1

huangxiaoqiang

2 天以前 2190be42c0d77be84fed82d387f2a34da7fe4acc

1

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Client/src/views/Home.vue

@@ -88,7 +88,7 @@
                                        url="api/Equipment/GetLineInfoByNo" />
                                </div>
                            </div>
                            <div style="margin-top: 115px;"></div>
                            <div style="margin-top: 50px;"></div>
                            <div v-for="(group, index) in groupedLines(linescopy3)" :key="index">
                                <div class="positionY-group">
                                    <LineInfoCopy v-for="(line, lineIndex) in group.lines" :key="lineIndex"
@@ -97,7 +97,7 @@
                                        url="api/Equipment/GetLineInfoByNo" />
                                </div>
                            </div>
                            <div style="margin-top: 112px;"></div>
                            <div style="margin-top: 50px;"></div>
                            <div v-for="(group, index) in groupedLines(linescopy4)" :key="index">
                                <div class="positionY-group">
                                    <LineInfoCopy v-for="(line, lineIndex) in group.lines" :key="lineIndex"
@@ -290,6 +290,8 @@
                                <el-option label="1039" value="24" />
                                <el-option label="1004" value="25" />
                                <el-option label="1002" value="26" />
                                <el-option label="1026" value="7" />
                                <el-option label="1025" value="10" />
                            </el-select>
                        </el-form-item>
                    </el-col>
@@ -323,6 +325,8 @@
                                <el-option label="1039" value="24" />
                                <el-option label="1004" value="25" />
                                <el-option label="1002" value="26" />
                                <el-option label="1026" value="7" />
                                <el-option label="1025" value="10" />
                            </el-select>
                        </el-form-item>
                    </el-col>
@@ -462,6 +466,8 @@
                                <el-option label="1039" value="24" />
                                <el-option label="1004" value="25" />
                                <el-option label="1002" value="26" />
                                <el-option label="1026" value="7" />
                                <el-option label="1025" value="10" />
                            </el-select>
                        </el-form-item>
                    </el-col>
@@ -495,6 +501,8 @@
                                <el-option label="1039" value="24" />
                                <el-option label="1004" value="25" />
                                <el-option label="1002" value="26" />
                                <el-option label="1026" value="7" />
                                <el-option label="1025" value="10" />
                            </el-select>
                        </el-form-item>
                    </el-col>
@@ -793,6 +801,13 @@
                    condition: false,
                },
                {
                    equipNo: "1025",
                    imgType: "1",
                    positionX: 0.6,
                    positionY: 21,
                    condition: false,
                },
                {
                    equipNo: "1012",
                    imgType: "1",
                    positionX: 0.6,
@@ -848,6 +863,13 @@
                    imgType: "1",
                    positionX: 0.6,
                    positionY: 20,
                    condition: false,
                },
                {
                    equipNo: "1026",
                    imgType: "1",
                    positionX: 0.6,
                    positionY: 21,
                    condition: false,
                },
                {
@@ -1659,6 +1681,7 @@
                this.RGV01.Fault = x.data.fault == null ? "故障" : x.data.fault;
                this.RGV01.Running = x.data.running == null ? "故障" : x.data.running;
                this.RGV01.LevelPoint = x.data.levelPoint;
                this.RGV01.CurrentTaskNum = x.data.currentTaskNum;
                this.RGV01.DeviceName = x.data.deviceName;
                this.RGV01.DeviceCode = x.data.deviceCode;
                this.RGV01.Alarm = x.data.alarm;
@@ -1668,6 +1691,7 @@
                this.RGV02.Running = x.data.running == null ? "故障" : x.data.running;
                this.RGV02.LevelPoint = x.data.levelPoint;
                this.RGV02.DeviceName = x.data.deviceName;
                this.RGV02.CurrentTaskNum = x.data.currentTaskNum;
                this.RGV02.Alarm = x.data.alarm;
            } else if (x.data.deviceCode == "RGV03") {
                this.RGV03.Automatic = x.data.automatic == null ? "故障" : x.data.automatic;
@@ -1675,6 +1699,7 @@
                this.RGV03.Running = x.data.running == null ? "故障" : x.data.running;
                this.RGV03.LevelPoint = x.data.levelPoint;
                this.RGV03.DeviceName = x.data.deviceName;
                this.RGV03.CurrentTaskNum = x.data.currentTaskNum;
                this.RGV03.Alarm = x.data.alarm;
            }


 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Client/src/views/basicinfo/Dt_WMSErrorMessage.vue

@@ -41,8 +41,6 @@
        { field: 'errorMessage', title: '异常信息', type: 'string', sort: true, width: 110, align: 'left' }, 
        { field: 'creater', title: '创建人', type: 'string', sort: true, width: 150, align: 'left', sort: true ,hidden:true},
        { field: 'createDate', title: '创建时间', type: 'datetime', sort: true, width: 150, align: 'left', sort: true },


        ]);
        const detail = ref({
            cnName: "#detailCnName",

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Client/src/views/taskinfo/task.vue

@@ -71,7 +71,7 @@
      { field: "createDate", title: "创建时间", type: "datetime", width: 150, align: "left", },
      { field: "modifier", title: "修改人", type: "string", width: 100, align: "left", },
      { field: "modifyDate", title: "修改时间", type: "datetime", width: 160, align: "left", },
      { field: "remark", title: "备注", type: "string", width: 100, align: "left", hidden: true, },
      { field: "remark", title: "中转位", type: "string", width: 100, align: "left",  },

    ]);
    const detail = ref({

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/v17/.futdcache.v2

Binary files differ

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/v17/.suo

Binary files differ

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/v17/DocumentLayout.backup.json

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              "RelativeDocumentMoniker": "WIDESEAWCS_Tasks\\ConveyorLineJob\\Task\\RequestInbound.cs",
              "ToolTip": "E:\\GET\\AoTanSiWCS\\\u9879\u76EE\u4EE3\u7801\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Tasks\\ConveyorLineJob\\Task\\RequestInbound.cs",
              "RelativeToolTip": "WIDESEAWCS_Tasks\\ConveyorLineJob\\Task\\RequestInbound.cs",
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@@ -131,62 +93,50 @@
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              "RelativeDocumentMoniker": "WIDESEAWCS_Tasks\\RGVJob_FirstFloor\\CommonRGV_FirstFloorJob.cs",
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              "RelativeToolTip": "WIDESEAWCS_Tasks\\RGVJob_FirstFloor\\CommonRGV_FirstFloorJob.cs",
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              "RelativeToolTip": "WIDESEAWCS_Tasks\\RGVJob_FirstFloor\\CommonRGV_FirstFloorJob.cs*",
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              "$type": "Document",
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              "Title": "Dt_WMSErrorMessage.cs",
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              "RelativeDocumentMoniker": "WIDESEAWCS_Model\\Models\\BasicInfo\\Dt_WMSErrorMessage.cs",
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              "RelativeToolTip": "WIDESEAWCS_Model\\Models\\BasicInfo\\Dt_WMSErrorMessage.cs",
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 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/Enum/TaskStatusEnum.cs

@@ -71,6 +71,18 @@
        SC_InFinish = 245,

        /// <summary>
        /// å…¥åº“中转
        /// </summary>
        [Description("入库中转")]
        RGV_TransFer = 250,

        /// <summary>
        /// å…¥åº“中转完成
        /// </summary>
        [Description("入库中转完成")]
        RGV_TransFerFInish = 255,

        /// <summary>
        /// å…¥åº“任务完成
        /// </summary>
        [Description("入库任务完成")]
@@ -175,6 +187,18 @@
        RGV_OutFinish = 140,

        /// <summary>
        /// å…¥åº“中转
        /// </summary>
        [Description("出库中转")]
        RGV_TransFer = 145,

        /// <summary>
        /// å‡ºåº“中转完成
        /// </summary>
        [Description("出库中转完成")]
        RGV_TransFerFInish = 150,

        /// <summary>
        /// å‡ºåº“任务完成
        /// </summary>
        [Description("出库任务完成")]

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_QuartzJob/Service/DeviceInfoService.cs

@@ -1186,7 +1186,7 @@

        public void SendCommandFirstFloor(CommonRGV_FirstFloor commonRGV, RGVTaskCommand? rgvTaskCommand)
        {
            commonRGV.SetValue(StackerCraneDBName.TaskNum, Convert.ToInt16(1));
            commonRGV.SetValue(RGVDBName.TaskNum, Convert.ToInt16(1));
            Thread.Sleep(100);
            commonRGV.SetValue(StackerCraneDBName.PutcargoLocation, (byte)Convert.ToSByte(rgvTaskCommand.PutcargoLocation));
            Thread.Sleep(100);

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Properties/PublishProfiles/FolderProfile2.pubxml.user

@@ -3,7 +3,7 @@
<Project>
  <PropertyGroup>
    <_PublishTargetUrl>E:\GET\AoTanSiWCS\项目代码\WCS\WIDESEAWCS_Server\WIDESEAWCS_Server\bin\Release\net6.0\publish\</_PublishTargetUrl>
    <History>True|2025-08-06T08:05:13.6764446Z||;True|2025-08-06T15:48:26.9347397+08:00||;True|2025-08-06T15:24:30.4982821+08:00||;True|2025-08-06T15:23:27.4513567+08:00||;True|2025-08-06T14:57:04.0476264+08:00||;True|2025-08-06T14:43:06.1306795+08:00||;True|2025-08-06T14:30:32.8125962+08:00||;True|2025-08-06T14:22:42.8305756+08:00||;True|2025-08-06T14:08:24.3056726+08:00||;True|2025-08-06T12:49:07.0122619+08:00||;True|2025-08-06T09:53:47.1995016+08:00||;True|2025-08-06T09:23:43.4599118+08:00||;True|2025-08-06T09:17:41.5263742+08:00||;True|2025-08-01T13:15:58.0733845+08:00||;</History>
    <History>True|2025-08-07T08:09:37.4325511Z||;True|2025-08-07T15:03:02.4443822+08:00||;True|2025-08-07T14:51:02.2746340+08:00||;True|2025-08-07T14:50:52.4634781+08:00||;True|2025-08-07T14:44:25.7952161+08:00||;True|2025-08-06T16:05:13.6764446+08:00||;True|2025-08-06T15:48:26.9347397+08:00||;True|2025-08-06T15:24:30.4982821+08:00||;True|2025-08-06T15:23:27.4513567+08:00||;True|2025-08-06T14:57:04.0476264+08:00||;True|2025-08-06T14:43:06.1306795+08:00||;True|2025-08-06T14:30:32.8125962+08:00||;True|2025-08-06T14:22:42.8305756+08:00||;True|2025-08-06T14:08:24.3056726+08:00||;True|2025-08-06T12:49:07.0122619+08:00||;True|2025-08-06T09:53:47.1995016+08:00||;True|2025-08-06T09:23:43.4599118+08:00||;True|2025-08-06T09:17:41.5263742+08:00||;True|2025-08-01T13:15:58.0733845+08:00||;</History>
    <LastFailureDetails />
  </PropertyGroup>
</Project>

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/bin/Debug/net6.0/Log/2025-08-07/Error_CommonStackerStationCraneJob_12-42-31.log

¶Ô±ÈÐÂÎļþ
ÎļþÌ«´ó

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs

@@ -138,15 +138,6 @@
                    {
                        string[] targetCodes = taskDTOs.BeginPoint.Split("-");

                        if(GetScCode(Convert.ToInt32(targetCodes[0]))=="SC01"&&(taskDTOs.EndPoint=="1030"|| taskDTOs.EndPoint == "1029"))
                        {
                            return content.Error($"一号堆垛机不能出库至该点位{taskDTOs.EndPoint}");
                        }
                        if (GetScCode(Convert.ToInt32(targetCodes[0])) == "SC06" && (taskDTOs.EndPoint == "1002" || taskDTOs.EndPoint == "1004"))
                        {
                            return content.Error($"六号堆垛机不能出库至该点位{taskDTOs.EndPoint}");
                        }

                        if (taskDTOs.EndPoint == "3004")
                        {
                            var newTask = BaseDal.QueryFirst(x => x.SourceAddress == "3001" && x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState != (int)TaskInStatusEnum.HoistNew && x.TaskState != (int)TaskInStatusEnum.HoistInExecuting && x.TaskState > 225);
@@ -170,7 +161,7 @@
                        {
                            RGVName = stationManager.RGVName;
                        }
                        task = new Dt_Task()
                        Dt_Task NewTask = new Dt_Task()
                        {
                            TaskNum = BaseDal.GetTaskNo().Result,
                            Creater = "WMS",
@@ -189,7 +180,24 @@
                            TargetStation= stationManagerEnd.remark,
                            SourceStation= 0,
                        };
                        BaseDal.AddData(task);
                        if (GetScCode(Convert.ToInt32(targetCodes[0])) == "SC01" && (taskDTOs.EndPoint == "1030" || taskDTOs.EndPoint == "1029"))
                        {
                            Dt_StationManager stationTransfer = _stationManagerRepository.QueryFirst(x => x.stationChildCode== "1025");
                            NewTask.TargetStation = stationTransfer.stationRemark;
                            NewTask.Remark = "1025";
                        }
                        if(taskDTOs.EndPoint == "1004")
                        {
                            return content.Error("该点位不是出库点位");
                        }
                        if (GetScCode(Convert.ToInt32(targetCodes[0])) == "SC06" && taskDTOs.EndPoint == "1002")
                        {
                            Dt_StationManager stationTransfer = _stationManagerRepository.QueryFirst(x => x.stationChildCode == "1026");
                            NewTask.TargetStation = stationTransfer.stationRemark;
                            NewTask.Remark = "1026";
                        }
                        task = NewTask;
                        BaseDal.AddData(NewTask);
                    }
                }
                // åˆ¤æ–­ä»»åŠ¡ç±»åž‹æ˜¯å¦ä¸ºå…¥åº“任务
@@ -253,16 +261,6 @@
                        task = BaseDal.QueryFirst(x => x.PalletCode == taskDTOs.TPbarcode);
                        string[] targetCodes = taskDTOs.EndPoint.Split("-");

                        if (GetScCode(Convert.ToInt32(targetCodes[0])) == "SC01" && (taskDTOs.BeginPoint == "1030" || taskDTOs.EndPoint == "1029"))
                        {
                            return content.Error($"该点位{taskDTOs.EndPoint}不能入库一号堆垛机");
                        }

                        if (GetScCode(Convert.ToInt32(targetCodes[0])) == "SC06" && (taskDTOs.BeginPoint == "1002" || taskDTOs.BeginPoint == "1004"))
                        {
                            return content.Error($"该点位{taskDTOs.EndPoint}不能入库六号堆垛机");
                        }

                        if (task != null)
                        {
                            task.Creater = "WMS";
@@ -291,6 +289,20 @@

                            task.TargetStation = stationManager.stationRemark;


                            if (GetScCode(Convert.ToInt32(targetCodes[0])) == "SC01" && (taskDTOs.BeginPoint == "1030" || taskDTOs.EndPoint == "1029"))
                            {
                                Dt_StationManager stationTransfer = _stationManagerRepository.QueryFirst(x => x.stationChildCode == "1026");
                                task.TargetStation = stationTransfer.stationRemark;
                                task.Remark = "1026";
                            }

                            if (GetScCode(Convert.ToInt32(targetCodes[0])) == "SC06" && (taskDTOs.BeginPoint == "1002" || taskDTOs.BeginPoint == "1004"))
                            {
                                Dt_StationManager stationTransfer = _stationManagerRepository.QueryFirst(x => x.stationChildCode == "1026");
                                task.TargetStation = stationTransfer.stationRemark;
                                task.Remark = "1025";
                            }
                            BaseDal.UpdateData(task);
                        }
                        else
@@ -917,19 +929,6 @@

                    task.TaskState = nextStatus;

                    if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutFinish)
                    {
                        //task.ModifyDate = DateTime.Now;
                        //task.Modifier = "System";

                        //Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                        //task_Hty.TaskId = 0;

                        //BaseDal.DeleteData(task);
                        //_taskHtyRepository.AddData(task_Hty);

                        RGVTaskCompleted(task.TaskNum);
                    }
                    if (task.TaskState == (int)TaskOutStatusEnum.Line_OutExecuting)
                    {
                        Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.Roadway == task.Roadway && x.stationChildCode == task.NextAddress);
@@ -1106,6 +1105,18 @@

                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"RGV出库完成");
                }
                else if (task.TaskState == (int)TaskInStatusEnum.RGV_TransFer)
                {
                    task.TaskState = (int)TaskInStatusEnum.RGV_TransFerFInish;
                    BaseDal.UpdateData(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"RGV入库中转");
                }
                else if (task.TaskState == (int)TaskOutStatusEnum.RGV_TransFer)
                {
                    task.TaskState = (int)TaskOutStatusEnum.RGV_TransFerFInish;
                    BaseDal.UpdateData(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"RGV出库中转");
                }
                else
                {
                    throw new Exception($"任务类型错误,未找到该任务类型,任务号:【{taskNum}】,任务类型:【{task.TaskType}】");

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RGVJob/CommonRGVJob.cs

@@ -28,6 +28,7 @@
using WIDESEAWCS_Core.Caches;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.HttpContextUser;
using WIDESEAWCS_DTO.Enum;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_IBasicInfoService;
using WIDESEAWCS_ITaskInfoRepository;
@@ -196,6 +197,7 @@

                                    Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                                    task_Hty.TaskId = 0;
                                    task_Hty.OperateType = (int)OperateTypeEnum.异常退回;

                                    _taskRepository.DeleteData(task);
                                    _task_HtyRepository.AddData(task_Hty);

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

@@ -32,6 +32,7 @@
using WIDESEAWCS_Core.Caches;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.HttpContextUser;
using WIDESEAWCS_DTO.Enum;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_IBasicInfoService;
using WIDESEAWCS_ITaskInfoRepository;
@@ -116,6 +117,27 @@
                                    bool sendFlag = SendCommand(FirstRgv, rgvTaskCommand);
                                    if (sendFlag)
                                    {
                                        if (IsExecutingTask.Remark != null)
                                        {
                                            IsExecutingTask.RGVName = "RGV02";
                                            IsExecutingTask.CurrentAddress = IsExecutingTask.Remark;
                                            IsExecutingTask.Remark = "";
                                            Dt_StationManager station = _stationManagerRepository.QueryFirst(x => x.stationChildCode == IsExecutingTask.NextAddress);
                                            IsExecutingTask.SourceStation = IsExecutingTask.CurrentAddress=="1025"?10:7;
                                            if (IsExecutingTask.TaskType == (int)TaskInboundTypeEnum.Inbound)
                                            {
                                                IsExecutingTask.TargetStation = station.stationRemark;
                                            }
                                            else
                                            {
                                                IsExecutingTask.TargetStation = station.remark;
                                            }
                                                IsExecutingTask.TaskState = (int)TaskInStatusEnum.RGV_TransFer;
                                            _taskRepository.UpdateData(IsExecutingTask);
                                            Thread.Sleep(1000);
                                        }
                                        else
                                        {
                                        IsExecutingTask.RGVName = FirstRgv.DeviceCode;
                                        _taskRepository.UpdateData(IsExecutingTask);
                                        _taskService.UpdateTaskStatusToNext(IsExecutingTask.TaskNum);
@@ -124,9 +146,15 @@
                                }
                            }
                        }
                        }
                        else
                        {
                            var taskNew = DispatchTask(FirstRgv);
                            Dt_Task taskNew = null;
                            taskNew = GetTransFerTask(FirstRgv);
                            if (taskNew == null)
                            {
                                taskNew = DispatchTask(FirstRgv);
                            }
                            if (taskNew != null)
                            {
                                RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(taskNew);
@@ -136,10 +164,44 @@
                                    bool sendFlag = SendCommand(FirstRgv, rgvTaskCommand);
                                    if (sendFlag)
                                    {
                                        if (taskNew.TaskState == (int)TaskInStatusEnum.RGV_TransFerFInish)
                                        {
                                            taskNew.TaskState = (int)TaskInStatusEnum.RGV_InExecuting;
                                            _taskRepository.UpdateData(taskNew);
                                            Thread.Sleep(1000);
                                        }
                                        else if (taskNew.TaskState == (int)TaskOutStatusEnum.RGV_TransFerFInish)
                                        {
                                            taskNew.TaskState = (int)TaskOutStatusEnum.RGV_OutExecuting;
                                            _taskRepository.UpdateData(taskNew);
                                            Thread.Sleep(1000);
                                        }
                                        else if (taskNew.Remark != null)
                                        {
                                            taskNew.RGVName = "RGV02";
                                            taskNew.CurrentAddress = taskNew.Remark;
                                            taskNew.Remark = "";
                                            taskNew.TaskState = (int)TaskOutStatusEnum.RGV_TransFer;
                                            Dt_StationManager station = _stationManagerRepository.QueryFirst(x => x.stationChildCode == taskNew.NextAddress);
                                            taskNew.SourceStation = taskNew.CurrentAddress == "1025" ? 10 : 7;
                                            if (taskNew.TaskType == (int)TaskInboundTypeEnum.Inbound)
                                            {
                                                taskNew.TargetStation = station.stationRemark;
                                            }
                                            else
                                            {
                                                taskNew.TargetStation = station.remark;
                                            }
                                            _taskRepository.UpdateData(taskNew);
                                            Thread.Sleep(1000);
                                        }
                                        else
                                        {
                                        taskNew.RGVName = FirstRgv.DeviceCode;
                                        _taskRepository.UpdateData(taskNew);
                                        _taskService.UpdateTaskStatusToNext(taskNew.TaskNum);
                                        Thread.Sleep(1000);
                                        }
                                    }
                                }
                            }
@@ -216,6 +278,17 @@
                                    bool sendFlag = SendCommand(SecondRgv, rgvTaskCommand);
                                    if (sendFlag)
                                    {
                                        if (IsExecutingTask.Remark != null)
                                        {
                                            IsExecutingTask.RGVName = "RGV01";
                                            IsExecutingTask.CurrentAddress = IsExecutingTask.Remark;
                                            IsExecutingTask.Remark = "";
                                            IsExecutingTask.TaskState = (int)TaskInStatusEnum.RGV_TransFer;
                                            _taskRepository.UpdateData(IsExecutingTask);
                                            Thread.Sleep(1000);
                                        }
                                        else
                                        {
                                        IsExecutingTask.RGVName = SecondRgv.DeviceCode;
                                        _taskRepository.UpdateData(IsExecutingTask);
                                        _taskService.UpdateTaskStatusToNext(IsExecutingTask.TaskNum);
@@ -224,9 +297,16 @@
                                }
                            }
                        }
                        }
                        else
                        {
                            var taskNew = DispatchTask(SecondRgv);
                            Dt_Task taskNew = null;
                            taskNew = GetTransFerTask(SecondRgv);
                            if (taskNew == null)
                            {
                                taskNew = DispatchTask(SecondRgv);
                            }

                            if (taskNew != null)
                            {
                                RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(taskNew);
@@ -236,10 +316,34 @@
                                    bool sendFlag = SendCommand(SecondRgv, rgvTaskCommand);
                                    if (sendFlag)
                                    {
                                        if (taskNew.TaskState == (int)TaskInStatusEnum.RGV_TransFerFInish)
                                        {
                                            taskNew.TaskState = (int)TaskInStatusEnum.RGV_InExecuting;
                                            _taskRepository.UpdateData(taskNew);
                                            Thread.Sleep(1000);
                                        }
                                        else if (taskNew.TaskState == (int)TaskOutStatusEnum.RGV_TransFerFInish)
                                        {
                                            taskNew.TaskState = (int)TaskOutStatusEnum.RGV_OutExecuting;
                                            _taskRepository.UpdateData(taskNew);
                                            Thread.Sleep(1000);
                                        }
                                        else if (taskNew.Remark != null)
                                        {
                                            taskNew.RGVName = "RGV01";
                                            taskNew.CurrentAddress = taskNew.Remark;
                                            taskNew.Remark = "";
                                            taskNew.TaskState = (int)TaskOutStatusEnum.RGV_TransFer;
                                            _taskRepository.UpdateData(taskNew);
                                            Thread.Sleep(1000);
                                        }
                                        else
                                        {
                                        taskNew.RGVName = SecondRgv.DeviceCode;
                                        _taskRepository.UpdateData(taskNew);
                                        _taskService.UpdateTaskStatusToNext(taskNew.TaskNum);
                                        Thread.Sleep(1000);
                                        }
                                    }
                                }
                            }
@@ -321,8 +425,14 @@
                                    {
                                        if (task.TargetStation- taskSecond.SourceStation > 1 && task.TargetStation - taskSecond.TargetStation > 1)
                                        {
                                            LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
                                            LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");
                                            Thread.Sleep(1000);

                                            if (task.Remark != null)
                                            {
                                                return GetDispatchExecutingTask(taskSecond);
                                            }

                                            return task;
                                        }
                                    }
@@ -333,8 +443,12 @@
                                    {
                                        if (task.TargetStation - taskSecond.TargetStation > 1)
                                        {
                                            LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
                                            LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");
                                            Thread.Sleep(1000);
                                            if (task.Remark != null)
                                            {
                                                return GetDispatchExecutingTask(taskSecond);
                                            }
                                            return task;
                                        }
                                    }
@@ -353,7 +467,7 @@
                                    };
                                    SendCommand(commonRGVSecond, command);
                                }
                                LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
                                LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");
                                Thread.Sleep(1000);
                                return task;
                            }
@@ -379,8 +493,13 @@
                                    {
                                        if (taskSecond.SourceStation - task.TargetStation > 1 && taskSecond.TargetStation - task.TargetStation > 1)
                                        {
                                            LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
                                            LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");
                                            Thread.Sleep(1000);

                                            if (task.Remark != null)
                                            {
                                                return GetDispatchExecutingTask(taskSecond);
                                            }
                                            return task;
                                        }
                                    }
@@ -391,8 +510,13 @@
                                    {
                                        if (taskSecond.TargetStation-task.TargetStation >1 )
                                        {
                                            LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
                                            LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");
                                            Thread.Sleep(1000);

                                            if (task.Remark != null)
                                            {
                                                return GetDispatchExecutingTask(taskSecond);
                                            }
                                            return task;
                                        }
                                    }
@@ -411,7 +535,7 @@
                                    };
                                    SendCommand(commonRGVFirst, command);
                                }
                                LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
                                LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");
                                Thread.Sleep(1000);
                                return task;
                            }
@@ -447,32 +571,44 @@
                            var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV02" && x.TaskNum == commonRGVSecond.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
                            if (taskSecond != null)
                            {
                                if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_Indispatch || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                                {
                                #region
                                //if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                                //{

                                    task = tasks.FirstOrDefault(x =>(x.SourceStation- taskSecond.TargetStation > 1 && x.SourceStation - taskSecond.SourceStation > 1&&x.TaskType==(int)TaskInboundTypeEnum.Inbound) ||(x.SourceStation - taskSecond.TargetStation > 1 && x.TargetStation - taskSecond.SourceStation > 1 && x.SourceStation - taskSecond.SourceStation > 1 && x.TargetStation - taskSecond.TargetStation > 1&&x.TaskType== (int)TaskOutboundTypeEnum.Outbound));
                                    if (task == null)
                                    {
                                        task = tasks.FirstOrDefault(x => (x.SourceStation - taskSecond.TargetStation > 1 && x.SourceStation - taskSecond.SourceStation > 1 && x.TaskType == (int)TaskInboundTypeEnum.Inbound) || (x.SourceStation - taskSecond.TargetStation > 1 && x.TargetStation - taskSecond.SourceStation > 1 && x.SourceStation - taskSecond.SourceStation > 1 && x.TargetStation - taskSecond.TargetStation > 1 && x.TaskType == (int)TaskOutboundTypeEnum.Outbound));
                                    }
                                    LogAndWarn("执行调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");
                                //    //task = tasks.FirstOrDefault(x =>(x.SourceStation- taskSecond.TargetStation > 1 && x.SourceStation - taskSecond.SourceStation > 1&&x.TaskType==(int)TaskInboundTypeEnum.Inbound) ||(x.SourceStation - taskSecond.TargetStation > 1 && x.TargetStation - taskSecond.SourceStation > 1 && x.SourceStation - taskSecond.SourceStation > 1 && x.TargetStation - taskSecond.TargetStation > 1&&x.TaskType== (int)TaskOutboundTypeEnum.Outbound));
                                //    //if (task == null)
                                //    //{
                                //    //    task = tasks.FirstOrDefault(x => (x.SourceStation - taskSecond.TargetStation > 1 && x.SourceStation - taskSecond.SourceStation > 1 && x.TaskType == (int)TaskInboundTypeEnum.Inbound) || (x.SourceStation - taskSecond.TargetStation > 1 && x.TargetStation - taskSecond.SourceStation > 1 && x.SourceStation - taskSecond.SourceStation > 1 && x.TargetStation - taskSecond.TargetStation > 1 && x.TaskType == (int)TaskOutboundTypeEnum.Outbound));
                                //    //}

                                    Thread.Sleep(1000);
                                    return task;
                                }
                                else if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
                                {
                                    task = tasks.FirstOrDefault(x => x.SourceStation - taskSecond.TargetStation> 1 &&x.TargetStation - taskSecond.TargetStation > 1);
                                //    task = GetDispatchTask(tasks, taskSecond);

                                //    LogAndWarn("执行调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");

                                //    Thread.Sleep(1000);
                                //    return task;
                                //}
                                //else if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
                                //{
                                //    task = tasks.FirstOrDefault(x => x.SourceStation - taskSecond.TargetStation> 1 &&x.TargetStation - taskSecond.TargetStation > 1);

                                //    LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");
                                //    Thread.Sleep(1000);
                                //    return task;
                                //}
                                //return null;
                                #endregion

                                task = GetDispatchTask(tasks, taskSecond);

                                    LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");
                                    Thread.Sleep(1000);

                                    return task;
                                }
                                return null;
                            }
                            else
                            {
                                var taskNews = tasks.Where(x => (x.TaskType == (int)TaskInboundTypeEnum.Inbound && Convert.ToInt32(x.SourceAddress) < 1015) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound && (x.Roadway == "SC01" || x.Roadway == "SC02" || x.Roadway == "SC03"))).ToList();
                                var taskNews = tasks.Where(x => (x.TaskType == (int)TaskInboundTypeEnum.Inbound && Convert.ToInt32(x.SourceAddress) < 1015) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound && (x.Roadway == "SC01" || x.Roadway == "SC02" || x.Roadway == "SC03"))||x.RGVName=="RGV01").ToList();
                                if (taskNews.Count== 0)
                                {
                                    return null;
@@ -544,29 +680,40 @@
                            var taskFirst = _taskRepository.QueryFirst(x => x.RGVName == "RGV01" && x.TaskNum == commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
                            if (taskFirst != null)
                            {
                                if (taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_Indispatch || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                                {
                                #region
                                //if (taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish  || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                                //{

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

                                //    task = GetDispatchTask(tasks, taskFirst);

                                //    LogAndWarn("执行调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskFirst)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");
                                //    Thread.Sleep(1000);

                                //    return task;
                                //}
                                //else if (taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
                                //{
                                //    task = tasks.FirstOrDefault(x => taskFirst.TargetStation - x.SourceStation > 1 && taskFirst.TargetStation - x.TargetStation > 1);

                                //    LogAndWarn("执行调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskFirst)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");
                                //    Thread.Sleep(1000);
                                //    return task;
                                //}
                                //return null;
                                #endregion

                                task = GetDispatchTask(tasks, taskFirst);

                                    LogAndWarn("执行调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskFirst)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");
                                    Thread.Sleep(1000);

                                    return task;
                                }
                                else if (taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
                                {
                                    task = tasks.FirstOrDefault(x => taskFirst.TargetStation - x.SourceStation > 1 && taskFirst.TargetStation - x.TargetStation > 1);

                                    LogAndWarn("执行调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskFirst)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");
                                    Thread.Sleep(1000);
                                    return task;
                                }
                                return null;
                            }
                            else
                            {
                                var taskNews = tasks.Where(x => (x.TaskType == (int)TaskInboundTypeEnum.Inbound && Convert.ToInt32(x.SourceAddress) > 1015) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound && (x.Roadway == "SC04" || x.Roadway == "SC05" || x.Roadway == "SC06"))).ToList();
                                var taskNews = tasks.Where(x => (x.TaskType == (int)TaskInboundTypeEnum.Inbound && Convert.ToInt32(x.SourceAddress) > 1015) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound && (x.Roadway == "SC04" || x.Roadway == "SC05" || x.Roadway == "SC06"))||x.RGVName=="RGV02").ToList();
                                if (taskNews.Count == 0)
                                {
                                    return null;
@@ -640,6 +787,171 @@
            }
        }

        public Dt_Task GetTransFerTask(CommonRGV_FirstFloor commonRGV)
        {
            try
            {
                var tasks = _taskRepository.QueryData(x=>x.TaskState==(int)TaskInStatusEnum.RGV_TransFerFInish|| x.TaskState == (int)TaskOutStatusEnum.RGV_TransFerFInish);
                Dt_Task task;
                if (tasks.Count() == 0)
                {
                    return null;
                }
                if (commonRGV.DeviceCode == "RGV01")
                {
                    CommonRGV_FirstFloor? commonRGVSecond = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV02") as CommonRGV_FirstFloor;
                    if (commonRGVSecond != null)
                    {
                        if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault))
                        {
                            var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV02" && x.TaskNum == commonRGVSecond.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
                            if (taskSecond != null)
                            {
                                if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                                {
                                    task = tasks.FirstOrDefault(x => ((x.SourceStation - taskSecond.TargetStation > 1 && x.SourceStation - taskSecond.SourceStation > 1 && x.TaskType == (int)TaskInboundTypeEnum.Inbound) || (x.SourceStation - taskSecond.TargetStation > 1 && x.TargetStation - taskSecond.SourceStation > 1 && x.SourceStation - taskSecond.SourceStation > 1 && x.TargetStation - taskSecond.TargetStation > 1 && x.TaskType == (int)TaskOutboundTypeEnum.Outbound))&&x.RGVName=="RGV01");


                                    LogAndWarn("执行调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");

                                    Thread.Sleep(1000);
                                    return task;
                                }
                                else if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
                                {
                                    task = tasks.FirstOrDefault(x => x.SourceStation - taskSecond.TargetStation > 1 && x.TargetStation - taskSecond.TargetStation > 1 && x.RGVName == "RGV01");

                                    LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");
                                    Thread.Sleep(1000);
                                    return task;
                                }
                                return null;
                            }
                            else
                            {
                                if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 35000)
                                {
                                    RGVTaskCommand command = new RGVTaskCommand()
                                    {
                                        PickupLocation = (byte)Convert.ToSByte(15),
                                        TaskNum = Convert.ToInt16(1000),
                                        TaskType = (byte)Convert.ToSByte(1)
                                    };
                                    SendCommand(commonRGVSecond, command);
                                }
                                if (tasks.FirstOrDefault(x => x.RGVName == "RGV01") != null)
                                {
                                    LogAndWarn("调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV01").TaskNum)}】】");
                                    Thread.Sleep(1000);
                                    return tasks.FirstOrDefault(x => x.RGVName == "RGV01");
                                }
                            }
                        }
                        else
                        {
                            if (tasks.FirstOrDefault(x => x.RGVName == "RGV01") != null)
                            {
                                LogAndWarn("调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV01").TaskNum)}】】");
                                Thread.Sleep(1000);
                                return tasks.FirstOrDefault(x => x.RGVName == "RGV01");
                            }
                            
                        }
                    }
                    else
                    {
                        if (tasks.FirstOrDefault(x => x.RGVName == "RGV01") != null)
                        {
                            LogAndWarn("调度任务控制", $"【未找到RGV02设备信息】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV01").TaskNum)}】】");
                            Thread.Sleep(1000);
                            return tasks.FirstOrDefault(x => x.RGVName == "RGV01");
                        }
                    }
                    return null;
                }
                else
                {
                    CommonRGV_FirstFloor? commonRGVFirst = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV01") as CommonRGV_FirstFloor;
                    if (commonRGVFirst != null)
                    {
                        if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault))
                        {
                            var taskFirst = _taskRepository.QueryFirst(x => x.RGVName == "RGV01" && x.TaskNum == commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
                            if (taskFirst != null)
                            {
                                if (taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                                {

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

                                    task = GetDispatchTask(tasks, taskFirst);

                                    LogAndWarn("执行调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskFirst)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");
                                    Thread.Sleep(1000);

                                    return task;
                                }
                                else if (taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
                                {
                                    task = tasks.FirstOrDefault(x => taskFirst.TargetStation - x.SourceStation > 1 && taskFirst.TargetStation - x.TargetStation > 1 && x.RGVName == "RGV02");

                                    LogAndWarn("执行调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskFirst)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task.TaskNum)}】】");
                                    Thread.Sleep(1000);
                                    return task;
                                }
                                return null;
                            }
                            else
                            {
                                if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) < 420000)
                                {
                                    RGVTaskCommand command = new RGVTaskCommand()
                                    {
                                        PickupLocation = (byte)Convert.ToSByte(26),
                                        TaskNum = Convert.ToInt16(1000),
                                        TaskType = (byte)Convert.ToSByte(1)
                                    };
                                    SendCommand(commonRGVFirst, command);
                                }
                                if (tasks.FirstOrDefault(x => x.RGVName == "RGV02") != null)
                                {
                                    LogAndWarn("调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV02").TaskNum)}】】");

                                    Thread.Sleep(1000);
                                    return tasks.FirstOrDefault(x => x.RGVName == "RGV02");
                                }
                            }
                        }
                        else
                        {
                            if (tasks.FirstOrDefault(x => x.RGVName == "RGV02") != null)
                            {
                                LogAndWarn("调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV02").TaskNum)}】】");
                                Thread.Sleep(1000);
                                return tasks.FirstOrDefault(x => x.RGVName == "RGV02");
                            }
                        }
                    }
                    else
                    {
                        if (tasks.FirstOrDefault(x => x.RGVName == "RGV02") != null)
                        {
                            LogAndWarn("调度任务控制", $"【未找到RGV01设备信息】 è¿”回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV02").TaskNum)}】】");

                            Thread.Sleep(1000);
                            return tasks.FirstOrDefault(x => x.RGVName == "RGV02");
                        }
                    }
                    return null;
                }
            }
            catch (Exception ex)
            {
                WriteInfo("调度任务异常日志", ex.Message + Environment.NewLine + ex.StackTrace);
                return null;
            }
        }

        /// <summary>
        /// RGV任务完成
        /// </summary>
@@ -680,6 +992,7 @@

                                    Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                                    task_Hty.TaskId = 0;
                                    task_Hty.OperateType = (int)OperateTypeEnum.异常退回;

                                    _taskRepository.DeleteData(task);
                                    _task_HtyRepository.AddData(task_Hty);
@@ -701,7 +1014,6 @@
                                {
                                    CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                                    Thread.Sleep(100);
                                    var Barcode = conveyorLine.GetValue<ConveyorLineDBName, string>(ConveyorLineDBName.ConveyorLineBarcode, stationManager.stationChildCode);
                                    conveyorLine.SetValue(ConveyorLineDBName.ConveyorLineTargetAddress, Convert.ToInt16(stationManager.stationNextChildCode), stationManager.stationChildCode);
                                    Thread.Sleep(100);
                                    conveyorLine.SetValue(ConveyorLineDBName.ConveyorLineTaskNum, Convert.ToInt16(1000), stationManager.stationChildCode);
@@ -730,6 +1042,94 @@
            return null;
        }

        public Dt_Task? GetDispatchTask(List<Dt_Task> tasks, Dt_Task oldtask)
        {
            Dt_Task y = tasks.Where(x => x.Remark != null && ((x.SourceStation - oldtask.TargetStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TaskType == (int)TaskInboundTypeEnum.Inbound) || (x.SourceStation - oldtask.TargetStation > 1 && x.TargetStation - oldtask.SourceStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TargetStation - oldtask.TargetStation > 1 && x.TaskType == (int)TaskOutboundTypeEnum.Outbound))).First();
            if (y == null)
            {
                if (oldtask.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || oldtask.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || oldtask.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                {

                    return tasks.FirstOrDefault(x => (x.SourceStation - oldtask.TargetStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TaskType == (int)TaskInboundTypeEnum.Inbound) || (x.SourceStation - oldtask.TargetStation > 1 && x.TargetStation - oldtask.SourceStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TargetStation - oldtask.TargetStation > 1 && x.TaskType == (int)TaskOutboundTypeEnum.Outbound));
                }
                else if (oldtask.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || oldtask.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
                {
                    return tasks.FirstOrDefault(x => x.SourceStation - oldtask.TargetStation > 1 && x.TargetStation - oldtask.TargetStation > 1);
                }
                return null;
            }
            else
            {
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "1001");
                if (device != null)
                {
                    CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                    var stationManager = _stationManagerRepository.QueryData(x => x.stationType == 15);
                    if (stationManager.Count() > 0)
                    {
                        string next = null;
                        foreach (var item in stationManager)
                        {
                            short x = conveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.InteractiveSignal, item.stationChildCode);
                            var structs = BitConverter.GetBytes(x).ToArray().ToBoolArray();
                            if (structs[2])
                            {
                                next = item.stationChildCode;
                                break;
                            }
                        }
                        if (next != null)
                        {
                            oldtask.Remark = next;
                            _taskRepository.UpdateData(y);
                            return y;
                        }
                    }
                }
                if (oldtask.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || oldtask.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || oldtask.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                {

                    return tasks.FirstOrDefault(x => (x.SourceStation - oldtask.TargetStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TaskType == (int)TaskInboundTypeEnum.Inbound) || (x.SourceStation - oldtask.TargetStation > 1 && x.TargetStation - oldtask.SourceStation > 1 && x.SourceStation - oldtask.SourceStation > 1 && x.TargetStation - oldtask.TargetStation > 1 && x.TaskType == (int)TaskOutboundTypeEnum.Outbound));
                }
                else if (oldtask.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || oldtask.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
                {
                    return tasks.FirstOrDefault(x => x.SourceStation - oldtask.TargetStation > 1 && x.TargetStation - oldtask.TargetStation > 1);
                }
                return null;
            }
        }

        public Dt_Task? GetDispatchExecutingTask(Dt_Task oldtask)
        {
            IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "1001");
            if (device != null)
            {
                CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                var stationManager = _stationManagerRepository.QueryData(x => x.stationType == 15);
                if (stationManager.Count() > 0)
                {
                    string next = null;
                    foreach (var item in stationManager)
                    {
                        short x = conveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.InteractiveSignal, item.stationChildCode);
                        var structs = BitConverter.GetBytes(x).ToArray().ToBoolArray();
                        if (structs[2])
                        {
                            next = item.stationChildCode;
                            break;
                        }
                    }
                    if (next != null)
                    {
                        oldtask.Remark = next;
                        _taskRepository.UpdateData(oldtask);
                        return oldtask;
                    }
                }
            }
            return null;
        }

        /// <summary>
        /// ä»»åŠ¡å®žä½“转换成命令Model
        /// </summary>
@@ -749,11 +1149,28 @@
                    rgvTaskCommand.TaskType = (byte)Convert.ToSByte(3);
                    rgvTaskCommand.PickupLocation = (byte)Convert.ToSByte(stationManager.stationRemark);
                }
                else if (task.TaskState == (int)TaskInStatusEnum.RGV_TransFerFInish)
                {
                    Dt_StationManager stationManagerStart = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.CurrentAddress);
                    Dt_StationManager stationManagerEnd = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.NextAddress);
                    rgvTaskCommand.TaskType = (byte)Convert.ToSByte(5);
                    rgvTaskCommand.PickupLocation = (byte)Convert.ToSByte(stationManagerStart.stationRemark);
                    rgvTaskCommand.PutcargoLocation = (byte)Convert.ToSByte(stationManagerEnd.stationRemark);
                }
                else if (task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                {
                    if (task.Remark != null && (task.Roadway == "SC01" || task.Roadway == "SC06"))
                    {
                        Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.Remark);
                        rgvTaskCommand.TaskType = (byte)Convert.ToSByte(4);
                        rgvTaskCommand.PutcargoLocation = (byte)Convert.ToSByte(stationManager.stationRemark);
                    }
                    else
                {
                    Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.NextAddress);
                    rgvTaskCommand.TaskType = (byte)Convert.ToSByte(4);
                    rgvTaskCommand.PutcargoLocation = (byte)Convert.ToSByte(stationManager.stationRemark);
                    }   
                }
                else
                {
@@ -765,10 +1182,29 @@

                if (task.TaskState == (int)TaskOutStatusEnum.Line_OutFinish)
                {
                    if (task.Remark != null && (task.Roadway == "SC01" || task.Roadway == "SC06"))
                    {
                        Dt_StationManager stationManagerStart = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.CurrentAddress);
                        Dt_StationManager stationManagerEnd = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.Remark);
                        rgvTaskCommand.TaskType = (byte)Convert.ToSByte(5);
                        rgvTaskCommand.PickupLocation = (byte)Convert.ToSByte(stationManagerStart.stationRemark);
                        rgvTaskCommand.PutcargoLocation = (byte)Convert.ToSByte(stationManagerEnd.stationRemark);
                    }
                    else
                    {
                    Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.CurrentAddress);
                    rgvTaskCommand.TaskType = (byte)Convert.ToSByte(3);
                    rgvTaskCommand.PickupLocation = (byte)Convert.ToSByte(stationManager.stationRemark);
                }
                }
                else if (task.TaskState == (int)TaskOutStatusEnum.RGV_TransFerFInish)
                {
                    Dt_StationManager stationManagerStart = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.CurrentAddress);
                    Dt_StationManager stationManagerEnd = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.NextAddress);
                    rgvTaskCommand.TaskType = (byte)Convert.ToSByte(5);
                    rgvTaskCommand.PickupLocation = (byte)Convert.ToSByte(stationManagerStart.stationRemark);
                    rgvTaskCommand.PutcargoLocation = (byte)Convert.ToSByte(stationManagerEnd.stationRemark);
                }
                else if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish)
                {
                    Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.NextAddress);