null)
			{
			plcClient.Communicator.Write(taskFbInteractive2, 1);
			plcClient.Communicator.Write<ushort>(taskFbInteractive2, 1);
			return; // å¦æä»»å¡ä¸åå¨ï¼ç´æ¥è¿åï¼ä¸éè¦åæ¬¡åå¥
			}

			@@ -342,7 +344,7 @@
			}
			else if (taskState == 4) // ä»»å¡ç»ç¹å®æ
			{
			if (agvTask.TaskState != (int)TaskInStatusEnum.SC_InExecuting)
			if (agvTask.TaskState != (int)TaskInStatusEnum.SC_InFinish)
			{
			// å¦æä»»å¡ç¶æä¸æ¯ç»ç¹æ§è¡ä¸ï¼æåºå¼å¸¸
			throw new Exception($"ä»»å¡ç¶ææ´æ¹ä¸º4ç»ç¹å·²å®æå¤±è´¥,ä»»å¡ID:{taskId},å½åç¶æ:{agvTask.TaskState}");
			@@ -354,7 +356,16 @@
			{
			// ç©ºççº¿è¿çç®±
			// TODO: ä»»å¡æªåå®æ´æ¡ç
			var materials = new List<BakingClass>();
			var details = agvTask.ExceptionMessage;
			string[] splitDetails = details.Split(',');

			var materials = splitDetails
			.Select(part => new BakingClass
			{
			MaterialType = "",
			BarCode = part
			})
			.ToList();

			MESback WMSbackresult = MESAPIInvoke.BakingFeedingBinding(agvTask.TargetAddress, materials);
			if (WMSbackresult.Code > 0) { new Exception(WMSbackresult.Message); return; }
			@@ -373,7 +384,7 @@
			// })
			// .ToList();

			var details = _detailsRepository.QueryData(x => x.TaskEndAddress == agvTask.TargetAddress && x.TaskName == agvTask.Roadway).OrderBy(x => x.CreateDate).ToList();
			var details = _detailsRepository.QueryData(x => x.TaskEndAddress == agvTask.TargetAddress).ToList();

			if (details.Count >= 2)
			{
			@@ -398,19 +409,19 @@

			// å é¤å·²å®æçä»»å¡
			taskRepository.DeleteData(agvTask);
			plcClient.Communicator.Write(taskFbInteractive2, 1);
			plcClient.Communicator.Write<ushort>(taskFbInteractive2, 1);
			EnsureTaskFeedback(taskFbInteractive2, plcClient);
			}
			else if (taskState == 5)
			{
			plcClient.Communicator.Write(taskFbInteractive2, 1);
			plcClient.Communicator.Write<ushort>(taskFbInteractive2, 1);
			}
			}

			// å¦ætaskFbInteractiveä¸º0ä¸taskFbInteractiveWä¸º1ï¼åéç½®taskFbInteractiveWä¸º0
			if (taskFbInteractive == 0 && taskFbInteractiveW == 1)
			{
			plcClient.Communicator.Write(taskFbInteractive2, 0);
			plcClient.Communicator.Write<ushort>(taskFbInteractive2, 0);
			EnsureTaskFeedback(taskFbInteractive2, plcClient);
			}
			}
			@@ -429,15 +440,15 @@
			// æ´æ°ä»»å¡ç¶æå¹¶åå¥AGVåé¦å°å
			private static void UpdateTaskStatus(AGV plcClient, Dt_Task agvTask, TaskInStatusEnum targetStatus, ITaskRepository taskRepository, string taskFbInteractive2)
			{
			if (agvTask.TaskState != (int)targetStatus)
			{
			plcClient.Communicator.Write(taskFbInteractive2, 1); // ç¶æä¸å¹éï¼åå¥åé¦
			}
			//if (agvTask.TaskState != (int)targetStatus)
			//{
			// plcClient.Communicator.Write<ushort>(taskFbInteractive2, 1); // ç¶æä¸å¹éï¼åå¥åé¦
			//}

			// æ´æ°ä»»å¡ç¶æä¸ºä¸ä¸ä¸ªæªå®æç¶æ
			agvTask.TaskState = agvTask.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
			taskRepository.UpdateData(agvTask);
			plcClient.Communicator.Write(taskFbInteractive2, 1);
			plcClient.Communicator.Write<ushort>(taskFbInteractive2, 1);
			EnsureTaskFeedback(taskFbInteractive2, plcClient);
			}

			@@ -450,7 +461,7 @@
			int agvNumber = plcClient.Communicator.Read<int>(taskFbInteractive2);
			if (agvNumber != 1)
			{
			plcClient.Communicator.Write(taskFbInteractive2, 1);
			plcClient.Communicator.Write<ushort>(taskFbInteractive2, 1);
			}
			else
			{