KuKa/BeiJingBeiQiAGV.git

xiaojiao

2 天以前 9376389dbf19d202f766a4fe47cf80dfe4db4f42

规范读取modbus，增加容器出入场调接口

已添加1个文件

已修改14个文件

	项目代码/WIDESEA_WCSClient/src/views/basicinfo/stationmanager.vue	20 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	项目代码/WIDESEA_WCSServer/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/CodeChunks.db	补丁 \| 查看 \| 原始文档 \| blame \| 历史
	项目代码/WIDESEA_WCSServer/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/CodeChunks.db-wal	补丁 \| 查看 \| 原始文档 \| blame \| 历史
	项目代码/WIDESEA_WCSServer/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/SemanticSymbols.db	补丁 \| 查看 \| 原始文档 \| blame \| 历史
	项目代码/WIDESEA_WCSServer/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/SemanticSymbols.db-wal	补丁 \| 查看 \| 原始文档 \| blame \| 历史
	项目代码/WIDESEA_WCSServer/.vs/WIDESEAWCS_Server/v18/DocumentLayout.backup.json	403 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	项目代码/WIDESEA_WCSServer/.vs/WIDESEAWCS_Server/v18/DocumentLayout.json	580 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	项目代码/WIDESEA_WCSServer/WIDESEAWCS_BasicInfoService/Dt_MaterialInfoService.cs	123 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	项目代码/WIDESEA_WCSServer/WIDESEAWCS_Common/APIEnum/APIEnum.cs	16 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	项目代码/WIDESEA_WCSServer/WIDESEAWCS_DTO/PDA/ContainerbindingDTO.cs	93 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	项目代码/WIDESEA_WCSServer/WIDESEAWCS_IBasicInfoService/IDt_MaterialInfoService.cs	18 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	项目代码/WIDESEA_WCSServer/WIDESEAWCS_Model/Models/BasicInfo/Dt_StationManager.cs	16 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	项目代码/WIDESEA_WCSServer/WIDESEAWCS_TaskInfoService/TaskService.cs	25 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	项目代码/WIDESEA_WCSServer/WIDESEAWCS_Tasks/TaskAcquisition/TaskAcquisition_Back1_Job.cs	66 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	项目资料/~$对接文档 (AGV&WMS) _20260423_V1.1.xlsx	补丁 \| 查看 \| 原始文档 \| blame \| 历史

 ÏîÄ¿´úÂë/WIDESEA_WCSClient/src/views/basicinfo/stationmanager.vue

@@ -23,6 +23,7 @@
      stationArea: "",
      stationStatus: "",
      remark: "",
      StationDeviceCode: "",
    });
    const editFormOptions = ref([
        [{ title: "ç«å°ä½ç½®", field: "stationLocation", type: "string" }],
@@ -38,7 +39,10 @@
          dataKey: "stationStatus",
          data: [],
        }],
        [{ title: "å«æå·å°å", field: "stationChildCode", type: "string" }],
         [{ title: "é¶ä»¶å·å°å", field: "stationDeviceCode", type: "string" }],
        [{ title: "å¤æ³¨", field: "remark", type: "textarea" }],
       
    ]);
    const searchFormFields = ref({
      taskNum: "",
@@ -65,6 +69,8 @@
          dataKey: "stationStatus",
          data: [],
        }],
         [{ title: "å«æå·å°å", field: "stationChildCode", type: "string" }],
         [{ title: "é¶ä»¶å·å°å", field: "stationDeviceCode", type: "string" }],
        [{ title: "å¤æ³¨", field: "remark", type: "textarea" }],
    ]);
    const columns = ref([
@@ -103,6 +109,20 @@
        bind: { key: "stationStatus", data: [] }
      },
      {
        field: "stationChildCode",
        title: "å«æå·å°å",
        type: "string",
        width: 90,
        align: "left",
      },
      {
        field: "stationDeviceCode",
        title: "é¶ä»¶å·å°å",
        type: "string",
        width: 90,
        align: "left",
      },
      {
        field: "remark",
        title: "å¤æ³¨",
        type: "string",

 ÏîÄ¿´úÂë/WIDESEA_WCSServer/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/CodeChunks.db

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 ÏîÄ¿´úÂë/WIDESEA_WCSServer/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/CodeChunks.db-wal

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 ÏîÄ¿´úÂë/WIDESEA_WCSServer/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/SemanticSymbols.db

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 ÏîÄ¿´úÂë/WIDESEA_WCSServer/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/SemanticSymbols.db-wal

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 ÏîÄ¿´úÂë/WIDESEA_WCSServer/.vs/WIDESEAWCS_Server/v18/DocumentLayout.backup.json

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              "ViewState": "AgIAABwAAAAAAAAAAAAgwC0AAAANAAAAAAAAAA==",
              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
              "WhenOpened": "2026-04-28T06:40:05.967Z"
            },
            {
              "$type": "Document",
              "DocumentIndex": 17,
              "Title": "TaskAcquisition_Back2_Job.cs",
              "DocumentMoniker": "E:\\BJAGV\\BeiJingBeiQiAGV\\\u9879\u76EE\u4EE3\u7801\\WIDESEA_WCSServer\\WIDESEAWCS_Tasks\\TaskAcquisition\\TaskAcquisition_Back2_Job.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_Tasks\\TaskAcquisition\\TaskAcquisition_Back2_Job.cs",
              "ToolTip": "E:\\BJAGV\\BeiJingBeiQiAGV\\\u9879\u76EE\u4EE3\u7801\\WIDESEA_WCSServer\\WIDESEAWCS_Tasks\\TaskAcquisition\\TaskAcquisition_Back2_Job.cs",
              "RelativeToolTip": "WIDESEAWCS_Tasks\\TaskAcquisition\\TaskAcquisition_Back2_Job.cs",
              "ViewState": "AgIAABwAAAAAAAAAAAAUwCoAAAAzAAAAAAAAAA==",
              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
              "WhenOpened": "2026-04-28T07:05:44.769Z"
            },
            {
              "$type": "Document",
              "DocumentIndex": 19,
              "DocumentIndex": 25,
              "Title": "Dt_MaterialInfo_HtyService.cs",
              "DocumentMoniker": "E:\\BJAGV\\BeiJingBeiQiAGV\\\u9879\u76EE\u4EE3\u7801\\WIDESEA_WCSServer\\WIDESEAWCS_BasicInfoService\\Dt_MaterialInfo_HtyService.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_BasicInfoService\\Dt_MaterialInfo_HtyService.cs",
@@ -351,31 +463,7 @@
            },
            {
              "$type": "Document",
              "DocumentIndex": 20,
              "Title": "IDt_MaterialInfo_HtyService.cs",
              "DocumentMoniker": "E:\\BJAGV\\BeiJingBeiQiAGV\\\u9879\u76EE\u4EE3\u7801\\WIDESEA_WCSServer\\WIDESEAWCS_IBasicInfoService\\IDt_MaterialInfo_HtyService.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_IBasicInfoService\\IDt_MaterialInfo_HtyService.cs",
              "ToolTip": "E:\\BJAGV\\BeiJingBeiQiAGV\\\u9879\u76EE\u4EE3\u7801\\WIDESEA_WCSServer\\WIDESEAWCS_IBasicInfoService\\IDt_MaterialInfo_HtyService.cs",
              "RelativeToolTip": "WIDESEAWCS_IBasicInfoService\\IDt_MaterialInfo_HtyService.cs",
              "ViewState": "AgIAAAAAAAAAAAAAAADwvwwAAAAAAAAAAAAAAA==",
              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
              "WhenOpened": "2026-04-28T06:09:28.32Z"
            },
            {
              "$type": "Document",
              "DocumentIndex": 22,
              "Title": "Dt_MaterialInfoRepository.cs",
              "DocumentMoniker": "E:\\BJAGV\\BeiJingBeiQiAGV\\\u9879\u76EE\u4EE3\u7801\\WIDESEA_WCSServer\\WIDESEAWCS_BasicInfoRepository\\Dt_MaterialInfoRepository.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_BasicInfoRepository\\Dt_MaterialInfoRepository.cs",
              "ToolTip": "E:\\BJAGV\\BeiJingBeiQiAGV\\\u9879\u76EE\u4EE3\u7801\\WIDESEA_WCSServer\\WIDESEAWCS_BasicInfoRepository\\Dt_MaterialInfoRepository.cs",
              "RelativeToolTip": "WIDESEAWCS_BasicInfoRepository\\Dt_MaterialInfoRepository.cs",
              "ViewState": "AgIAAAAAAAAAAAAAAADwvxEAAAAFAAAAAAAAAA==",
              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
              "WhenOpened": "2026-04-28T06:07:48.915Z"
            },
            {
              "$type": "Document",
              "DocumentIndex": 21,
              "DocumentIndex": 26,
              "Title": "Dt_MaterialInfo_HtyRepository.cs",
              "DocumentMoniker": "E:\\BJAGV\\BeiJingBeiQiAGV\\\u9879\u76EE\u4EE3\u7801\\WIDESEA_WCSServer\\WIDESEAWCS_BasicInfoRepository\\Dt_MaterialInfo_HtyRepository.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_BasicInfoRepository\\Dt_MaterialInfo_HtyRepository.cs",
@@ -387,19 +475,7 @@
            },
            {
              "$type": "Document",
              "DocumentIndex": 24,
              "Title": "IDt_MaterialInfoRepository.cs",
              "DocumentMoniker": "E:\\BJAGV\\BeiJingBeiQiAGV\\\u9879\u76EE\u4EE3\u7801\\WIDESEA_WCSServer\\WIDESEAWCS_IBasicInfoRepository\\IDt_MaterialInfoRepository.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_IBasicInfoRepository\\IDt_MaterialInfoRepository.cs",
              "ToolTip": "E:\\BJAGV\\BeiJingBeiQiAGV\\\u9879\u76EE\u4EE3\u7801\\WIDESEA_WCSServer\\WIDESEAWCS_IBasicInfoRepository\\IDt_MaterialInfoRepository.cs",
              "RelativeToolTip": "WIDESEAWCS_IBasicInfoRepository\\IDt_MaterialInfoRepository.cs",
              "ViewState": "AgIAAAAAAAAAAAAAAADwvwoAAABOAAAAAAAAAA==",
              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
              "WhenOpened": "2026-04-28T06:07:05.131Z"
            },
            {
              "$type": "Document",
              "DocumentIndex": 23,
              "DocumentIndex": 27,
              "Title": "IDt_MaterialInfo_HtyRepository.cs",
              "DocumentMoniker": "E:\\BJAGV\\BeiJingBeiQiAGV\\\u9879\u76EE\u4EE3\u7801\\WIDESEA_WCSServer\\WIDESEAWCS_IBasicInfoRepository\\IDt_MaterialInfo_HtyRepository.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_IBasicInfoRepository\\IDt_MaterialInfo_HtyRepository.cs",
@@ -408,18 +484,6 @@
              "ViewState": "AgIAAAAAAAAAAAAAAAAAAAoAAABVAAAAAAAAAA==",
              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
              "WhenOpened": "2026-04-28T06:06:44.534Z"
            },
            {
              "$type": "Document",
              "DocumentIndex": 18,
              "Title": "TaskController.cs",
              "DocumentMoniker": "E:\\BJAGV\\BeiJingBeiQiAGV\\\u9879\u76EE\u4EE3\u7801\\WIDESEA_WCSServer\\WIDESEAWCS_Server\\Controllers\\Task\\TaskController.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_Server\\Controllers\\Task\\TaskController.cs",
              "ToolTip": "E:\\BJAGV\\BeiJingBeiQiAGV\\\u9879\u76EE\u4EE3\u7801\\WIDESEA_WCSServer\\WIDESEAWCS_Server\\Controllers\\Task\\TaskController.cs",
              "RelativeToolTip": "WIDESEAWCS_Server\\Controllers\\Task\\TaskController.cs",
              "ViewState": "AgIAACEAAAAAAAAAAAAewCYAAAAJAAAAAAAAAA==",
              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
              "WhenOpened": "2026-04-28T03:38:51.686Z"
            }
          ]
        }

 ÏîÄ¿´úÂë/WIDESEA_WCSServer/WIDESEAWCS_BasicInfoService/Dt_MaterialInfoService.cs

@@ -1,15 +1,22 @@
ï»¿using AutoMapper;
using Microsoft.AspNetCore.Mvc;
using Newtonsoft.Json;
using Newtonsoft.Json.Serialization;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection.Metadata;
using System.Text;
using System.Threading.Tasks;
using WIDESEA_Common.Log;
using WIDESEAWCS_BasicInfoRepository;
using WIDESEAWCS_Common.APIEnum;
using WIDESEAWCS_Common.StationEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseRepository;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.Agv;
using WIDESEAWCS_DTO.PDA;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_IBasicInfoService;
@@ -24,13 +31,15 @@
        private readonly IDt_MaterialInfo_HtyRepository _MaterialInfo_HtyRepository;
        private readonly IMapper _mapper;
        private readonly IDt_StationManagerRepository _stationManagerRepository;
        public Dt_MaterialInfoService(IDt_MaterialInfoRepository BaseDal, IDt_ContainerInfoRepository dt_ContainerInfoRepository, IUnitOfWorkManage unitOfWorkManage, IDt_MaterialInfo_HtyRepository materialInfo_HtyRepository,IMapper mapper, IDt_StationManagerRepository stationManagerRepository) : base(BaseDal)
        private readonly ApiInfoRepository _apiInfoRepository;
        public Dt_MaterialInfoService(IDt_MaterialInfoRepository BaseDal, IDt_ContainerInfoRepository dt_ContainerInfoRepository, IUnitOfWorkManage unitOfWorkManage, IDt_MaterialInfo_HtyRepository materialInfo_HtyRepository,IMapper mapper, IDt_StationManagerRepository stationManagerRepository, ApiInfoRepository apiInfoRepository) : base(BaseDal)
        {
            _ContainerInfoRepository = dt_ContainerInfoRepository;
            _unitOfWorkManage = unitOfWorkManage;
            _MaterialInfo_HtyRepository = materialInfo_HtyRepository;
            _mapper = mapper;
            _stationManagerRepository = stationManagerRepository;
            _apiInfoRepository = apiInfoRepository;
        }
        /// <summary>
        /// æ°å¢ç»çä¿¡æ¯
@@ -52,7 +61,24 @@
                x => x.StationLocation == containerbindingDTO.Position 
                && x.StationStatus == ((int)StationEnum.Enable).ToString());

                if (dt_StationManager == null) return content.Error("å½åç«å°æªéç½® æå·²åç¨");
                Dt_ContainerInfo containerInfo = await _ContainerInfoRepository.QueryFirstAsync(x => x.ContainerCode == containerbindingDTO.VehicleNumber);

                if (dt_StationManager == null) return content.Error("å½åç«å°æä»»å¡ æå·²åç¨");

                ContainerInDTO containerInDTO = new ContainerInDTO(); // å®¹å¨å¥åºDTO
                containerInDTO.requestId = Guid.NewGuid().ToString().Replace("-", "");
                containerInDTO.containerCode = containerbindingDTO.VehicleNumber;
                containerInDTO.position = containerbindingDTO.Position;
                if (containerInfo == null)
                {
                    containerInDTO.isNew = true;
                }
                WebResponseContent contentIn = AgvSendContainerIn(containerInDTO, APIEnum.AgvcontainerIn);
                if (!content.Status)
                    throw new Exception(content.Message);




                dt_MaterialInfo = new Dt_MaterialInfo();
                dt_MaterialInfo.MaterialName = containerbindingDTO.materSn;
@@ -65,7 +91,7 @@
                //int a = 1;
                //int b = 0;
                //int result = a / b;  // è¿éä¼æåº DivideByZeroException
                Dt_ContainerInfo containerInfo = await _ContainerInfoRepository.QueryFirstAsync(x => x.ContainerCode == containerbindingDTO.VehicleNumber);
                
                if (containerInfo == null)
                {
                    containerInfo = new Dt_ContainerInfo();
@@ -74,6 +100,9 @@
                    dt_MaterialInfo.IsNew = true;
                    await _ContainerInfoRepository.AddDataAsync(containerInfo);
                }
                dt_StationManager.StationStatus = ((int)StationEnum.Thereisatask).ToString();

                await _stationManagerRepository.UpdateDataAsync(dt_StationManager);
                await BaseDal.AddDataAsync(dt_MaterialInfo);
                _unitOfWorkManage.CommitTran();
                return content.OK(message:"ç©æç»å®æå");
@@ -86,23 +115,91 @@
            }

        }
        /// <summary>
        /// å®¹å¨åºåº
        /// </summary>
        /// <param name="PalletCode"></param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public async Task<WebResponseContent> DeleteGroupPlateAsync(string PalletCode)
        {
            WebResponseContent content = new WebResponseContent();
            // åæ¥è¯¢ç¸åºçç»çç»å®ä¿¡æ¯ å¦ææ²¡ææ°æ®åè¿å
            Dt_MaterialInfo dt_MaterialInfo = await BaseDal.QueryFirstAsync(x => x.ContainerCode == PalletCode);
            if (dt_MaterialInfo == null) return content.Error("æ¥è¯¢ä¸å°ç¸å³æ°æ® æèå·²ç»è§£ç»ï¼");

            // è¿éé¢è¦åç©æç»çä¿¡æ¯çç¶ææ¹åä¾å¦å·²è§£ç»
            dt_MaterialInfo.IsBind = false;
            ContainerOutDTO containerOutDTO = new ContainerOutDTO();
            containerOutDTO.containerCode = PalletCode;
            containerOutDTO.requestId = Guid.NewGuid().ToString().Replace("-", "");

            Dt_MaterialInfo_Hty dt_MaterialInfo_Hty = _mapper.Map<Dt_MaterialInfo_Hty>(dt_MaterialInfo);
            WebResponseContent contentIn = AgvSendContainerOutDTO(containerOutDTO, APIEnum.AgvcontainerOut);
            if (!content.Status)
                throw new Exception(content.Message);

            await _MaterialInfo_HtyRepository.AddDataAsync(dt_MaterialInfo_Hty);
            await BaseDal.DeleteDataAsync(dt_MaterialInfo);

            // å é¤å½åç»çæ°æ®æ·»å è¿å¥åå²è®°å½
            return content.OK(message: "ç©æè§£ç»æå");
        }
        // åå»ºä¸ä¸ªä½¿ç¨å°é©¼å³°å½åæ³çåºååè®¾ç½®
        JsonSerializerSettings settings = new JsonSerializerSettings
        {
            ContractResolver = new CamelCasePropertyNamesContractResolver()
        };
        /// <summary>
        /// AGVå®¹å¨å¥åº
        /// </summary>
        /// <returns></returns>
        public WebResponseContent AgvSendContainerIn(ContainerInDTO containerInDTO, APIEnum Container = APIEnum.AgvcontainerIn)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                string? apiAddress = _apiInfoRepository.QueryFirst(x => x.ApiCode == Container.ToString())?.ApiAddress;
                if (string.IsNullOrEmpty(apiAddress)) throw new Exception($"æªæ¾å°å®¹å¨å¥åºæ¥å£,è¯·æ£æ¥æ¥å£éç½®");
                string request = JsonConvert.SerializeObject(containerInDTO, settings);
                string response = HttpHelper.Post(apiAddress, request);
                WriteLog.Write_Log("AGVå®¹å¨å¥åº", "AGVå®¹å¨å¥åºä¸åæ¥å£", "è¯·æ±ä¿¡æ¯", $"è¯·æ±ï¼{request},åä¼ ï¼{response}");
                AgvResponseContent agvContent = response.DeserializeObject<AgvResponseContent>() ?? throw new Exception("AGVå®¹å¨å¥åºæªè¿åç»æ");
                if (agvContent.Success)
                {
                    content.OK();
                }
                else
                {
                    content.Error(agvContent.Message);
                }
            }
            catch (Exception ex)
            {
                content.Error(ex.Message);
            }
            return content;
        }

        /// <summary>
        /// AGVå®¹å¨åºåº
        /// </summary>
        /// <returns></returns>
        public WebResponseContent AgvSendContainerOutDTO(ContainerOutDTO containerOutDTO, APIEnum Container = APIEnum.AgvcontainerOut)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                string? apiAddress = _apiInfoRepository.QueryFirst(x => x.ApiCode == Container.ToString())?.ApiAddress;
                if (string.IsNullOrEmpty(apiAddress)) throw new Exception($"æªæ¾å°å®¹å¨å¥åºæ¥å£,è¯·æ£æ¥æ¥å£éç½®");
                string request = JsonConvert.SerializeObject(containerOutDTO, settings);
                string response = HttpHelper.Post(apiAddress, request);
                WriteLog.Write_Log("AGVå®¹å¨åºåº", "AGVå®¹å¨åºåºä¸åæ¥å£", "è¯·æ±ä¿¡æ¯", $"è¯·æ±ï¼{request},åä¼ ï¼{response}");
                AgvResponseContent agvContent = response.DeserializeObject<AgvResponseContent>() ?? throw new Exception("AGVå®¹å¨åºåºæªè¿åç»æ");
                if (agvContent.Success)
                {
                    content.OK();
                }
                else
                {
                    content.Error(agvContent.Message);
                }
            }
            catch (Exception ex)
            {
                content.Error(ex.Message);
            }
            return content;
        }
    }
}

 ÏîÄ¿´úÂë/WIDESEA_WCSServer/WIDESEAWCS_Common/APIEnum/APIEnum.cs

@@ -28,6 +28,20 @@
        /// AGVä»»å¡åæ¶
        /// </summary>
        [Description("AGVä»»å¡åæ¶")]
        AgvTaskCancel
        AgvTaskCancel,

        /// <summary>
        /// AGVå®¹å¨å¥åº
        /// </summary>
        [Description("AGVå®¹å¨å¥åº")]
        AgvcontainerIn,

        /// <summary>
        /// AGVå®¹å¨åºåº
        /// </summary>
        [Description("AGVå®¹å¨åºåº")]
        AgvcontainerOut,


    }
}

 ÏîÄ¿´úÂë/WIDESEA_WCSServer/WIDESEAWCS_DTO/PDA/ContainerbindingDTO.cs

@@ -1,5 +1,6 @@
ï»¿using System;
using System.Collections.Generic;
using System.ComponentModel.DataAnnotations;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
@@ -35,4 +36,96 @@
    {

    }
    /// <summary>
    /// å®¹å¨å¥åºè¯·æ±åæ°
    /// </summary>
    public class ContainerInDTO
    {
        /// <summary>
        /// è¯·æ± idï¼å¹ç uuid32 ä½
        /// </summary>
        public string requestId { get; set; }

        /// <summary>
        /// å®¹å¨ç±»å
        /// è´§æ¶ï¼RACK
        /// æç®±ï¼BIN(ææªå®ç°)
        /// </summary>
        public string containerType { get; set; } = "RACK";

        /// <summary>
        /// å®¹å¨æ¨¡åç¼ç 
        /// å½ isNew=true æ¶å¿ä¼ 
        /// </summary>
        public string containerModelCode { get; set; }

        /// <summary>
        /// å®¹å¨ç¼å·
        /// </summary>
        public string containerCode { get; set; }

        /// <summary>
        /// å®¹å¨å¥åºè§åº¦
        /// è´§æ¶å¥åºæ¶å¯¹è§åº¦æç¹æ®è¦æ±
        /// </summary>
        public string enterOrientation { get; set; }

        /// <summary>
        /// å®¹å¨å½åå¯¹åºä½ç½®
        /// </summary>
        public string position { get; set; }

        /// <summary>
        /// æ¯å¦æ°å¢å®¹å¨
        /// é»è®¤å¼ï¼false
        /// </summary>
        public bool? isNew { get; set; } = false;

        /// <summary>
        /// å®¹å¨æ ¡éªç 
        /// å½ isNew=true æ¶å¯ä»¥æå®æ¯å¦éç½®
        /// </summary>
        public string containerValidationCode { get; set; }

        /// <summary>
        /// æ¯å¦éç½®å®¹å¨é»è®¤æ ¡éªç 
        /// é»è®¤å¼ï¼false
        /// å½ isNew=true æ¶éç½®å®¹å¨é»è®¤æ ¡éªç ï¼åå®¹å¨ç¼å·ï¼
        /// </summary>
        public bool? withDefaultValidationCode { get; set; } = false;
    }
    /// <summary>
    /// å®¹å¨åºåºè¯·æ±åæ°
    /// </summary>
    public class ContainerOutDTO
    {
        /// <summary>
        /// è¯·æ± idï¼å¹ç uuid32 ä½
        /// </summary>
        public string requestId { get; set; }

        /// <summary>
        /// å®¹å¨ç±»å
        /// è´§æ¶ï¼RACK
        /// æç®±ï¼BIN(ææªå®ç°)
        /// é»è®¤å¼ï¼RACK
        /// </summary>
        public string containerType { get; set; } = "RACK";

        /// <summary>
        /// å®¹å¨ç¼å·
        /// </summary>
        public string containerCode { get; set; }

        /// <summary>
        /// å®¹å¨åºåºä½ç½®
        /// </summary>
        public string position { get; set; }

        /// <summary>
        /// åºåºåæ¯å¦å é¤
        /// é»è®¤å¼ï¼false
        /// </summary>
        public bool isDelete { get; set; } = false;
    }
}

 ÏîÄ¿´úÂë/WIDESEA_WCSServer/WIDESEAWCS_IBasicInfoService/IDt_MaterialInfoService.cs

@@ -4,6 +4,7 @@
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Common.APIEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_DTO.PDA;
@@ -25,5 +26,22 @@
        /// <param name="PalletCode"></param>
        /// <returns></returns>
        public Task<WebResponseContent> DeleteGroupPlateAsync(string PalletCode);

        /// <summary>
        /// å®¹å¨å¥åº
        /// </summary>
        /// <param name="containerInDTO"></param>
        /// <param name="Container"></param>
        /// <returns></returns>
        public WebResponseContent AgvSendContainerIn(ContainerInDTO containerInDTO, APIEnum Container = APIEnum.AgvcontainerIn);

        /// <summary>
        /// å®¹å¨åºåº
        /// </summary>
        /// <param name="containerOutDTO"></param>
        /// <param name="Container"></param>
        /// <returns></returns>
        public WebResponseContent AgvSendContainerOutDTO(ContainerOutDTO containerOutDTO, APIEnum Container = APIEnum.AgvcontainerOut);

    }
}

 ÏîÄ¿´úÂë/WIDESEA_WCSServer/WIDESEAWCS_Model/Models/BasicInfo/Dt_StationManager.cs

@@ -41,11 +41,11 @@
        public int StationType { get; set; }

        /// <summary>
        /// æå±PLC
        /// é¶ä»¶å·å°å
        /// </summary>
        [ImporterHeader(Name = "æå±PLC")]
        [ExporterHeader(DisplayName = "æå±PLC")]
        [SugarColumn(IsNullable = true, Length = 50, ColumnDescription = "æå±PLC")]
        [ImporterHeader(Name = "é¶ä»¶å·å°å")]
        [ExporterHeader(DisplayName = "é¶ä»¶å·å°å")]
        [SugarColumn(IsNullable = true, Length = 50, ColumnDescription = "é¶ä»¶å·å°å")]
        public string StationDeviceCode { get; set; }

        /// <summary>
@@ -65,11 +65,11 @@
        public string StationRemark { get; set; }

        /// <summary>
        /// çº¿ä½ç¼å·(åè®¾å¤ç¼å·)
        /// å«æå·å°å
        /// </summary>
        [ImporterHeader(Name = "çº¿ä½ç¼å·(åè®¾å¤ç¼å·)")]
        [ExporterHeader(DisplayName = "çº¿ä½ç¼å·(åè®¾å¤ç¼å·)")]
        [SugarColumn(IsNullable = true, ColumnDescription = "çº¿ä½ç¼å·(åè®¾å¤ç¼å·)")]
        [ImporterHeader(Name = "å«æå·å°å")]
        [ExporterHeader(DisplayName = "å«æå·å°å")]
        [SugarColumn(IsNullable = true, ColumnDescription = "å«æå·å°å")]
        public string StationChildCode { get; set; }

        /// <summary>

 ÏîÄ¿´úÂë/WIDESEA_WCSServer/WIDESEAWCS_TaskInfoService/TaskService.cs

@@ -52,6 +52,8 @@
        private readonly ITask_HtyRepository _taskHtyRepository;
        private readonly IApiInfoRepository _apiInfoRepository;
        private readonly IUnitOfWorkManage _unitOfWorkManage;
        private readonly IDt_MaterialInfo_HtyRepository _MaterialInfo_HtyRepository;
        private readonly IDt_MaterialInfoRepository _MaterialInfoRepository;

        private Dictionary<string, OrderByType> _taskOrderBy = new()
        {
@@ -70,7 +72,7 @@
        #endregion è·åææä»»å¡ç±»åãç¶æ


        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, ISys_ConfigService sys_ConfigService, IDt_StationManagerService stationManagerService, IDt_StationManagerRepository stationManagerRepository, IRouterRepository routerRepository, ITask_HtyRepository htyRepository, IApiInfoRepository apiInfoRepository,IUnitOfWorkManage unitOfWorkManage) : base(BaseDal)
        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, ISys_ConfigService sys_ConfigService, IDt_StationManagerService stationManagerService, IDt_StationManagerRepository stationManagerRepository, IRouterRepository routerRepository, ITask_HtyRepository htyRepository, IApiInfoRepository apiInfoRepository,IUnitOfWorkManage unitOfWorkManage, IDt_MaterialInfo_HtyRepository materialInfo_HtyRepository, IDt_MaterialInfoRepository materialInfoRepository) : base(BaseDal)
        {
            _routerService = routerService;
            _taskExecuteDetailService = taskExecuteDetailService;
@@ -83,6 +85,8 @@
            _taskHtyRepository = htyRepository;
            _apiInfoRepository = apiInfoRepository;
            _unitOfWorkManage = unitOfWorkManage;
            _MaterialInfo_HtyRepository = materialInfo_HtyRepository;
            _MaterialInfoRepository = materialInfoRepository;
        }

        /// <summary>
@@ -466,14 +470,27 @@
                    Dt_Task_Hty dt_Task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                    dt_Task_Hty.TaskNum = task.TaskId;

                    Dt_StationManager dt_StationManager = _stationManagerRepository.QueryFirst(x => x.StationLocation == task.TargetAddress);
                    if(dt_StationManager == null) return content.Error($"ä»»å¡{taskNum}çå½åç«å°ä¸åå¨");

                    Dt_StationManager dt_StationManager = _stationManagerRepository.QueryFirst(x => x.StationLocation == task.TargetAddress);// ç®çä½ç½®
                    Dt_StationManager SourceAddress = _stationManagerRepository.QueryFirst(x => x.StationLocation == task.SourceAddress);// èµ·å§ä½ç½®
                    if(dt_StationManager == null) return content.Error($"ä»»å¡{taskNum}çç®çç«å°ã{task.TargetAddress}ãç«å°ä¸åå¨");
                    if(SourceAddress == null) return content.Error($"ä»»å¡{taskNum}çå½åèµ·å§ã{task.SourceAddress}ãç«å°ä¸åå¨");
                    dt_StationManager.StationStatus = ((int)StationEnum.Enable).ToString();
                    SourceAddress.StationStatus = ((int)StationEnum.Enable).ToString();


                    Dt_MaterialInfo dt_MaterialInfo =  _MaterialInfoRepository.QueryFirst(x => x.ContainerCode == task.PalletCode);
                    if (dt_MaterialInfo == null) return content.Error("æ¥è¯¢ä¸å°ç¸å³æ°æ® æèå·²ç»è§£ç»ï¼");
                    dt_MaterialInfo.IsBind = false;
                    Dt_MaterialInfo_Hty dt_MaterialInfo_Hty = _mapper.Map<Dt_MaterialInfo_Hty>(dt_MaterialInfo);


                    _MaterialInfo_HtyRepository.AddData(dt_MaterialInfo_Hty);
                    _MaterialInfoRepository.DeleteData(dt_MaterialInfo);

                    _taskHtyRepository.AddData(dt_Task_Hty);
                    BaseDal.DeleteData(task);
                    _stationManagerRepository.UpdateData(dt_StationManager);
                    _stationManagerRepository.UpdateData(SourceAddress);

                    _unitOfWorkManage.CommitTran();
                    content.OK("ä»»å¡å®æ");

 ÏîÄ¿´úÂë/WIDESEA_WCSServer/WIDESEAWCS_Tasks/TaskAcquisition/TaskAcquisition_Back1_Job.cs

@@ -11,6 +11,7 @@
using WIDESEAWCS_Common.StationEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Communicator;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.PDA;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_IBasicInfoService;
@@ -58,32 +59,27 @@
                //string Region = "ååºæ¿1";
                //ModbusTcp modbusTcp = new ModbusTcp(ip, port, Region);
                //modbusTcp.Connect();
                Baseconversion baseconversion = new Baseconversion();
                Dictionary<int, int> Signal = new Dictionary<int, int>() { [10] = 2, [30] = 3, [50] = 4, [70] = 5 };
                Dictionary<int, int> FeedingPoint = new Dictionary<int, int>() { [10] = 2001, [30] = 2002, [50] = 2003, [70] = 2004 }; // å«æçç¹ä½ ç»ç¹ä½ç½®
                // Dictionary<int, int> Signal = new Dictionary<int, int>() { [10] = 2, [30] = 3, [50] = 4, [70] = 5 };
                // Dictionary<int, int> FeedingPoint = new Dictionary<int, int>() { [10] = 2001, [30] = 2002, [50] = 2003, [70] = 2004 }; // å«æçç¹ä½ ç»ç¹ä½ç½®

                Baseconversion baseconversion = new Baseconversion();
                try
                {
                    for (int i = 10; i < 90; i += 20)
                    {
                        byte[] SignalNumber = device.Communicator.Read(Signal[i].ToString(), 1); // ä¿¡å· 1ï¼å«æ 2ï¼æåºç©ºæ¡
                    List<Dt_StationManager> dt_StationManagers = _stationManagerRepository.QueryData(x =>
                            x.StationStatus == ((int)StationEnum.Enable).ToString()
                            && x.StationArea == ((int)StationEnum.Rearbaseplate1).ToString()
                            && x.Remark == "ä¸çº¿ç¹").ToList();

                        Dt_StationManager dt_StationManager = _stationManagerRepository.QueryFirst(
                                    x => x.StationLocation == FeedingPoint[i].ToString()
                                    && x.StationStatus != ((int)StationEnum.Disable).ToString());
                        if (dt_StationManager == null)
                        {
                            // è¿éåºè¯¥è¦å æ¥å¿ è®°å½æ¾ä¸å°ç«å°çä¿¡æ¯
                            Console.WriteLine($"{DateTime.Now} å½åç«å°ã{FeedingPoint[i].ToString()} æªéç½®æå·²ç¦ç¨ã");
                            continue;
                        }
                    foreach (var item in dt_StationManagers)
                    {
                        byte[] SignalNumber = device.Communicator.Read(item.StationChildCode, 1); // ä¿¡å· 1ï¼å«æ 2ï¼æåºç©ºæ¡

                        if (SignalNumber[1] == 1)
                        {
                            byte[] PartNumber = device.Communicator.Read(i.ToString(), 20); // è¯»åé¶ä»¶å·
                            byte[] PartNumber = device.Communicator.Read(item.StationDeviceCode, 20); // è¯»åé¶ä»¶å·

                            string Ku1_Value = baseconversion.TenthTurn16(PartNumber);
                            if (Ku1_Value != "" && Ku1_Value != null)
                            if (Ku1_Value.IsNotEmptyOrNull())
                            {
                                // çåè½æµè¯å®ï¼è¿éè¦åæ¥å¿è®°å½

@@ -91,7 +87,7 @@
                                // æ¾å¯¹åºçé¶ä»¶å·æ¯å¦å·²ç»ç»å®(ç»ç) // è¿éè¦æ¹è¦å åºå å æ¯å¦å·²çæä»»å¡ è¿è¦æ ¹æ®æ¶é´æåº åç»å®çååè¿å»
                                Dt_MaterialInfo? dt_MaterialInfo = _IDt_MaterialInfoRepository.QueryData(x => x.MaterialName == Ku1_Value
                                                                   && x.Region == ((int)StationEnum.Rearbaseplate1).ToString()
                                                                   && (x.EndPosition == null || x.EndPosition == "")).OrderBy(x => x.CreateDate).FirstOrDefault();
                                                                   && (x.IsNotEmptyOrNull())).OrderBy(x => x.CreateDate).FirstOrDefault();

                                if (dt_MaterialInfo != null)
                                {
@@ -101,20 +97,19 @@
                                    dt_Task = new Dt_Task();
                                    dt_Task.PalletCode = dt_MaterialInfo.ContainerCode;
                                    dt_Task.SourceAddress = dt_MaterialInfo.Position; // å½åä½ç½®
                                    dt_Task.TargetAddress = FeedingPoint[i].ToString(); // ç»ç¹ä½ç½®
                                    dt_Task.TargetAddress = item.StationLocation; // ç»ç¹ä½ç½®
                                    dt_Task.Grade = 2;
                                    dt_Task.TaskState = TaskAGVCarryStatusEnum.AGV_CarryNew.ObjToInt();
                                    dt_Task.TaskType = TaskAGVCarryTypeEnum.Carry.ObjToInt();
                                    dt_Task.Roadway = (Signal[i] - 1).ToString(); // åº1 å«æé£å°±æ¯1å··é
                                    dt_Task.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryNew;
                                    dt_Task.TaskType = (int)TaskAGVCarryTypeEnum.Carry;
                                    dt_Task.Roadway = (int.Parse(item.StationChildCode) - 1).ToString(); // åº1 å«æé£å°±æ¯1å··é
                                    dt_Task.CurrentAddress = dt_MaterialInfo.Position; // å½åä½ç½®
                                    dt_Task.NextAddress = FeedingPoint[i].ToString(); // ç»ç¹ä½ç½®
                                    dt_Task.NextAddress = item.StationLocation; // ç»ç¹ä½ç½®

                                    dt_MaterialInfo.EndPosition = FeedingPoint[i].ToString(); // ç»ç¹ä½ç½®
                                    dt_MaterialInfo.EndPosition = item.StationLocation; // ç»ç¹ä½ç½®

                                    dt_StationManager.StationStatus = ((int)StationEnum.Thereisatask).ToString();
                                    dt_StationManager.StationRemark = dt_MaterialInfo.ContainerCode;
                                    _stationManagerRepository.UpdateData(dt_StationManager);

                                    item.StationStatus = ((int)StationEnum.Thereisatask).ToString();
                                    item.StationRemark = dt_MaterialInfo.ContainerCode;
                                    _stationManagerRepository.UpdateData(item);

                                    _taskRepository.AddData(dt_Task);
                                    _IDt_MaterialInfoRepository.UpdateData(dt_MaterialInfo);
@@ -126,7 +121,7 @@

                        if (SignalNumber[1] == 2) // è¡¨ç¤ºæåºç©ºæ¡
                        {
                            Dt_Task dt_Task = _taskRepository.QueryFirst(x => x.SourceAddress == FeedingPoint[i].ToString() && x.TaskType == (int)TaskAGVCarryTypeEnum.CarryEmpty);
                            Dt_Task dt_Task = _taskRepository.QueryFirst(x => x.SourceAddress == item.StationLocation && x.TaskType == (int)TaskAGVCarryTypeEnum.CarryEmpty);
                            if (dt_Task != null) continue;

                            Dt_StationManager RecyclingpointStation = _stationManagerRepository.QueryFirst(x =>
@@ -140,14 +135,14 @@
                                continue;
                            }
                            dt_Task = new Dt_Task();
                            dt_Task.PalletCode = dt_StationManager.StationRemark;
                            dt_Task.SourceAddress = FeedingPoint[i].ToString();
                            dt_Task.PalletCode = item.StationRemark;
                            dt_Task.SourceAddress = item.StationLocation;
                            dt_Task.TargetAddress = RecyclingpointStation.StationLocation;
                            dt_Task.Grade = 2;
                            dt_Task.TaskState = TaskAGVCarryStatusEnum.AGV_CarryNew.ObjToInt();
                            dt_Task.TaskType = TaskAGVCarryTypeEnum.CarryEmpty.ObjToInt();
                            dt_Task.Roadway = (Signal[i] - 1).ToString(); // åº1 å«æé£å°±æ¯1å··é
                            dt_Task.CurrentAddress = FeedingPoint[i].ToString(); // å½åä½ç½®
                            dt_Task.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryNew;
                            dt_Task.TaskType = (int)TaskAGVCarryTypeEnum.CarryEmpty;
                            dt_Task.Roadway = (int.Parse(item.StationChildCode) - 1).ToString(); // åº1 å«æé£å°±æ¯1å··é
                            dt_Task.CurrentAddress = item.StationLocation; // å½åä½ç½®
                            dt_Task.NextAddress = RecyclingpointStation.StationLocation;// ç»ç¹ä½ç½®

                            RecyclingpointStation.StationStatus = ((int)StationEnum.Thereisatask).ToString();
@@ -155,7 +150,6 @@
                            _stationManagerRepository.UpdateData(RecyclingpointStation);
                            _taskRepository.AddData(dt_Task);
                        }

                    }
                }
                catch (Exception)

 ÏîÄ¿×ÊÁÏ/~$¶Ô½ÓÎÄµµ (AGV&WMS) _20260423_V1.1.xlsx

Binary files differ

			@@ -23,6 +23,7 @@
			stationArea: "",
			stationStatus: "",
			remark: "",
			StationDeviceCode: "",
			});
			const editFormOptions = ref([
			[{ title: "ç«å°ä½ç½®", field: "stationLocation", type: "string" }],
			@@ -38,7 +39,10 @@
			dataKey: "stationStatus",
			data: [],
			}],
			[{ title: "å«æå·å°å", field: "stationChildCode", type: "string" }],
			[{ title: "é¶ä»¶å·å°å", field: "stationDeviceCode", type: "string" }],
			[{ title: "å¤æ³¨", field: "remark", type: "textarea" }],

			]);
			const searchFormFields = ref({
			taskNum: "",
			@@ -65,6 +69,8 @@
			dataKey: "stationStatus",
			data: [],
			}],
			[{ title: "å«æå·å°å", field: "stationChildCode", type: "string" }],
			[{ title: "é¶ä»¶å·å°å", field: "stationDeviceCode", type: "string" }],
			[{ title: "å¤æ³¨", field: "remark", type: "textarea" }],
			]);
			const columns = ref([
			@@ -103,6 +109,20 @@
			bind: { key: "stationStatus", data: [] }
			},
			{
			field: "stationChildCode",
			title: "å«æå·å°å",
			type: "string",
			width: 90,
			align: "left",
			},
			{
			field: "stationDeviceCode",
			title: "é¶ä»¶å·å°å",
			type: "string",
			width: 90,
			align: "left",
			},
			{
			field: "remark",
			title: "å¤æ³¨",
			type: "string",

			@@ -1,15 +1,22 @@
			ï»¿using AutoMapper;
			using Microsoft.AspNetCore.Mvc;
			using Newtonsoft.Json;
			using Newtonsoft.Json.Serialization;
			using System;
			using System.Collections.Generic;
			using System.Linq;
			using System.Reflection.Metadata;
			using System.Text;
			using System.Threading.Tasks;
			using WIDESEA_Common.Log;
			using WIDESEAWCS_BasicInfoRepository;
			using WIDESEAWCS_Common.APIEnum;
			using WIDESEAWCS_Common.StationEnum;
			using WIDESEAWCS_Core;
			using WIDESEAWCS_Core.BaseRepository;
			using WIDESEAWCS_Core.BaseServices;
			using WIDESEAWCS_Core.Helper;
			using WIDESEAWCS_DTO.Agv;
			using WIDESEAWCS_DTO.PDA;
			using WIDESEAWCS_IBasicInfoRepository;
			using WIDESEAWCS_IBasicInfoService;
			@@ -24,13 +31,15 @@
			private readonly IDt_MaterialInfo_HtyRepository _MaterialInfo_HtyRepository;
			private readonly IMapper _mapper;
			private readonly IDt_StationManagerRepository _stationManagerRepository;
			public Dt_MaterialInfoService(IDt_MaterialInfoRepository BaseDal, IDt_ContainerInfoRepository dt_ContainerInfoRepository, IUnitOfWorkManage unitOfWorkManage, IDt_MaterialInfo_HtyRepository materialInfo_HtyRepository,IMapper mapper, IDt_StationManagerRepository stationManagerRepository) : base(BaseDal)
			private readonly ApiInfoRepository _apiInfoRepository;
			public Dt_MaterialInfoService(IDt_MaterialInfoRepository BaseDal, IDt_ContainerInfoRepository dt_ContainerInfoRepository, IUnitOfWorkManage unitOfWorkManage, IDt_MaterialInfo_HtyRepository materialInfo_HtyRepository,IMapper mapper, IDt_StationManagerRepository stationManagerRepository, ApiInfoRepository apiInfoRepository) : base(BaseDal)
			{
			_ContainerInfoRepository = dt_ContainerInfoRepository;
			_unitOfWorkManage = unitOfWorkManage;
			_MaterialInfo_HtyRepository = materialInfo_HtyRepository;
			_mapper = mapper;
			_stationManagerRepository = stationManagerRepository;
			_apiInfoRepository = apiInfoRepository;
			}
			/// <summary>
			/// æ°å¢ç»çä¿¡æ¯
			@@ -52,7 +61,24 @@
			x => x.StationLocation == containerbindingDTO.Position
			&& x.StationStatus == ((int)StationEnum.Enable).ToString());

			if (dt_StationManager == null) return content.Error("å½åç«å°æªéç½® æå·²åç¨");
			Dt_ContainerInfo containerInfo = await _ContainerInfoRepository.QueryFirstAsync(x => x.ContainerCode == containerbindingDTO.VehicleNumber);

			if (dt_StationManager == null) return content.Error("å½åç«å°æä»»å¡ æå·²åç¨");

			ContainerInDTO containerInDTO = new ContainerInDTO(); // å®¹å¨å¥åºDTO
			containerInDTO.requestId = Guid.NewGuid().ToString().Replace("-", "");
			containerInDTO.containerCode = containerbindingDTO.VehicleNumber;
			containerInDTO.position = containerbindingDTO.Position;
			if (containerInfo == null)
			{
			containerInDTO.isNew = true;
			}
			WebResponseContent contentIn = AgvSendContainerIn(containerInDTO, APIEnum.AgvcontainerIn);
			if (!content.Status)
			throw new Exception(content.Message);




			dt_MaterialInfo = new Dt_MaterialInfo();
			dt_MaterialInfo.MaterialName = containerbindingDTO.materSn;
			@@ -65,7 +91,7 @@
			//int a = 1;
			//int b = 0;
			//int result = a / b; // è¿éä¼æåº DivideByZeroException
			Dt_ContainerInfo containerInfo = await _ContainerInfoRepository.QueryFirstAsync(x => x.ContainerCode == containerbindingDTO.VehicleNumber);

			if (containerInfo == null)
			{
			containerInfo = new Dt_ContainerInfo();
			@@ -74,6 +100,9 @@
			dt_MaterialInfo.IsNew = true;
			await _ContainerInfoRepository.AddDataAsync(containerInfo);
			}
			dt_StationManager.StationStatus = ((int)StationEnum.Thereisatask).ToString();

			await _stationManagerRepository.UpdateDataAsync(dt_StationManager);
			await BaseDal.AddDataAsync(dt_MaterialInfo);
			_unitOfWorkManage.CommitTran();
			return content.OK(message:"ç©æç»å®æå");
			@@ -86,23 +115,91 @@
			}

			}
			/// <summary>
			/// å®¹å¨åºåº
			/// </summary>
			/// <param name="PalletCode"></param>
			/// <returns></returns>
			/// <exception cref="Exception"></exception>
			public async Task<WebResponseContent> DeleteGroupPlateAsync(string PalletCode)
			{
			WebResponseContent content = new WebResponseContent();
			// åæ¥è¯¢ç¸åºçç»çç»å®ä¿¡æ¯ å¦ææ²¡ææ°æ®åè¿å
			Dt_MaterialInfo dt_MaterialInfo = await BaseDal.QueryFirstAsync(x => x.ContainerCode == PalletCode);
			if (dt_MaterialInfo == null) return content.Error("æ¥è¯¢ä¸å°ç¸å³æ°æ® æèå·²ç»è§£ç»ï¼");

			// è¿éé¢è¦åç©æç»çä¿¡æ¯çç¶ææ¹åä¾å¦å·²è§£ç»
			dt_MaterialInfo.IsBind = false;
			ContainerOutDTO containerOutDTO = new ContainerOutDTO();
			containerOutDTO.containerCode = PalletCode;
			containerOutDTO.requestId = Guid.NewGuid().ToString().Replace("-", "");

			Dt_MaterialInfo_Hty dt_MaterialInfo_Hty = _mapper.Map<Dt_MaterialInfo_Hty>(dt_MaterialInfo);
			WebResponseContent contentIn = AgvSendContainerOutDTO(containerOutDTO, APIEnum.AgvcontainerOut);
			if (!content.Status)
			throw new Exception(content.Message);

			await _MaterialInfo_HtyRepository.AddDataAsync(dt_MaterialInfo_Hty);
			await BaseDal.DeleteDataAsync(dt_MaterialInfo);

			// å é¤å½åç»çæ°æ®æ·»å è¿å¥åå²è®°å½
			return content.OK(message: "ç©æè§£ç»æå");
			}
			// åå»ºä¸ä¸ªä½¿ç¨å°é©¼å³°å½åæ³çåºååè®¾ç½®
			JsonSerializerSettings settings = new JsonSerializerSettings
			{
			ContractResolver = new CamelCasePropertyNamesContractResolver()
			};
			/// <summary>
			/// AGVå®¹å¨å¥åº
			/// </summary>
			/// <returns></returns>
			public WebResponseContent AgvSendContainerIn(ContainerInDTO containerInDTO, APIEnum Container = APIEnum.AgvcontainerIn)
			{
			WebResponseContent content = new WebResponseContent();
			try
			{
			string? apiAddress = _apiInfoRepository.QueryFirst(x => x.ApiCode == Container.ToString())?.ApiAddress;
			if (string.IsNullOrEmpty(apiAddress)) throw new Exception($"æªæ¾å°å®¹å¨å¥åºæ¥å£,è¯·æ£æ¥æ¥å£éç½®");
			string request = JsonConvert.SerializeObject(containerInDTO, settings);
			string response = HttpHelper.Post(apiAddress, request);
			WriteLog.Write_Log("AGVå®¹å¨å¥åº", "AGVå®¹å¨å¥åºä¸åæ¥å£", "è¯·æ±ä¿¡æ¯", $"è¯·æ±ï¼{request},åä¼ ï¼{response}");
			AgvResponseContent agvContent = response.DeserializeObject<AgvResponseContent>() ?? throw new Exception("AGVå®¹å¨å¥åºæªè¿åç»æ");
			if (agvContent.Success)
			{
			content.OK();
			}
			else
			{
			content.Error(agvContent.Message);
			}
			}
			catch (Exception ex)
			{
			content.Error(ex.Message);
			}
			return content;
			}

			/// <summary>
			/// AGVå®¹å¨åºåº
			/// </summary>
			/// <returns></returns>
			public WebResponseContent AgvSendContainerOutDTO(ContainerOutDTO containerOutDTO, APIEnum Container = APIEnum.AgvcontainerOut)
			{
			WebResponseContent content = new WebResponseContent();
			try
			{
			string? apiAddress = _apiInfoRepository.QueryFirst(x => x.ApiCode == Container.ToString())?.ApiAddress;
			if (string.IsNullOrEmpty(apiAddress)) throw new Exception($"æªæ¾å°å®¹å¨å¥åºæ¥å£,è¯·æ£æ¥æ¥å£éç½®");
			string request = JsonConvert.SerializeObject(containerOutDTO, settings);
			string response = HttpHelper.Post(apiAddress, request);
			WriteLog.Write_Log("AGVå®¹å¨åºåº", "AGVå®¹å¨åºåºä¸åæ¥å£", "è¯·æ±ä¿¡æ¯", $"è¯·æ±ï¼{request},åä¼ ï¼{response}");
			AgvResponseContent agvContent = response.DeserializeObject<AgvResponseContent>() ?? throw new Exception("AGVå®¹å¨åºåºæªè¿åç»æ");
			if (agvContent.Success)
			{
			content.OK();
			}
			else
			{
			content.Error(agvContent.Message);
			}
			}
			catch (Exception ex)
			{
			content.Error(ex.Message);
			}
			return content;
			}
			}
			}

			@@ -28,6 +28,20 @@
			/// AGVä»»å¡åæ¶
			/// </summary>
			[Description("AGVä»»å¡åæ¶")]
			AgvTaskCancel
			AgvTaskCancel,

			/// <summary>
			/// AGVå®¹å¨å¥åº
			/// </summary>
			[Description("AGVå®¹å¨å¥åº")]
			AgvcontainerIn,

			/// <summary>
			/// AGVå®¹å¨åºåº
			/// </summary>
			[Description("AGVå®¹å¨åºåº")]
			AgvcontainerOut,


			}
			}

			@@ -1,5 +1,6 @@
			ï»¿using System;
			using System.Collections.Generic;
			using System.ComponentModel.DataAnnotations;
			using System.Linq;
			using System.Text;
			using System.Threading.Tasks;
			@@ -35,4 +36,96 @@
			{

			}
			/// <summary>
			/// å®¹å¨å¥åºè¯·æ±åæ°
			/// </summary>
			public class ContainerInDTO
			{
			/// <summary>
			/// è¯·æ± idï¼å¹ç uuid32 ä½
			/// </summary>
			public string requestId { get; set; }

			/// <summary>
			/// å®¹å¨ç±»å
			/// è´§æ¶ï¼RACK
			/// æç®±ï¼BIN(ææªå®ç°)
			/// </summary>
			public string containerType { get; set; } = "RACK";

			/// <summary>
			/// å®¹å¨æ¨¡åç¼ç
			/// å½ isNew=true æ¶å¿ä¼
			/// </summary>
			public string containerModelCode { get; set; }

			/// <summary>
			/// å®¹å¨ç¼å·
			/// </summary>
			public string containerCode { get; set; }

			/// <summary>
			/// å®¹å¨å¥åºè§åº¦
			/// è´§æ¶å¥åºæ¶å¯¹è§åº¦æç¹æ®è¦æ±
			/// </summary>
			public string enterOrientation { get; set; }

			/// <summary>
			/// å®¹å¨å½åå¯¹åºä½ç½®
			/// </summary>
			public string position { get; set; }

			/// <summary>
			/// æ¯å¦æ°å¢å®¹å¨
			/// é»è®¤å¼ï¼false
			/// </summary>
			public bool? isNew { get; set; } = false;

			/// <summary>
			/// å®¹å¨æ ¡éªç
			/// å½ isNew=true æ¶å¯ä»¥æå®æ¯å¦éç½®
			/// </summary>
			public string containerValidationCode { get; set; }

			/// <summary>
			/// æ¯å¦éç½®å®¹å¨é»è®¤æ ¡éªç
			/// é»è®¤å¼ï¼false
			/// å½ isNew=true æ¶éç½®å®¹å¨é»è®¤æ ¡éªç ï¼åå®¹å¨ç¼å·ï¼
			/// </summary>
			public bool? withDefaultValidationCode { get; set; } = false;
			}
			/// <summary>
			/// å®¹å¨åºåºè¯·æ±åæ°
			/// </summary>
			public class ContainerOutDTO
			{
			/// <summary>
			/// è¯·æ± idï¼å¹ç uuid32 ä½
			/// </summary>
			public string requestId { get; set; }

			/// <summary>
			/// å®¹å¨ç±»å
			/// è´§æ¶ï¼RACK
			/// æç®±ï¼BIN(ææªå®ç°)
			/// é»è®¤å¼ï¼RACK
			/// </summary>
			public string containerType { get; set; } = "RACK";

			/// <summary>
			/// å®¹å¨ç¼å·
			/// </summary>
			public string containerCode { get; set; }

			/// <summary>
			/// å®¹å¨åºåºä½ç½®
			/// </summary>
			public string position { get; set; }

			/// <summary>
			/// åºåºåæ¯å¦å é¤
			/// é»è®¤å¼ï¼false
			/// </summary>
			public bool isDelete { get; set; } = false;
			}
			}

			@@ -4,6 +4,7 @@
			using System.Linq;
			using System.Text;
			using System.Threading.Tasks;
			using WIDESEAWCS_Common.APIEnum;
			using WIDESEAWCS_Core;
			using WIDESEAWCS_Core.BaseServices;
			using WIDESEAWCS_DTO.PDA;
			@@ -25,5 +26,22 @@
			/// <param name="PalletCode"></param>
			/// <returns></returns>
			public Task<WebResponseContent> DeleteGroupPlateAsync(string PalletCode);

			/// <summary>
			/// å®¹å¨å¥åº
			/// </summary>
			/// <param name="containerInDTO"></param>
			/// <param name="Container"></param>
			/// <returns></returns>
			public WebResponseContent AgvSendContainerIn(ContainerInDTO containerInDTO, APIEnum Container = APIEnum.AgvcontainerIn);

			/// <summary>
			/// å®¹å¨åºåº
			/// </summary>
			/// <param name="containerOutDTO"></param>
			/// <param name="Container"></param>
			/// <returns></returns>
			public WebResponseContent AgvSendContainerOutDTO(ContainerOutDTO containerOutDTO, APIEnum Container = APIEnum.AgvcontainerOut);

			}
			}

			@@ -41,11 +41,11 @@
			public int StationType { get; set; }

			/// <summary>
			/// æå±PLC
			/// é¶ä»¶å·å°å
			/// </summary>
			[ImporterHeader(Name = "æå±PLC")]
			[ExporterHeader(DisplayName = "æå±PLC")]
			[SugarColumn(IsNullable = true, Length = 50, ColumnDescription = "æå±PLC")]
			[ImporterHeader(Name = "é¶ä»¶å·å°å")]
			[ExporterHeader(DisplayName = "é¶ä»¶å·å°å")]
			[SugarColumn(IsNullable = true, Length = 50, ColumnDescription = "é¶ä»¶å·å°å")]
			public string StationDeviceCode { get; set; }

			/// <summary>
			@@ -65,11 +65,11 @@
			public string StationRemark { get; set; }

			/// <summary>
			/// çº¿ä½ç¼å·(åè®¾å¤ç¼å·)
			/// å«æå·å°å
			/// </summary>
			[ImporterHeader(Name = "çº¿ä½ç¼å·(åè®¾å¤ç¼å·)")]
			[ExporterHeader(DisplayName = "çº¿ä½ç¼å·(åè®¾å¤ç¼å·)")]
			[SugarColumn(IsNullable = true, ColumnDescription = "çº¿ä½ç¼å·(åè®¾å¤ç¼å·)")]
			[ImporterHeader(Name = "å«æå·å°å")]
			[ExporterHeader(DisplayName = "å«æå·å°å")]
			[SugarColumn(IsNullable = true, ColumnDescription = "å«æå·å°å")]
			public string StationChildCode { get; set; }

			/// <summary>

			@@ -52,6 +52,8 @@
			private readonly ITask_HtyRepository _taskHtyRepository;
			private readonly IApiInfoRepository _apiInfoRepository;
			private readonly IUnitOfWorkManage _unitOfWorkManage;
			private readonly IDt_MaterialInfo_HtyRepository _MaterialInfo_HtyRepository;
			private readonly IDt_MaterialInfoRepository _MaterialInfoRepository;

			private Dictionary<string, OrderByType> _taskOrderBy = new()
			{
			@@ -70,7 +72,7 @@
			#endregion è·åææä»»å¡ç±»åãç¶æ


			public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, ISys_ConfigService sys_ConfigService, IDt_StationManagerService stationManagerService, IDt_StationManagerRepository stationManagerRepository, IRouterRepository routerRepository, ITask_HtyRepository htyRepository, IApiInfoRepository apiInfoRepository,IUnitOfWorkManage unitOfWorkManage) : base(BaseDal)
			public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, ISys_ConfigService sys_ConfigService, IDt_StationManagerService stationManagerService, IDt_StationManagerRepository stationManagerRepository, IRouterRepository routerRepository, ITask_HtyRepository htyRepository, IApiInfoRepository apiInfoRepository,IUnitOfWorkManage unitOfWorkManage, IDt_MaterialInfo_HtyRepository materialInfo_HtyRepository, IDt_MaterialInfoRepository materialInfoRepository) : base(BaseDal)
			{
			_routerService = routerService;
			_taskExecuteDetailService = taskExecuteDetailService;
			@@ -83,6 +85,8 @@
			_taskHtyRepository = htyRepository;
			_apiInfoRepository = apiInfoRepository;
			_unitOfWorkManage = unitOfWorkManage;
			_MaterialInfo_HtyRepository = materialInfo_HtyRepository;
			_MaterialInfoRepository = materialInfoRepository;
			}

			/// <summary>
			@@ -466,14 +470,27 @@
			Dt_Task_Hty dt_Task_Hty = _mapper.Map<Dt_Task_Hty>(task);
			dt_Task_Hty.TaskNum = task.TaskId;

			Dt_StationManager dt_StationManager = _stationManagerRepository.QueryFirst(x => x.StationLocation == task.TargetAddress);
			if(dt_StationManager == null) return content.Error($"ä»»å¡{taskNum}çå½åç«å°ä¸åå¨");

			Dt_StationManager dt_StationManager = _stationManagerRepository.QueryFirst(x => x.StationLocation == task.TargetAddress);// ç®çä½ç½®
			Dt_StationManager SourceAddress = _stationManagerRepository.QueryFirst(x => x.StationLocation == task.SourceAddress);// èµ·å§ä½ç½®
			if(dt_StationManager == null) return content.Error($"ä»»å¡{taskNum}çç®çç«å°ã{task.TargetAddress}ãç«å°ä¸åå¨");
			if(SourceAddress == null) return content.Error($"ä»»å¡{taskNum}çå½åèµ·å§ã{task.SourceAddress}ãç«å°ä¸åå¨");
			dt_StationManager.StationStatus = ((int)StationEnum.Enable).ToString();
			SourceAddress.StationStatus = ((int)StationEnum.Enable).ToString();


			Dt_MaterialInfo dt_MaterialInfo = _MaterialInfoRepository.QueryFirst(x => x.ContainerCode == task.PalletCode);
			if (dt_MaterialInfo == null) return content.Error("æ¥è¯¢ä¸å°ç¸å³æ°æ® æèå·²ç»è§£ç»ï¼");
			dt_MaterialInfo.IsBind = false;
			Dt_MaterialInfo_Hty dt_MaterialInfo_Hty = _mapper.Map<Dt_MaterialInfo_Hty>(dt_MaterialInfo);


			_MaterialInfo_HtyRepository.AddData(dt_MaterialInfo_Hty);
			_MaterialInfoRepository.DeleteData(dt_MaterialInfo);

			_taskHtyRepository.AddData(dt_Task_Hty);
			BaseDal.DeleteData(task);
			_stationManagerRepository.UpdateData(dt_StationManager);
			_stationManagerRepository.UpdateData(SourceAddress);

			_unitOfWorkManage.CommitTran();
			content.OK("ä»»å¡å®æ");

			@@ -11,6 +11,7 @@
			using WIDESEAWCS_Common.StationEnum;
			using WIDESEAWCS_Common.TaskEnum;
			using WIDESEAWCS_Communicator;
			using WIDESEAWCS_Core.Helper;
			using WIDESEAWCS_DTO.PDA;
			using WIDESEAWCS_IBasicInfoRepository;
			using WIDESEAWCS_IBasicInfoService;
			@@ -58,32 +59,27 @@
			//string Region = "ååºæ¿1";
			//ModbusTcp modbusTcp = new ModbusTcp(ip, port, Region);
			//modbusTcp.Connect();
			Baseconversion baseconversion = new Baseconversion();
			Dictionary<int, int> Signal = new Dictionary<int, int>() { [10] = 2, [30] = 3, [50] = 4, [70] = 5 };
			Dictionary<int, int> FeedingPoint = new Dictionary<int, int>() { [10] = 2001, [30] = 2002, [50] = 2003, [70] = 2004 }; // å«æçç¹ä½ ç»ç¹ä½ç½®
			// Dictionary<int, int> Signal = new Dictionary<int, int>() { [10] = 2, [30] = 3, [50] = 4, [70] = 5 };
			// Dictionary<int, int> FeedingPoint = new Dictionary<int, int>() { [10] = 2001, [30] = 2002, [50] = 2003, [70] = 2004 }; // å«æçç¹ä½ ç»ç¹ä½ç½®

			Baseconversion baseconversion = new Baseconversion();
			try
			{
			for (int i = 10; i < 90; i += 20)
			{
			byte[] SignalNumber = device.Communicator.Read(Signal[i].ToString(), 1); // ä¿¡å· 1ï¼å«æ 2ï¼æåºç©ºæ¡
			List<Dt_StationManager> dt_StationManagers = _stationManagerRepository.QueryData(x =>
			x.StationStatus == ((int)StationEnum.Enable).ToString()
			&& x.StationArea == ((int)StationEnum.Rearbaseplate1).ToString()
			&& x.Remark == "ä¸çº¿ç¹").ToList();

			Dt_StationManager dt_StationManager = _stationManagerRepository.QueryFirst(
			x => x.StationLocation == FeedingPoint[i].ToString()
			&& x.StationStatus != ((int)StationEnum.Disable).ToString());
			if (dt_StationManager == null)
			{
			// è¿éåºè¯¥è¦å æ¥å¿ è®°å½æ¾ä¸å°ç«å°çä¿¡æ¯
			Console.WriteLine($"{DateTime.Now} å½åç«å°ã{FeedingPoint[i].ToString()} æªéç½®æå·²ç¦ç¨ã");
			continue;
			}
			foreach (var item in dt_StationManagers)
			{
			byte[] SignalNumber = device.Communicator.Read(item.StationChildCode, 1); // ä¿¡å· 1ï¼å«æ 2ï¼æåºç©ºæ¡

			if (SignalNumber[1] == 1)
			{
			byte[] PartNumber = device.Communicator.Read(i.ToString(), 20); // è¯»åé¶ä»¶å·
			byte[] PartNumber = device.Communicator.Read(item.StationDeviceCode, 20); // è¯»åé¶ä»¶å·

			string Ku1_Value = baseconversion.TenthTurn16(PartNumber);
			if (Ku1_Value != "" && Ku1_Value != null)
			if (Ku1_Value.IsNotEmptyOrNull())
			{
			// çåè½æµè¯å®ï¼è¿éè¦åæ¥å¿è®°å½

			@@ -91,7 +87,7 @@
			// æ¾å¯¹åºçé¶ä»¶å·æ¯å¦å·²ç»ç»å®(ç»ç) // è¿éè¦æ¹è¦å åºå å æ¯å¦å·²çæä»»å¡ è¿è¦æ ¹æ®æ¶é´æåº åç»å®çååè¿å»
			Dt_MaterialInfo? dt_MaterialInfo = _IDt_MaterialInfoRepository.QueryData(x => x.MaterialName == Ku1_Value
			&& x.Region == ((int)StationEnum.Rearbaseplate1).ToString()
			&& (x.EndPosition == null \|\| x.EndPosition == "")).OrderBy(x => x.CreateDate).FirstOrDefault();
			&& (x.IsNotEmptyOrNull())).OrderBy(x => x.CreateDate).FirstOrDefault();

			if (dt_MaterialInfo != null)
			{
			@@ -101,20 +97,19 @@
			dt_Task = new Dt_Task();
			dt_Task.PalletCode = dt_MaterialInfo.ContainerCode;
			dt_Task.SourceAddress = dt_MaterialInfo.Position; // å½åä½ç½®
			dt_Task.TargetAddress = FeedingPoint[i].ToString(); // ç»ç¹ä½ç½®
			dt_Task.TargetAddress = item.StationLocation; // ç»ç¹ä½ç½®
			dt_Task.Grade = 2;
			dt_Task.TaskState = TaskAGVCarryStatusEnum.AGV_CarryNew.ObjToInt();
			dt_Task.TaskType = TaskAGVCarryTypeEnum.Carry.ObjToInt();
			dt_Task.Roadway = (Signal[i] - 1).ToString(); // åº1 å«æé£å°±æ¯1å··é
			dt_Task.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryNew;
			dt_Task.TaskType = (int)TaskAGVCarryTypeEnum.Carry;
			dt_Task.Roadway = (int.Parse(item.StationChildCode) - 1).ToString(); // åº1 å«æé£å°±æ¯1å··é
			dt_Task.CurrentAddress = dt_MaterialInfo.Position; // å½åä½ç½®
			dt_Task.NextAddress = FeedingPoint[i].ToString(); // ç»ç¹ä½ç½®
			dt_Task.NextAddress = item.StationLocation; // ç»ç¹ä½ç½®

			dt_MaterialInfo.EndPosition = FeedingPoint[i].ToString(); // ç»ç¹ä½ç½®
			dt_MaterialInfo.EndPosition = item.StationLocation; // ç»ç¹ä½ç½®

			dt_StationManager.StationStatus = ((int)StationEnum.Thereisatask).ToString();
			dt_StationManager.StationRemark = dt_MaterialInfo.ContainerCode;
			_stationManagerRepository.UpdateData(dt_StationManager);

			item.StationStatus = ((int)StationEnum.Thereisatask).ToString();
			item.StationRemark = dt_MaterialInfo.ContainerCode;
			_stationManagerRepository.UpdateData(item);

			_taskRepository.AddData(dt_Task);
			_IDt_MaterialInfoRepository.UpdateData(dt_MaterialInfo);
			@@ -126,7 +121,7 @@

			if (SignalNumber[1] == 2) // è¡¨ç¤ºæåºç©ºæ¡
			{
			Dt_Task dt_Task = _taskRepository.QueryFirst(x => x.SourceAddress == FeedingPoint[i].ToString() && x.TaskType == (int)TaskAGVCarryTypeEnum.CarryEmpty);
			Dt_Task dt_Task = _taskRepository.QueryFirst(x => x.SourceAddress == item.StationLocation && x.TaskType == (int)TaskAGVCarryTypeEnum.CarryEmpty);
			if (dt_Task != null) continue;

			Dt_StationManager RecyclingpointStation = _stationManagerRepository.QueryFirst(x =>
			@@ -140,14 +135,14 @@
			continue;
			}
			dt_Task = new Dt_Task();
			dt_Task.PalletCode = dt_StationManager.StationRemark;
			dt_Task.SourceAddress = FeedingPoint[i].ToString();
			dt_Task.PalletCode = item.StationRemark;
			dt_Task.SourceAddress = item.StationLocation;
			dt_Task.TargetAddress = RecyclingpointStation.StationLocation;
			dt_Task.Grade = 2;
			dt_Task.TaskState = TaskAGVCarryStatusEnum.AGV_CarryNew.ObjToInt();
			dt_Task.TaskType = TaskAGVCarryTypeEnum.CarryEmpty.ObjToInt();
			dt_Task.Roadway = (Signal[i] - 1).ToString(); // åº1 å«æé£å°±æ¯1å··é
			dt_Task.CurrentAddress = FeedingPoint[i].ToString(); // å½åä½ç½®
			dt_Task.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryNew;
			dt_Task.TaskType = (int)TaskAGVCarryTypeEnum.CarryEmpty;
			dt_Task.Roadway = (int.Parse(item.StationChildCode) - 1).ToString(); // åº1 å«æé£å°±æ¯1å··é
			dt_Task.CurrentAddress = item.StationLocation; // å½åä½ç½®
			dt_Task.NextAddress = RecyclingpointStation.StationLocation;// ç»ç¹ä½ç½®

			RecyclingpointStation.StationStatus = ((int)StationEnum.Thereisatask).ToString();
			@@ -155,7 +150,6 @@
			_stationManagerRepository.UpdateData(RecyclingpointStation);
			_taskRepository.AddData(dt_Task);
			}

			}
			}
			catch (Exception)