代码提交

huangxiaoqiang

8 天以前 d325cca91328031262c0e6134c37cac441192ee4

代码提交

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

@@ -79,7 +79,7 @@
                                        url="api/Equipment/GetLineInfoByNo" />
                                </div>
                            </div>
                            <div style="margin-top: 118px;"></div>
                            <div style="margin-top: 108px;"></div>
                            <div v-for="(group, index) in groupedLines(linescopy2)" :key="index">
                                <div class="positionY-group">
                                    <LineInfoCopy v-for="(line, lineIndex) in group.lines" :key="lineIndex"
@@ -88,7 +88,7 @@
                                        url="api/Equipment/GetLineInfoByNo" />
                                </div>
                            </div>
                            <div style="margin-top: 50px;"></div>
                            <div style="margin-top: 58px;"></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: 50px;"></div>
                            <div style="margin-top: 58px;"></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"
@@ -105,7 +105,7 @@
                                        :positionY="line.positionY" :condition="line.condition" />
                                </div>
                            </div>
                            <div style="margin-top: 109px;"></div>
                            <div style="margin-top: 115px;"></div>
                            <div v-for="(group, index) in groupedLines(linescopy5)" :key="index">
                                <div class="positionY-group">
                                    <LineInfoCopy v-for="(line, lineIndex) in group.lines" :key="lineIndex"
@@ -113,7 +113,7 @@
                                        :positionY="line.positionY" :condition="line.condition" />
                                </div>
                            </div>
                            <div style="margin-top: 107px;"></div>
                            <div style="margin-top: 115px;"></div>
                            <div v-for="(group, index) in groupedLines(linescopy6)" :key="index">
                                <div class="positionY-group">
                                    <LineInfoCopy v-for="(line, lineIndex) in group.lines" :key="lineIndex"
@@ -750,14 +750,14 @@
                }, {
                    equipNo: "2002",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 8,
                    condition: false,
                },
                {
                    equipNo: "2001",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 8,
                    condition: false,
                },
@@ -765,14 +765,14 @@
                {
                    equipNo: "2004",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 20,
                    condition: false,
                },
                {
                    equipNo: "2003",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 20,
                    condition: false,
                },
@@ -816,28 +816,28 @@
                }, {
                    equipNo: "2006",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 8,
                    condition: false,
                },
                {
                    equipNo: "2005",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 8,
                    condition: false,
                },
                {
                    equipNo: "2008",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 20,
                    condition: false,
                },
                {
                    equipNo: "2007",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 20,
                    condition: false,
                },
@@ -881,28 +881,28 @@
                }, {
                    equipNo: "2010",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 8,
                    condition: false,
                },
                {
                    equipNo: "2009",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 8,
                    condition: false,
                },
                {
                    equipNo: "2012",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 20,
                    condition: false,
                },
                {
                    equipNo: "2011",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 20,
                    condition: false,
                },
@@ -939,28 +939,28 @@
                }, {
                    equipNo: "2014",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 8,
                    condition: false,
                },
                {
                    equipNo: "2013",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 8,
                    condition: false,
                },
                {
                    equipNo: "2016",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 20,
                    condition: false,
                },
                {
                    equipNo: "2015",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 20,
                    condition: false,
                },
@@ -997,28 +997,28 @@
                }, {
                    equipNo: "2018",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 8,
                    condition: false,
                },
                {
                    equipNo: "2017",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 8,
                    condition: false,
                },
                {
                    equipNo: "2020",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 20,
                    condition: false,
                },
                {
                    equipNo: "2019",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 20,
                    condition: false,
                },
@@ -1055,28 +1055,28 @@
                }, {
                    equipNo: "2022",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 8,
                    condition: false,
                },
                {
                    equipNo: "2021",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 8,
                    condition: false,
                },
                {
                    equipNo: "2024",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 20,
                    condition: false,
                },
                {
                    equipNo: "2023",
                    imgType: "1",
                    positionX: 28,
                    positionX: 27.5,
                    positionY: 20,
                    condition: false,
                },
@@ -1666,6 +1666,7 @@
                this.StackerCrane.LevelPoint = eventData.data.levelPoint;
                this.StackerCrane.DeviceName = eventData.data.deviceName;
                this.StackerCrane.DeviceCode = eventData.data.deviceCode;
                this.StackerCrane.CurrentTaskNum = eventData.data.currentTaskNum;
                this.StackerCrane.StackerAlarm = eventData.data.stackerAlarm;

                this.$nextTick(() => {

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

@@ -78,7 +78,7 @@
        <el-col :span="12" :offset="0" :push="0" :pull="0" tag="div">
          <el-form-item label="当前行列层：">
            <j-el-description
              :value="StackerCrane.CurrentRow + '-' + StackerCrane.CurrentColumn + '-' + StackerCrane.CurrentLayer"
              :value="StackerCrane.CurrentRow + '-' + StackerCrane.CurrentLayer + '-' + StackerCrane.CurrentColumn "
              type="primary" ellipsis></j-el-description>
          </el-form-item>
        </el-col>
@@ -133,19 +133,23 @@
      </el-form>
      <el-divider />
      <el-row :gutter="20" type="flex" justify="start" align="top" tag="div">
        <el-col :span="8" :offset="0" :push="0" :pull="0" tag="div">
        <el-col :span="6" :offset="0" :push="0" :pull="0" tag="div">
          <el-button type="primary" size="small" plain @click="start">
            <i class="el-icon-check">启动</i>
          </el-button>

        </el-col>
        <el-col :span="8" :offset="0" :push="0" :pull="0" tag="div">
        <el-col :span="6" :offset="0" :push="0" :pull="0" tag="div">
          <el-button type="warning" size="small" plain @click="reset">
            <i class="el-icon-check">复位</i>
          </el-button>

        </el-col>
        <el-col :span="8" :offset="0" :push="0" :pull="0" tag="div">
        <el-col :span="6" :offset="0" :push="0" :pull="0" tag="div">
          <el-button type="danger" size="small" plain @click="disconnected">
            <i class="el-icon-check">中断</i>
          </el-button>
        </el-col>
        <el-col :span="6" :offset="0" :push="0" :pull="0" tag="div">
          <el-button type="danger" size="small" plain @click="emergencyStop">
            <i class="el-icon-check">急停</i>
          </el-button>
@@ -218,6 +222,7 @@
      this.StackerCrane.CurrentLayer = x.CurrentLayer == undefined ? 1 : x.CurrentLayer;
      this.StackerCrane.LevelPoint = x.LevelPoint;
      this.StackerCrane.DeviceName = x.DeviceName;
      this.StackerCrane.CurrentTaskNum = x.CurrentTaskNum;
      this.StackerCrane.StackerAlarm = x.StackerAlarm;
      this.form.DeviceCode = x.DeviceCode;
    },
@@ -271,7 +276,7 @@
          this.fullscreenLoading = false;
        });
    },

    
    emergencyStop() {
      this.fullscreenLoading = true;
      this.http.post("api/DeviceInfo/StackerEmergencyStop?DeviceCode=" + this.form.DeviceCode)
@@ -288,6 +293,20 @@
        .finally(() => {
          this.fullscreenLoading = false;
        });
    },
    disconnected() {
      this.fullscreenLoading = true;
      this.http.post("api/DeviceInfo/StackerDisconnected?DeviceCode=" + this.form.DeviceCode)
        .then((x) => {
          if (!x.status) {
            this.$message.error(x.message);
          } else {
            this.$Message.success("中断堆垛机任务");
          }
        })
        .finally(() => {
          this.fullscreenLoading = false;
        });
    }
  },
};

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

@@ -169,7 +169,6 @@
                .then((x) => {
                    if (x.status) {
                        this.lineItemInfo = x.data;
                        console.log(this.lineItemInfo.taskNum);
                    } else {
                        this.$message({
                            type: "error",

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

@@ -24,51 +24,51 @@
            sortName: "AreaCode"
        });
        const editFormFields = ref({
            stationStatus:"",
            stationType:"",
            stationPLC:"",
            roadway:"",
            stationChildCode:"",
            stationArea:"",
            remark:"",
            stationRemark:"",
            stationNextChildCode:"",
            stationLocation:"",
            stationFloor:"",
            rGVName:"",
            levelPointFist:"",
            levelPointSecond:""
            stationStatus: "",
            stationType: "",
            stationPLC: "",
            roadway: "",
            stationChildCode: "",
            stationArea: "",
            remark: "",
            stationRemark: "",
            stationNextChildCode: "",
            stationLocation: "",
            stationFloor: "",
            rGVName: "",
            levelPointFist: "",
            levelPointSecond: ""
        });
        const editFormOptions = ref([
        [
                { "title": "状态", "field": "stationStatus",type: "select",dataKey: "deviceStatus",data: [],},
                
               
            [
                { "title": "状态", "field": "stationStatus", type: "select", dataKey: "deviceStatus", data: [], },


            ],
        ]);
        const searchFormFields = ref({});
        const searchFormOptions = ref([
            [
                { "title": "输送线编号", "field": "stationChildCode", type: "text" },
                { "title": "站台类型", "field": "stationType", type: "text" },
                { "title": "所属PLC", "field": "stationPLC", type: "text" },
                { "title": "巷道号", "field": "roadway", type: "text" },
               

            ]
        ]);
        const columns = ref([{ field: 'stationID', title: '主键', type: 'int', sort: true, hidden: true, width: 110, readonly: true, require: true, align: 'left' },
        { field: 'stationType', title: '站台类型', type: 'int', sort: true, width: 110, require: true, align: 'left', sort: true },
        { field: 'stationPLC', title: '所属PLC', type: 'string', sort: true, width: 110, align: 'left' },
        { field: 'roadway', title: '巷道号', type: 'string', sort: true, width: 110, align: 'left' },  
        { field: 'stationLocation', title: '堆垛机出入库坐标', type: 'string', sort: true, width: 110, align: 'left' },  
        { field: 'roadway', title: '巷道号', type: 'string', sort: true, width: 110, align: 'left' },
        { field: 'stationLocation', title: '堆垛机出入库坐标', type: 'string', sort: true, width: 110, align: 'left' },
        { field: 'stationChildCode', title: '线体编号', type: 'string', sort: true, width: 110, align: 'left' },
        { field: 'stationArea', title: '设备区域', type: 'int', sort: true, width: 100,  align: 'left' },
        { field: 'stationNextChildCode', title: '下一站台', type: 'string', sort: true, width: 110,  align: 'left' },
        { field: 'stationRemark', title: '工位', type: 'int', sort: true, width: 110, align: 'left',  },
        { field: 'stationArea', title: '设备区域', type: 'int', sort: true, width: 100, align: 'left' },
        { field: 'stationNextChildCode', title: '下一站台', type: 'string', sort: true, width: 110, align: 'left' },
        { field: 'stationRemark', title: '工位', type: 'int', sort: true, width: 110, align: 'left', },
        { field: 'stationStatus', title: '状态', type: 'int', sort: true, width: 110, align: 'left', bind: { key: "deviceStatus", data: [] }, },
        { field: 'creater', title: '创建人', type: 'string', sort: true, width: 110, align: 'left' },
        { field: 'createDate', title: '创建时间', type: 'datetime', sort: true, width: 150, align: 'left', sort: true },
        { field: 'modifier', title: '修改人', type: 'string', sort: true, width: 100,  align: 'left' },
        { field: 'modifyDate', title: '修改时间', type: 'datetime', sort: true, width: 150,  align: 'left', sort: true },
        { field: 'modifier', title: '修改人', type: 'string', sort: true, width: 100, align: 'left' },
        { field: 'modifyDate', title: '修改时间', type: 'datetime', sort: true, width: 150, align: 'left', sort: true },
        ]);
        const detail = ref({
            cnName: "#detailCnName",

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

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

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

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,178 @@
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}

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/Enum/TaskStatusEnum.cs

@@ -74,13 +74,13 @@
        /// å…¥åº“中转
        /// </summary>
        [Description("入库中转")]
        RGV_TransFer = 250,
        RGV_TransFer = 216,

        /// <summary>
        /// å…¥åº“中转完成
        /// </summary>
        [Description("入库中转完成")]
        RGV_TransFerFInish = 255,
        RGV_TransFerFInish = 217,

        /// <summary>
        /// å…¥åº“任务完成

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

@@ -257,7 +257,38 @@
                {
                    CommonStackerCrane commonStackerCrane = (CommonStackerCrane)device;

                    commonStackerCrane.SetValue(StackerCraneDBName.WorkType, Convert.ToSByte(2));
                    commonStackerCrane.SetValue(StackerCraneDBName.WorkType, Convert.ToSByte(4));
                    return content.OK();
                }
                else
                {
                    return content.Error("未找到设备信息请联系IT");
                }
            }
            catch (Exception ex)
            {
                return content.Error(ex.Message);
            }
        }
        public WebResponseContent StackerDisconnected(string DeviceCode)
        {
            WriteLog.GetLog("堆垛机手动任务").Write($"【中断命令】{JsonConvert.SerializeObject(DeviceCode)}", "堆垛机手动任务");
            WebResponseContent content = new WebResponseContent();
            try
            {
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);

                if (device != null)
                {
                    CommonStackerCrane commonStackerCrane = (CommonStackerCrane)device;
                    DeviceProDTO? devicePro = commonStackerCrane.DeviceProDTOs.Where(x => x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "WorkType").FirstOrDefault();

                    byte valueToWrite = 1;

                    byte[] buffer = new byte[] { valueToWrite };

                    commonStackerCrane.Communicator.Write(devicePro.DeviceProAddress, buffer);

                    return content.OK();
                }
                else
@@ -314,19 +345,19 @@

        public int GetRowCode(int number)
        {
            if (number == 1 || number == 15 || number == 11 || number == 19)
            if (number == 1 || number == 15 || number == 11 || number == 18)
            {
                return 1;
            }
            else if (number == 2 || number == 5 || number == 8 || number == 12 || number == 16 || number == 20)
            else if (number == 2 || number == 5 || number == 8 || number == 12 || number == 16 || number == 19)
            {
                return 2;
            }
            else if (number == 3 || number == 6 || number == 9 || number == 13 || number == 17 || number == 21)
            else if (number == 3 || number == 6 || number == 9 || number == 13 || number == 17 || number == 20)
            {
                return 3;
            }
            else if (number == 4 || number == 7 || number == 10 || number == 14 || number == 18 || number == 22)
            else if (number == 4 || number == 7 || number == 10 || number == 14 || number == 21)
            {
                return 4;
            }

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

@@ -51,6 +51,13 @@
        WebResponseContent StackerEmergencyStop(string DeviceCode);

        /// <summary>
        /// å †åž›æœºä»»åŠ¡ä¸­æ–­
        /// </summary>
        /// <param name="DeviceCode"></param>
        /// <returns></returns>
        WebResponseContent StackerDisconnected(string DeviceCode);

        /// <summary>
        /// å †åž›æœºå¤ä½
        /// </summary>
        /// <param name="DeviceCode"></param>

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Controllers/QuartzJob/DeviceInfoController.cs

@@ -45,6 +45,12 @@
        {
            return Service.StackerEmergencyStop(DeviceCode);
        }
        [HttpPost, Route("StackerDisconnected"), AllowAnonymous]
        public WebResponseContent StackerDisconnected(string DeviceCode)
        {
            return Service.StackerDisconnected(DeviceCode);
        }
        

        [HttpPost, Route("GetConveyorLineInfo"), AllowAnonymous]
        public WebResponseContent GetConveyorLineInfo(string DeviceChildCode)

 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|2025-08-07T08:09:37.4325511Z||;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>
    <History>True|2025-08-16T03:23:35.5640992Z||;True|2025-08-16T11:02:59.2985083+08:00||;True|2025-08-16T10:27:02.8633285+08:00||;True|2025-08-16T10:10:08.1477861+08:00||;True|2025-08-15T16:44:40.1716233+08:00||;True|2025-08-15T16:37:15.4095592+08:00||;True|2025-08-15T16:10:23.4132871+08:00||;True|2025-08-15T15:39:23.4095856+08:00||;True|2025-08-15T15:28:40.1757665+08:00||;True|2025-08-15T15:17:03.4120137+08:00||;True|2025-08-14T14:56:07.9836766+08:00||;True|2025-08-14T13:46:14.8376860+08:00||;True|2025-08-14T13:40:06.1474672+08:00||;True|2025-08-14T13:35:01.0314827+08:00||;True|2025-08-14T13:30:22.4451955+08:00||;True|2025-08-14T13:01:53.0152050+08:00||;True|2025-08-14T09:25:26.2041015+08:00||;True|2025-08-14T08:52:03.5944496+08:00||;True|2025-08-13T16:03:14.7435997+08:00||;True|2025-08-13T15:45:41.5991008+08:00||;True|2025-08-13T15:16:36.2021682+08:00||;True|2025-08-13T09:09:27.8499524+08:00||;True|2025-08-13T09:06:29.1371955+08:00||;True|2025-08-12T16:20:01.1810979+08:00||;True|2025-08-12T15:15:58.7445192+08:00||;True|2025-08-12T14:56:43.1314180+08:00||;True|2025-08-07T16:09:37.4325511+08:00||;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/appsettings.json

@@ -11,7 +11,8 @@
  "ConnectionStringsEncryption": false,
  "MainDB": "DB_WIDESEA", //当前项目的主库，所对应的连接字符串的Enabled必须为true
  //连接字符串
  "ConnectionString": "Data Source=.;Initial Catalog=WIDESEAWCS_OTS;User ID=sa;Password=P@ssw0rd;Integrated Security=False;Connect Timeout=30;Encrypt=False;TrustServerCertificate=False;ApplicationIntent=ReadWrite;MultiSubnetFailover=False",
  //"ConnectionString": "Data Source=.;Initial Catalog=WIDESEAWCS_OTS;User ID=sa;Password=P@ssw0rd;Integrated Security=False;Connect Timeout=30;Encrypt=False;TrustServerCertificate=False;ApplicationIntent=ReadWrite;MultiSubnetFailover=False",
  "ConnectionString": "Data Source=192.168.32.240;Initial Catalog=WIDESEAWCS_OTS;User ID=sa;Password=P@ssw0rd;Integrated Security=False;Connect Timeout=30;Encrypt=False;TrustServerCertificate=False;ApplicationIntent=ReadWrite;MultiSubnetFailover=False",
  //跨域
  "Cors": {
    "PolicyName": "CorsIpAccess", //策略名称

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

@@ -113,7 +113,7 @@
                        Dt_StationManager stationManagerStart = _stationManagerRepository.QueryFirst(x => x.stationChildCode == taskDTOs.EndPoint);
                        if (stationManagerStart == null)
                        {
                            return content.Error("未找到出库站台信息");
                            throw new Exception("未找到出库站台信息");
                        }
                        task = new Dt_Task()
                        {
@@ -140,10 +140,10 @@

                        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);
                            var newTask = BaseDal.QueryFirst(x => x.SourceAddress == "3002" && x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState != (int)TaskInStatusEnum.HoistNew && x.TaskState != (int)TaskInStatusEnum.HoistInExecuting && x.TaskState > 225);
                            if (newTask != null)
                            {
                                return content.Error("已存在入库任务，出库任务不可下发");
                                throw new Exception("已存在入库任务，出库任务不可下发");
                            }
                        }

@@ -151,7 +151,7 @@
                        Dt_StationManager stationManagerEnd = _stationManagerRepository.QueryFirst(x => x.stationChildCode == taskDTOs.EndPoint);
                        if (stationManagerEnd == null)
                        {
                            return content.Error("未找到出库站台信息");
                            throw new Exception("未找到出库站台信息");
                        }

                        Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.Roadway == GetScCode(Convert.ToInt32(targetCodes[0])) && x.stationType == 2 && x.stationFloor == stationManagerEnd.stationFloor);
@@ -188,7 +188,7 @@
                        }
                        if(taskDTOs.EndPoint == "1004")
                        {
                            return content.Error("该点位不是出库点位");
                            throw new Exception("该点位不是出库点位");
                        }
                        if (GetScCode(Convert.ToInt32(targetCodes[0])) == "SC06" && taskDTOs.EndPoint == "1002")
                        {
@@ -235,7 +235,7 @@
                        Dt_StationManager stationManagerStart = _stationManagerRepository.QueryFirst(x => x.stationChildCode == taskDTOs.BeginPoint);
                        if (stationManagerStart == null)
                        {
                            return content.Error("未找到出库站台信息");
                            throw new Exception("未找到出库站台信息");
                        }
                        task = new Dt_Task()
                        {
@@ -290,14 +290,14 @@
                            task.TargetStation = stationManager.stationRemark;


                            if (GetScCode(Convert.ToInt32(targetCodes[0])) == "SC01" && (taskDTOs.BeginPoint == "1030" || taskDTOs.EndPoint == "1029"))
                            if ((GetScCode(Convert.ToInt32(targetCodes[0])) == "SC01" && (taskDTOs.BeginPoint == "1030" || taskDTOs.EndPoint == "1029")) || (GetScCode(Convert.ToInt32(targetCodes[0])) == "SC01" && task.RGVName == "RGV02"))
                            {
                                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"))
                            if ((GetScCode(Convert.ToInt32(targetCodes[0])) == "SC06" && (taskDTOs.BeginPoint == "1002" || taskDTOs.BeginPoint == "1004")) || (GetScCode(Convert.ToInt32(targetCodes[0])) == "SC06" && task.RGVName == "RGV01"))
                            {
                                Dt_StationManager stationTransfer = _stationManagerRepository.QueryFirst(x => x.stationChildCode == "1026");
                                task.TargetStation = stationTransfer.stationRemark;
@@ -307,7 +307,7 @@
                        }
                        else
                        {
                            return content.Error($"未找到该托盘【{taskDTOs.TPbarcode}】任务");
                            throw new Exception($"未找到该托盘【{taskDTOs.TPbarcode}】任务");
                        }
                    }
                }
@@ -341,7 +341,7 @@
                    Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.SourceAddress);
                    if (stationManager == null)
                    {
                        return content.Error("未找到起点站台");
                        throw new Exception("未找到起点站台");
                    }
                    
                    if (task != null)
@@ -442,11 +442,11 @@
            {
                return "SC04";
            }
            else if (number >= 15 && number <= 18)
            else if (number >= 15 && number <= 17)
            {
                return "SC05";
            }
            else if (number >= 19 && number <= 22)
            else if (number >= 18 && number <= 21)
            {
                return "SC06";
            }
@@ -595,7 +595,7 @@
        /// <returns></returns>
        public Dt_Task QueryRGVExecutingTask(string deviceNo)
        {
            return BaseDal.QueryFirst(x => (x.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish|| x.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS|| x.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish) && x.RGVName == deviceNo);
            return BaseDal.QueryFirst(x => (x.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish|| x.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish) && x.RGVName == deviceNo);
        }

        /// <summary>
@@ -606,7 +606,7 @@
        /// <returns></returns>
        public Dt_Task QueryRGVExecutingTask(string deviceNo,int taskNum)
        {
            return BaseDal.QueryFirst(x => (x.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish || x.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS) && x.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish && x.RGVName == deviceNo&&x.TaskNum==taskNum);
            return BaseDal.QueryFirst(x => (x.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish) && x.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish && x.RGVName == deviceNo&&x.TaskNum==taskNum);
        }

        /// <summary>
@@ -662,7 +662,7 @@

        public List<Dt_Task> QueryRGVTask()
        {
            return BaseDal.QueryData(x => ((TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.InNew) || (TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish) && x.Floor == "1F"), TaskOrderBy);
            return BaseDal.QueryData(x => ((TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.InNew) || (TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish)) && x.Floor == "1F", TaskOrderBy);
        }

        /// <summary>

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineJob/CommonConveyorLineJob.cs

@@ -107,8 +107,6 @@
            try
            {
                ConveyorLineTaskCommand command = conveyorLine.ReadCustomer<ConveyorLineTaskCommand>(station.stationChildCode);
                //var x = conveyorLine.Communicator.Read("DB1103.2",5);
                //string Barcode = Encoding.UTF8.GetString(x);
                if (command != null)
                {
                    #region è°ƒç”¨äº‹ä»¶æ€»çº¿é€šçŸ¥å‰ç«¯
@@ -132,7 +130,7 @@
                        foreach (var item in deviceProtocolDetails)
                        {
                            int itemValue = Convert.ToInt32(item.ProtocalDetailValue);
                            _noticeService.LineData(userIds?.FirstOrDefault(), userTokenIds, new { station.stationChildCode,InStock= structs[itemValue] , Roadway =station.Roadway+station.stationFloor});
                            _noticeService.LineData(userIds?.FirstOrDefault(), userTokenIds, new { station.stationChildCode, InStock = structs[itemValue], Roadway = station.Roadway + station.stationFloor });
                            if (structs[itemValue] == true)
                            {
                                MethodInfo? method = GetType().GetMethod(item.ProtocolDetailType);
@@ -167,8 +165,8 @@

                if (station.stationChildCode == "3004")
                {
                    var taskIn = _taskRepository.QueryFirst(x => x.TaskNum == command.TaskNum && x.NextAddress == station.stationChildCode && x.TaskType == (int)TaskInboundTypeEnum.Inbound&&x.TaskState==(int)TaskInStatusEnum.HoistInExecuting);
                    if(taskIn != null)
                    var taskIn = _taskRepository.QueryFirst(x => x.TaskNum == command.TaskNum && x.NextAddress == station.stationChildCode && x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState == (int)TaskInStatusEnum.HoistInExecuting);
                    if (taskIn != null)
                    {
                        Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.Roadway == taskIn.Roadway && x.stationType == 3 && x.stationFloor == taskIn.Floor);
                        taskIn.CurrentAddress = station.stationChildCode;
@@ -179,7 +177,7 @@
                }

                var task = _taskService.QueryConveyorLineTask(station.stationChildCode, command.TaskNum);
                

                await HandleNewTaskAsync(conveyorLine, command, station.stationChildCode, task);
            }
            catch (Exception ex)
@@ -205,7 +203,7 @@

                var task = _taskService.QueryConveyorLineFinishTask(stationManager.stationChildCode, command.TaskNum);
                //改查询方法
                if(stationManager.stationType==5||stationManager.stationType==4)
                if (stationManager.stationType == 5 || stationManager.stationType == 4)
                {
                    // å¦‚果任务存在
                    if (task != null)
@@ -251,7 +249,7 @@
                {
                    Thread.Sleep(1000);
                    _taskService.UpdateTaskStatusToNext(task);
                    

                }
            }
        }

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineJob/ConveyorLineTaskCommand.cs

@@ -32,8 +32,8 @@

        public short TargetAddress { get; set; }

        [DataLength(25)]
        public string Barcode { get; set; }
        //[DataLength(10)]
        //public string Barcode { get; set; }
    }

    public class ConveyorLineTaskCommandWrite : DeviceCommand

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineJob/Task/RequestInbound.cs

@@ -5,10 +5,12 @@
using System.Text;
using System.Text.RegularExpressions;
using System.Threading.Tasks;
using WIDESEA_Common.Log;
using WIDESEAWCS_Common;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.StackerHandTask;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_Model.BasicInfo;
using WIDESEAWCS_Model.Models;
@@ -54,41 +56,53 @@

        private async Task RequestTask(CommonConveyorLine conveyorLine, ConveyorLineTaskCommand command, string childDeviceCode, Dt_StationManager stationManager)
        {
            var hasTask = await _taskRepository.QueryFirstAsync(x => x.SourceAddress == childDeviceCode && x.TaskState < (int)TaskInStatusEnum.RGV_InExecutingFinish && x.TaskState >= (int)TaskInStatusEnum.InNew);
            if (hasTask != null)
            try
            {
                var log = $"【{conveyorLine._deviceName}】任务号：【{hasTask.TaskNum}】,托盘条码：【{hasTask.PalletCode}】已到达【{childDeviceCode}】输送线存在任务";
                var hasTask = await _taskRepository.QueryFirstAsync(x => x.SourceAddress == childDeviceCode && x.TaskState < (int)TaskInStatusEnum.RGV_InExecutingFinish && x.TaskState >= (int)TaskInStatusEnum.InNew);
                if (hasTask != null)
                {
                    var log = $"【{conveyorLine._deviceName}】任务号：【{hasTask.TaskNum}】,托盘条码：【{hasTask.PalletCode}】已到达【{childDeviceCode}】输送线存在任务";
                    ConsoleHelper.WriteWarningLine(log);

                    await _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = log, time = DateTime.Now.ToString("G"), color = "red" });
                    WriteInfo(conveyorLine.DeviceName, log);
                    return;
                }
                var RGVName = string.Empty;
                if (stationManager.stationFloor == "1F")
                {
                    RGVName = stationManager.RGVName;
                }
                else
                {
                    RGVName = "RGV03";
                }
                Dt_Task task = new Dt_Task()
                {
                    TaskNum = _taskRepository.GetTaskNo().Result,
                    TaskType = (int)TaskInboundTypeEnum.Inbound,
                    TaskState = (int)TaskInStatusEnum.InNew,
                    SourceAddress = childDeviceCode,
                    Dispatchertime = DateTime.Now,
                    Grade = 1,
                    Creater = "System",
                    Floor = stationManager.stationFloor,
                    RGVName = RGVName,
                    SourceStation = stationManager.remark,
                    TargetStation = 0,
                };

                _taskRepository.AddData(task);
            }
            catch (Exception ex)
            {
                var log = $"【{conveyorLine._deviceName}】输送线【{childDeviceCode}】【{ex.Message}】";
                ConsoleHelper.WriteWarningLine(log);

                await _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = log, time = DateTime.Now.ToString("G"), color = "red" });
                WriteInfo(conveyorLine.DeviceName, log);
                return;
            }
            var RGVName = string.Empty;
            if (stationManager.stationFloor == "1F")
            {
                RGVName = stationManager.RGVName;
            }
            else
            {
                RGVName = "RGV03";
            }
            Dt_Task task = new Dt_Task()
            {
                TaskNum = _taskRepository.GetTaskNo().Result,
                TaskType = (int)TaskInboundTypeEnum.Inbound,
                TaskState = (int)TaskInStatusEnum.InNew,
                SourceAddress = childDeviceCode,
                Dispatchertime = DateTime.Now,
                Grade = 1,
                Creater = "System",
                Floor = stationManager.stationFloor,
                RGVName = RGVName,
                SourceStation = stationManager.remark,
                TargetStation = 0,
            };

            _taskRepository.AddData(task);
            
        }
        private void RequestWMSTask(CommonConveyorLine conveyorLine,  Dt_StationManager stationManager)
        {
@@ -145,6 +159,7 @@
                    }
                    var wmsIpAddress = wmsBase + requestTask;
                    var result = WIDESEA_Comm.Http.HttpHelper.PostAsync(wmsIpAddress, taskDTO.ToJsonString()).Result;
                    WriteLog.GetLog("WMS接口返回信息").Write(JsonConvert.SerializeObject(result), "WMS接口返回信息");
                }
            }
            else
@@ -153,6 +168,7 @@
                var x = conveyorLine.Communicator.Read(devicePro.DeviceProAddress, 10);

                string Barcode = Encoding.UTF8.GetString(x);

                if (Barcode == null || Barcode == "" || Barcode.Trim().Contains("\0"))
                {
                    conveyorLine.SetValue(ConveyorLineDBName.WriteInteractiveSignal, Convert.ToSByte(3), stationManager.stationChildCode);
@@ -160,7 +176,8 @@
                var task = _taskRepository.QueryFirst(x => x.PalletCode == Barcode);
                if (task != null)
                {

                    var log = $"【{conveyorLine._deviceName}】站台【{stationManager.stationChildCode}】请求取货、已存在任务任务号{task.TaskNum}";
                    LogAndWarn(conveyorLine.DeviceName, log);
                }
                else
                {
@@ -180,6 +197,7 @@
                    }
                    var wmsIpAddress = wmsBase + requestTask;
                    var result = WIDESEA_Comm.Http.HttpHelper.PostAsync(wmsIpAddress, taskDTO.ToJsonString()).Result;
                    WriteLog.GetLog("WMS接口返回信息").Write(JsonConvert.SerializeObject(result), "WMS接口返回信息");
                }
            } 
        }

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

@@ -186,8 +186,12 @@
                                var x = conveyorLine.Communicator.Read(devicePro.DeviceProAddress, 5);
                                string Barcode = Encoding.UTF8.GetString(x);

                                if (Barcode == null || Barcode == "" || Barcode.Trim().Contains("\0"))
                                short y = conveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.InteractiveSignal, stationManager.stationChildCode);
                                var structs = BitConverter.GetBytes(y).ToArray().ToBoolArray();

                                if (Barcode == null || Barcode == "" || Barcode.Trim().Contains("\0") || structs[5])
                                {
                                    WriteInfo("入库异常信息", $"托盘号【{Barcode}】检尺【{structs[5]}】任务号【{TaskNum}】");
                                    commonRGV.SetValue(StackerCraneDBName.PutcargoLocation, Convert.ToSByte(stationManager.stationRemark));
                                    commonRGV.SetValue(StackerCraneDBName.TaskNum, Convert.ToInt16(task.TaskNum));
                                    commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(4));
@@ -221,7 +225,7 @@
                                    Thread.Sleep(100);
                                    conveyorLine.SetValue(ConveyorLineDBName.ConveyorLineTargetAddress, Convert.ToInt16(stationManager.stationNextChildCode), stationManager.stationChildCode);
                                    Thread.Sleep(100);
                                    conveyorLine.SetValue(ConveyorLineDBName.ConveyorLineTaskNum, Convert.ToInt16(1000), stationManager.stationChildCode);
                                    conveyorLine.SetValue(ConveyorLineDBName.ConveyorLineTaskNum, Convert.ToInt16(1), stationManager.stationChildCode);
                                    Thread.Sleep(100);
                                    conveyorLine.SetValue(ConveyorLineDBName.WriteInteractiveSignal, Convert.ToSByte(2), stationManager.stationChildCode);
                                }

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

@@ -104,44 +104,47 @@
                    }
                    if (FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.Running))
                    {
                        Dt_Task? task = GetTask(FirstRgv, FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.InStock));
                        if (task != null)
                        if (FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.InStock))
                        {
                            var IsExecutingTask = DispatchExecutingTask(FirstRgv, task);
                            if (IsExecutingTask != null)
                            Dt_Task? task = GetTask(FirstRgv, FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.InStock));
                            if (task != null)
                            {
                                RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(IsExecutingTask);
                                if (rgvTaskCommand != null)
                                var IsExecutingTask = DispatchExecutingTask(FirstRgv, task);
                                if (IsExecutingTask != null)
                                {
                                    Thread.Sleep(1000);
                                    bool sendFlag = SendCommand(FirstRgv, rgvTaskCommand);
                                    if (sendFlag)
                                    RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(IsExecutingTask);
                                    if (rgvTaskCommand != null)
                                    {
                                        if (IsExecutingTask.Remark != null)
                                        Thread.Sleep(1000);
                                        bool sendFlag = SendCommand(FirstRgv, rgvTaskCommand);
                                        if (sendFlag)
                                        {
                                            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)
                                            if (IsExecutingTask.Remark != null)
                                            {
                                                IsExecutingTask.TargetStation = station.stationRemark;
                                                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.TargetStation = station.remark;
                                                IsExecutingTask.RGVName = FirstRgv.DeviceCode;
                                                _taskRepository.UpdateData(IsExecutingTask);
                                                _taskService.UpdateTaskStatusToNext(IsExecutingTask.TaskNum);
                                                Thread.Sleep(1000);
                                            }
                                                IsExecutingTask.TaskState = (int)TaskInStatusEnum.RGV_TransFer;
                                            _taskRepository.UpdateData(IsExecutingTask);
                                            Thread.Sleep(1000);
                                        }
                                        else
                                        {
                                            IsExecutingTask.RGVName = FirstRgv.DeviceCode;
                                            _taskRepository.UpdateData(IsExecutingTask);
                                            _taskService.UpdateTaskStatusToNext(IsExecutingTask.TaskNum);
                                            Thread.Sleep(1000);
                                        }
                                    }
                                }
@@ -265,34 +268,48 @@
                    }
                    if (SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.Running))
                    {
                        Dt_Task? task = GetTask(SecondRgv, SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.InStock));
                        if (task != null)
                        if (SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.InStock))
                        {
                            var IsExecutingTask = DispatchExecutingTask(SecondRgv, task);
                            if (IsExecutingTask != null)
                            Dt_Task? task = GetTask(SecondRgv, SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.InStock));
                            if (task != null)
                            {
                                RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(IsExecutingTask);
                                if (rgvTaskCommand != null)
                                var IsExecutingTask = DispatchExecutingTask(SecondRgv, task);
                                if (IsExecutingTask != null)
                                {
                                    Thread.Sleep(1000);
                                    bool sendFlag = SendCommand(SecondRgv, rgvTaskCommand);
                                    if (sendFlag)
                                    RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(IsExecutingTask);
                                    if (rgvTaskCommand != null)
                                    {
                                        if (IsExecutingTask.Remark != null)
                                        Thread.Sleep(1000);
                                        bool sendFlag = SendCommand(SecondRgv, rgvTaskCommand);
                                        if (sendFlag)
                                        {
                                            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);
                                            Thread.Sleep(1000);
                                            if (IsExecutingTask.Remark != null)
                                            {
                                                IsExecutingTask.RGVName = "RGV01";
                                                IsExecutingTask.CurrentAddress = IsExecutingTask.Remark;
                                                IsExecutingTask.Remark = "";
                                                IsExecutingTask.TaskState = (int)TaskInStatusEnum.RGV_TransFer;
                                                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;
                                                }

                                                _taskRepository.UpdateData(IsExecutingTask);
                                                Thread.Sleep(1000);
                                            }
                                            else
                                            {
                                                IsExecutingTask.RGVName = SecondRgv.DeviceCode;
                                                _taskRepository.UpdateData(IsExecutingTask);
                                                _taskService.UpdateTaskStatusToNext(IsExecutingTask.TaskNum);
                                                Thread.Sleep(1000);
                                            }
                                        }
                                    }
                                }
@@ -416,6 +433,7 @@
                    {
                        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) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState < 230) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            if (taskSecond != null)
                            {
@@ -423,14 +441,15 @@
                                {
                                    if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                                    {
                                        if (task.TargetStation- taskSecond.SourceStation > 1 && task.TargetStation - taskSecond.TargetStation > 1)
                                        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.TaskNum)}】】");

                                            Thread.Sleep(1000);

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

                                            return task;
@@ -447,7 +466,7 @@
                                            Thread.Sleep(1000);
                                            if (task.Remark != null)
                                            {
                                                return GetDispatchExecutingTask(taskSecond);
                                                return GetDispatchExecutingTask(task);
                                            }
                                            return task;
                                        }
@@ -457,17 +476,25 @@
                            }
                            else
                            {
                                if (commonRGVSecond.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.WorkCompleted))
                                {
                                    RGVTaskFinish(commonRGVSecond, commonRGVSecond.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
                                }
                                if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 35000)
                                {
                                    RGVTaskCommand command = new RGVTaskCommand()
                                    {
                                        PickupLocation = (byte)Convert.ToSByte(15),
                                        TaskNum = Convert.ToInt16(1000),
                                        TaskNum = Convert.ToInt16(1),
                                        TaskType = (byte)Convert.ToSByte(1)
                                    };
                                    SendCommand(commonRGVSecond, command);
                                    Thread.Sleep(1000);
                                    if (!commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running))
                                    {
                                        return null;
                                    }
                                }
                                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;
                            }
@@ -480,13 +507,11 @@
                    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 taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV01" && x.TaskNum == commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum)&&((x.TaskType==(int)TaskInboundTypeEnum.Inbound&&x.TaskState<230)||(x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV01" && x.TaskNum == commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState < 230) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            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)
                                {
                                    if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
@@ -498,7 +523,7 @@

                                            if (task.Remark != null)
                                            {
                                                return GetDispatchExecutingTask(taskSecond);
                                                return GetDispatchExecutingTask(task);
                                            }
                                            return task;
                                        }
@@ -515,7 +540,7 @@

                                            if (task.Remark != null)
                                            {
                                                return GetDispatchExecutingTask(taskSecond);
                                                return GetDispatchExecutingTask(task);
                                            }
                                            return task;
                                        }
@@ -525,17 +550,25 @@
                            }
                            else
                            {
                                if (commonRGVFirst.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.WorkCompleted))
                                {
                                    RGVTaskFinish(commonRGVFirst, commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
                                }
                                if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) < 420000)
                                {
                                    RGVTaskCommand command = new RGVTaskCommand()
                                    {
                                        PickupLocation = (byte)Convert.ToSByte(26),
                                        TaskNum = Convert.ToInt16(1000),
                                        TaskNum = Convert.ToInt16(1),
                                        TaskType = (byte)Convert.ToSByte(1)
                                    };
                                    SendCommand(commonRGVFirst, command);
                                    Thread.Sleep(1000);
                                    if (!commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running))
                                    {
                                        return null;
                                    }
                                }
                                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;
                            }
@@ -568,90 +601,53 @@
                    {
                        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));
                            var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV02" && x.TaskNum == commonRGVSecond.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState < 230) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            if (taskSecond != null)
                            {
                                #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));
                                //    //}

                                //    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)}】】");
                                LogAndWarn("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;
                            }
                            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")) || x.RGVName == "RGV01").ToList();
                        if (taskNews.Count == 0)
                        {
                            return null;
                        }
                        if (commonRGVSecond.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.WorkCompleted))
                        {
                            RGVTaskFinish(commonRGVSecond, commonRGVSecond.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
                        }
                        if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 35000)
                        {
                            RGVTaskCommand command = new RGVTaskCommand()
                            {
                                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;
                                }

                                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 taskNews.FirstOrDefault(x => x.RGVName == "RGV01");
                                }
                                else
                                {
                                    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 != "RGV02").TaskNum)}】】");
                                    Thread.Sleep(1000);
                                    return taskNews.FirstOrDefault(x => x.RGVName != "RGV02");
                                }
                                PickupLocation = (byte)Convert.ToSByte(15),
                                TaskNum = Convert.ToInt16(1),
                                TaskType = (byte)Convert.ToSByte(1)
                            };
                            SendCommand(commonRGVSecond, command);
                            Thread.Sleep(1000);
                            if (!commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running))
                            {
                                return null;
                            }
                        }

                        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(taskNews.FirstOrDefault(x => x.RGVName == "RGV01").TaskNum)}】】");
                            Thread.Sleep(1000);
                            return taskNews.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
                            {
                                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 != "RGV02").TaskNum)}】】");
                                Thread.Sleep(1000);
                                return tasks.FirstOrDefault(x => x.RGVName != "RGV02");
                            }
                            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(taskNews.FirstOrDefault(x => x.RGVName != "RGV02").TaskNum)}】】");
                            Thread.Sleep(1000);
                            return taskNews.FirstOrDefault(x => x.RGVName != "RGV02");
                        }
                    }
                    else
@@ -677,33 +673,10 @@
                    {
                        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));

                            var taskFirst = _taskRepository.QueryFirst(x => x.RGVName == "RGV01" && x.TaskNum == commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState < 230) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            if (taskFirst != null)
                            {
                                #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 = 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)}】】");
@@ -711,54 +684,45 @@

                                return task;
                            }
                            else

                        }
                        var taskNews = tasks.Where(x => (x.TaskType == (int)TaskInboundTypeEnum.Inbound && Convert.ToInt32(x.SourceAddress) > 1014) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound && (x.Roadway == "SC04" || x.Roadway == "SC05" || x.Roadway == "SC06")) || x.RGVName == "RGV02").ToList();
                        if (taskNews.Count == 0)
                        {
                            return null;
                        }
                        if (commonRGVFirst.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.WorkCompleted))
                        {
                            RGVTaskFinish(commonRGVFirst, commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
                        }
                        if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) < 420000)
                        {
                            RGVTaskCommand command = new RGVTaskCommand()
                            {
                                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;
                                }
                                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
                                {
                                    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 != "RGV01").TaskNum)}】】");

                                    Thread.Sleep(1000);
                                    return tasks.FirstOrDefault(x => x.RGVName != "RGV01");
                                }
                                PickupLocation = (byte)Convert.ToSByte(26),
                                TaskNum = Convert.ToInt16(1),
                                TaskType = (byte)Convert.ToSByte(1)
                            };
                            SendCommand(commonRGVFirst, command);
                            Thread.Sleep(1000);
                            if (!commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running))
                            {
                                return null;
                            }
                        }

                        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(taskNews.FirstOrDefault(x => x.RGVName == "RGV02").TaskNum)}】】");
                            Thread.Sleep(1000);
                            return taskNews.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
                            {
                                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 != "RGV01").TaskNum)}】】");
                            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(taskNews.FirstOrDefault(x => x.RGVName != "RGV01").TaskNum)}】】");

                                Thread.Sleep(1000);
                                return tasks.FirstOrDefault(x => x.RGVName != "RGV01");
                            }
                            Thread.Sleep(1000);
                            return taskNews.FirstOrDefault(x => x.RGVName != "RGV01");
                        }
                    }
                    else
@@ -791,7 +755,7 @@
        {
            try
            {
                var tasks = _taskRepository.QueryData(x=>x.TaskState==(int)TaskInStatusEnum.RGV_TransFerFInish|| x.TaskState == (int)TaskOutStatusEnum.RGV_TransFerFInish);
                var tasks = _taskRepository.QueryData(x => x.Floor == "1F" && (x.TaskState == (int)TaskInStatusEnum.RGV_TransFerFInish || x.TaskState == (int)TaskOutStatusEnum.RGV_TransFerFInish));
                Dt_Task task;
                if (tasks.Count() == 0)
                {
@@ -804,15 +768,16 @@
                    {
                        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));

                            var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV02" && x.TaskNum == commonRGVSecond.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState < 230) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            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");
                                    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)}】】");
                                    LogAndWarn("中转调度任务控制", $"【{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;
@@ -821,7 +786,7 @@
                                {
                                    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)}】】");
                                    LogAndWarn("中转调度任务控制", $"【{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;
                                }
@@ -829,19 +794,29 @@
                            }
                            else
                            {
                                if (commonRGVSecond.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.WorkCompleted))
                                {
                                    RGVTaskFinish(commonRGVSecond, commonRGVSecond.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
                                }
                                if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 35000)
                                {
                                    RGVTaskCommand command = new RGVTaskCommand()
                                    {
                                        PickupLocation = (byte)Convert.ToSByte(15),
                                        TaskNum = Convert.ToInt16(1000),
                                        TaskNum = Convert.ToInt16(1),
                                        TaskType = (byte)Convert.ToSByte(1)
                                    };
                                    SendCommand(commonRGVSecond, command);
                                    Thread.Sleep(1000);
                                    if (!commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running))
                                    {
                                        return null;
                                    }
                                }

                                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)}】】");
                                    LogAndWarn("中转调度任务控制", $"【{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");
                                }
@@ -851,18 +826,17 @@
                        {
                            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)}】】");
                                LogAndWarn("中转调度任务控制", $"【{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)}】】");
                            LogAndWarn("中转调度任务控制", $"【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");
                        }
@@ -876,17 +850,17 @@
                    {
                        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));

                            var taskFirst = _taskRepository.QueryFirst(x => x.RGVName == "RGV01" && x.TaskNum == commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum) && ((x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState < 230) || (x.TaskType == (int)TaskOutboundTypeEnum.Outbound)));
                            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 = 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)}】】");
                                    LogAndWarn("中转调度任务控制", $"【{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;
@@ -895,7 +869,7 @@
                                {
                                    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)}】】");
                                    LogAndWarn("中转调度任务控制", $"【{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;
                                }
@@ -903,19 +877,29 @@
                            }
                            else
                            {
                                if (commonRGVFirst.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.WorkCompleted))
                                {
                                    RGVTaskFinish(commonRGVFirst, commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
                                }
                                if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) < 420000)
                                {
                                    RGVTaskCommand command = new RGVTaskCommand()
                                    {
                                        PickupLocation = (byte)Convert.ToSByte(26),
                                        TaskNum = Convert.ToInt16(1000),
                                        TaskNum = Convert.ToInt16(1),
                                        TaskType = (byte)Convert.ToSByte(1)
                                    };
                                    SendCommand(commonRGVFirst, command);
                                    Thread.Sleep(1000);
                                    if (!commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running))
                                    {
                                        return null;
                                    }
                                }

                                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)}】】");
                                    LogAndWarn("中转调度任务控制", $"【{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");
@@ -926,7 +910,7 @@
                        {
                            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)}】】");
                                LogAndWarn("中转调度任务控制", $"【{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");
                            }
@@ -936,7 +920,7 @@
                    {
                        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)}】】");
                            LogAndWarn("中转调度任务控制", $"【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");
@@ -981,8 +965,12 @@

                                string Barcode = Encoding.UTF8.GetString(x);

                                if (Barcode == null || Barcode == "" || Barcode.Trim().Contains("\0"))
                                short y = conveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.InteractiveSignal, stationManager.stationChildCode);
                                var structs = BitConverter.GetBytes(y).ToArray().ToBoolArray();

                                if (Barcode == null || Barcode == "" || Barcode.Trim().Contains("\0")|| structs[5])
                                {
                                    WriteInfo("入库异常信息", $"托盘号【{Barcode}】检尺【{structs[5]}】任务号【{TaskNum}】");
                                    commonRGV.SetValue(StackerCraneDBName.PutcargoLocation, Convert.ToSByte(stationManager.stationRemark));
                                    commonRGV.SetValue(StackerCraneDBName.TaskNum, Convert.ToInt16(task.TaskNum));
                                    commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(4));
@@ -1016,7 +1004,7 @@
                                    Thread.Sleep(100);
                                    conveyorLine.SetValue(ConveyorLineDBName.ConveyorLineTargetAddress, Convert.ToInt16(stationManager.stationNextChildCode), stationManager.stationChildCode);
                                    Thread.Sleep(100);
                                    conveyorLine.SetValue(ConveyorLineDBName.ConveyorLineTaskNum, Convert.ToInt16(1000), stationManager.stationChildCode);
                                    conveyorLine.SetValue(ConveyorLineDBName.ConveyorLineTaskNum, Convert.ToInt16(1), stationManager.stationChildCode);
                                    Thread.Sleep(100);
                                    conveyorLine.SetValue(ConveyorLineDBName.WriteInteractiveSignal, Convert.ToSByte(2), stationManager.stationChildCode);
                                }
@@ -1044,7 +1032,7 @@

        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();
            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))).FirstOrDefault();
            if (y == null)
            {
                if (oldtask.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || oldtask.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || oldtask.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
@@ -1060,30 +1048,24 @@
            }
            else
            {
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "1001");
                if (device != null)
                var stationManager = _stationManagerRepository.QueryData(x => x.stationType == 15);
                if (stationManager.Count() > 0)
                {
                    CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                    var stationManager = _stationManagerRepository.QueryData(x => x.stationType == 15);
                    if (stationManager.Count() > 0)
                    string next = null;
                    foreach (var item in stationManager)
                    {
                        string next = null;
                        foreach (var item in stationManager)
                        var x = _taskRepository.QueryFirst(x => x.NextAddress == item.stationChildCode || x.CurrentAddress == item.stationChildCode);
                        if (x == null)
                        {
                            short x = conveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.InteractiveSignal, item.stationChildCode);
                            var structs = BitConverter.GetBytes(x).ToArray().ToBoolArray();
                            if (structs[2])
                            {
                                next = item.stationChildCode;
                                break;
                            }
                            next = item.stationChildCode;
                            break;
                        }
                        if (next != null)
                        {
                            oldtask.Remark = next;
                            _taskRepository.UpdateData(y);
                            return y;
                        }
                    }
                    if (next != null)
                    {
                        oldtask.Remark = next;
                        _taskRepository.UpdateData(oldtask);
                        return oldtask;
                    }
                }
                if (oldtask.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || oldtask.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || oldtask.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
@@ -1101,32 +1083,28 @@

        public Dt_Task? GetDispatchExecutingTask(Dt_Task oldtask)
        {
            IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "1001");
            if (device != null)

            var stationManager = _stationManagerRepository.QueryData(x => x.stationType == 15);
            if (stationManager.Count() > 0)
            {
                CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                var stationManager = _stationManagerRepository.QueryData(x => x.stationType == 15);
                if (stationManager.Count() > 0)
                string next = null;
                foreach (var item in stationManager)
                {
                    string next = null;
                    foreach (var item in stationManager)
                    var x = _taskRepository.QueryFirst(x => x.NextAddress == item.stationChildCode || x.CurrentAddress == item.stationChildCode);
                    if (x == null)
                    {
                        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;
                        next = item.stationChildCode;
                        break;
                    }
                }
                if (next != null)
                {
                    oldtask.Remark = next;
                    _taskRepository.UpdateData(oldtask);
                    return oldtask;
                }
            }

            return null;
        }


 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs

@@ -28,6 +28,7 @@
using WIDESEAWCS_Tasks.ConveyorLineJob;
using WIDESEAWCS_TaskInfoRepository;
using static Microsoft.EntityFrameworkCore.DbLoggerCategory.Database;
using System.Collections;

namespace WIDESEAWCS_Tasks
{
@@ -122,42 +123,7 @@
                        true => "故障",
                        false => "正常",
                    };
                    string StackerCraneAlarm(uint alarm) => alarm switch
                    {
                        0 => "指令或地址错误",
                        1 => "急停",
                        2 => "光通讯中断",
                        3 => "组态失联",
                        4 => "行走变频故障",
                        5 => "行走极限触发",
                        6 => "行走运行超时",
                        7 => "提升变频故障",
                        8 => "提升极限触发",
                        9 => "提升运行超时",
                        10 => "载货台超载",
                        11 => "载货台欠载（松绳)",
                        12 => "载货台失速",
                        13 => "货叉变频报警",
                        14 => "货叉运行超时",
                        15 => "货叉极限触发",
                        16 => "货叉不居中",
                        17 => "左侧超高",
                        18 => "右侧超高",
                        19 => "左侧超宽",
                        20 => "右侧超宽",
                        21 => "左超出",
                        22 => "右超出",
                        23 => "取货时载货台有货",
                        24 => "取货后载货台无货",
                        25 => "取深货位时浅货位有货",
                        26 => "放货时载货台无货",
                        27 => "放货时货架有货",
                        28 => "放货后载货台有货",
                        29 => "放深货时浅货位有货",
                        30 => "",
                        31 => "",
                        _ => $"未知报警({alarm})"
                    };
                   
                    object obj = new
                    {
                        Automatic = StackerCraneAutoStatus(commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.Automatic)),
@@ -167,7 +133,7 @@
                        CurrentLayer = Convert.ToInt32(commonStackerCrane.GetValue<StackerCraneDBName, byte>(StackerCraneDBName.CurrentLayer)),
                        LevelPoint = commonStackerCrane.GetValue<StackerCraneDBName, int>(StackerCraneDBName.LevelPoint),
                        CurrentTaskNum = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.CurrentTaskNum),
                        StackerAlarm = StackerCraneAlarm(commonStackerCrane.GetValue<StackerCraneDBName, uint>(StackerCraneDBName.StackerAlarm)),
                        StackerAlarm = GetAlarm(commonStackerCrane.GetValue<StackerCraneDBName, uint>(StackerCraneDBName.StackerAlarm)),

                        commonStackerCrane.DeviceCode,
                        commonStackerCrane.DeviceName,
@@ -183,6 +149,56 @@
            }
            return Task.CompletedTask;
        }
        public string GetAlarm(uint value)
        {
            byte[] bytes = BitConverter.GetBytes(value);
            BitArray bits = new BitArray(bytes);

            for (int i = 0; i < bits.Length; i++)
            {
                if (bits[i])
                {
                    return StackerCraneAlarm(i);
                }
            }
            return "";
        }
        public string StackerCraneAlarm(int alarm) => alarm switch
        {
            0 => "指令或地址错误",
            1 => "急停",
            2 => "光通讯中断",
            3 => "组态失联",
            4 => "行走变频故障",
            5 => "行走极限触发",
            6 => "行走运行超时",
            7 => "提升变频故障",
            8 => "提升极限触发",
            9 => "提升运行超时",
            10 => "载货台超载",
            11 => "载货台欠载（松绳)",
            12 => "载货台失速",
            13 => "货叉变频报警",
            14 => "货叉运行超时",
            15 => "货叉极限触发",
            16 => "货叉不居中",
            17 => "左侧超高",
            18 => "右侧超高",
            19 => "左侧超宽",
            20 => "右侧超宽",
            21 => "左超出",
            22 => "右超出",
            23 => "取货时载货台有货",
            24 => "取货后载货台无货",
            25 => "取深货位时浅货位有货",
            26 => "放货时载货台无货",
            27 => "放货时货架有货",
            28 => "放货后载货台有货",
            29 => "放深货时浅货位有货",
            30 => "",
            31 => "",
            _ => $"未知报警({alarm})"
        };

        /// <summary>
        /// ä»»åŠ¡å®Œæˆäº‹ä»¶è®¢é˜…的方法
@@ -501,19 +517,19 @@

        public int GetRowCode(int number)
        {
            if (number == 1 || number == 15 || number == 11 || number == 19)
            if (number == 1 || number == 15 || number == 11 || number == 18)
            {
                return 1;
            }
            else if (number == 2 || number == 5 || number == 8 || number == 12 || number == 16 || number == 20)
            else if (number == 2 || number == 5 || number == 8 || number == 12 || number == 16 || number == 19)
            {
                return 2;
            }
            else if (number == 3 || number == 6 || number == 9 || number == 13 || number == 17 || number == 21)
            else if (number == 3 || number == 6 || number == 9 || number == 13 || number == 17 || number == 20)
            {
                return 3;
            }
            else if (number == 4 || number == 7 || number == 10 || number == 14 || number == 18 || number == 22)
            else if (number == 4 || number == 7 || number == 10 || number == 14 || number == 21)
            {
                return 4;
            }