´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Client/src/views/Home.vue

@@ -10,6 +10,7 @@
        <el-option label="(出库)子车：RGV116" value="RGV116" />
        <el-option label="(出库)母车：RGV114" value="RGV114" />
        <el-option label="(出库)母车：RGV115" value="RGV115" />
        <el-option label="(出库)RGV118" value="RGV118" />
        <el-option label="母车：RGV109" value="RGV109" />
        <el-option label="母车：RGV108" value="RGV108" />
        <el-option label="母车：RGV105" value="RGV105" />
@@ -19,6 +20,16 @@
        <el-option label="子车：RGV107" value="RGV107" />
      </el-select>
    </div>



    <el-button type="danger" v-on:click="submit" plain style="margin-left: 50px">初始化</el-button>

    
  </div>

  <div>
    <label>RGV写入单个模块</label>

    <div class="container">
      <label>写入的类型</label>
@@ -34,12 +45,16 @@
      <el-input type="text" v-model="WriteRGVvalue"></el-input>
    </div>

    <el-button type="danger" v-on:click="submit" plain style="margin-left: 50px">写入</el-button>
    <el-button type="danger" v-on:click="submitRGVw" plain style="margin-left: 50px">写入</el-button>
  </div>


  <div style="margin-top: 30px;">
    <el-button type="danger" v-on:click="InReset" plain style="margin-left: 50px">一键复位（入库端）</el-button>
    <el-button type="danger" v-on:click="OutReset" plain style="margin-left: 50px">一键复位（出库端）</el-button>

    <el-button type="danger" v-on:click="Outtouchstart" plain style="margin-left: 50px">一键启动(出库端)</el-button>
    <el-button type="danger" v-on:click="Outbuttonpause" plain style="margin-left: 50px">一键暂停（出库端）</el-button>
  </div>

  <div style="margin-top: 30px;">
@@ -71,6 +86,29 @@

  </div>

  <div>
    <div class="container">
      <label>AGV设备名称</label>
      <el-select placeholder="请选择物料状态" v-model="DeviceName3">
        <el-option label="(出库)母车：RGV110" value="RGV110" />
        <el-option label="(出库)母车：RGV112" value="RGV112" />
        <el-option label="(出库)子车：RGV111" value="RGV111" />
        <el-option label="(出库)子车：RGV116" value="RGV116" />
        <el-option label="(出库)母车：RGV114" value="RGV114" />
        <el-option label="(出库)母车：RGV115" value="RGV115" />
        <el-option label="(出库)RGV118" value="RGV118" />
        <el-option label="母车：RGV109" value="RGV109" />
        <el-option label="母车：RGV108" value="RGV108" />
        <el-option label="母车：RGV105" value="RGV105" />
        <el-option label="母车：RGV103" value="RGV103" />

        <el-option label="子车：RGV104" value="RGV104" />
        <el-option label="子车：RGV107" value="RGV107" />
      </el-select>
    </div>
    <label>报警信息： {{ baojlabel }}</label>
    <el-button type="danger" v-on:click="ReadAlarm" plain style="margin-left: 50px">读取报警信息</el-button>
  </div>
</template>

<script>
@@ -82,82 +120,150 @@
  data() {
    return {
      //初始化RGV
      DeviceName:"",
      DBType:"",
      WriteRGVvalue:"",
      DeviceName: "",
      DBType: "",
      WriteRGVvalue: "",

      //手动下发rgv目标地址，进行移动rgv
      DeviceName2:"",
      WritergvAddres:""
      DeviceName2: "",
      WritergvAddres: "",

      //报警信息获取
      DeviceName3: "",
      baojlabel:""

    };
  },
  methods: {

    submit() {
      var param = {
          DelKeys: [this.DeviceName,this.DBType,this.WriteRGVvalue], 
          Extra: true
        }
        this.http
          .post("api/RgvOperation/WriteInitialization", param, "数据处理中...")
          .then((x) => {
            if (x.status) {
              this.$Message.success('成功.');
              this.$parent.refresh();
            } else {
              return this.$Message.error(x.message);
            }
          });
        DelKeys: [this.DeviceName, this.DBType, this.WriteRGVvalue],
        Extra: true
      }
      this.http
        .post("api/RgvOperation/WriteInitialization", param, "数据处理中...")
        .then((x) => {
          if (x.status) {
            this.$Message.success('成功.');
            this.$parent.refresh();
          } else {
            return this.$Message.error(x.message);
          }
        });
    },
    submitRGVw() {
      var param = {
        DelKeys: [this.DeviceName, this.DBType, this.WriteRGVvalue],
        Extra: true
      }
      this.http
        .post("api/RgvOperation/WriteRGVmokuai", param, "数据处理中...")
        .then((x) => {
          if (x.status) {
            this.$Message.success('成功.');
            this.$parent.refresh();
          } else {
            return this.$Message.error(x.message);
          }
        });
    },

    submit2() {
      var param = {
          DelKeys: [this.DeviceName2,this.WritergvAddres], 
          Extra: true
        }
        this.http
          .post("api/RgvOperation/ManualmovementRGV", param, "数据处理中...")
          .then((x) => {
            if (x.status) {
              this.$Message.success('成功.');
              this.$parent.refresh();
            } else {
              return this.$Message.error(x.message);
            }
          });
        DelKeys: [this.DeviceName2, this.WritergvAddres],
        Extra: true
      }
      this.http
        .post("api/RgvOperation/ManualmovementRGV", param, "数据处理中...")
        .then((x) => {
          if (x.status) {
            this.$Message.success('成功.');
            this.$parent.refresh();
          } else {
            return this.$Message.error(x.message);
          }
        });
    },
    ReadAlarm() {
      var param = {
        DelKeys: [this.DeviceName3],
        Extra: true
      }
      this.http
        .post("api/RgvOperation/ReadAlarminformation", param, "数据处理中...")
        .then((x) => {
          if (x.status) {
            this.baojlabel=x.data;
          } else {
            return this.$Message.error(x.message);
          }
        });
    },
    Outtouchstart() {
      var param = {
        DelKeys: [],
        Extra: true
      }
      this.http
        .post("api/RgvOperation/WriteOuttouchstart", {}, "数据处理中...")
        .then((x) => {
          if (x.status) {
            this.$Message.success('成功.');
            this.$parent.refresh();
          } else {
            return this.$Message.error(x.message);
          }
        });
    },
    Outbuttonpause() {
      var param = {
        DelKeys: [],
        Extra: true
      }
      this.http
        .post("api/RgvOperation/WriteOutbuttonpause", {}, "数据处理中...")
        .then((x) => {
          if (x.status) {
            this.$Message.success('成功.');
            this.$parent.refresh();
          } else {
            return this.$Message.error(x.message);
          }
        });
    },

    InReset(){
    InReset() {
      var param = {
          DelKeys: [], 
          Extra: true
        }
        this.http
          .post("api/RgvOperation/WriteInReset", {}, "数据处理中...")
          .then((x) => {
            if (x.status) {
              this.$Message.success('成功.');
              this.$parent.refresh();
            } else {
              return this.$Message.error(x.message);
            }
          });
        DelKeys: [],
        Extra: true
      }
      this.http
        .post("api/RgvOperation/WriteInReset", {}, "数据处理中...")
        .then((x) => {
          if (x.status) {
            this.$Message.success('成功.');
            this.$parent.refresh();
          } else {
            return this.$Message.error(x.message);
          }
        });
    },
    OutReset(){
    OutReset() {
      var param = {
          DelKeys: [], 
          Extra: true
        }
        this.http
          .post("api/RgvOperation/WriteOutReset", {}, "数据处理中...")
          .then((x) => {
            if (x.status) {
              this.$Message.success('成功.');
              this.$parent.refresh();
            } else {
              return this.$Message.error(x.message);
            }
          });
        DelKeys: [],
        Extra: true
      }
      this.http
        .post("api/RgvOperation/WriteOutReset", {}, "数据处理中...")
        .then((x) => {
          if (x.status) {
            this.$Message.success('成功.');
            this.$parent.refresh();
          } else {
            return this.$Message.error(x.message);
          }
        });
    }
  },


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@@ -128,9 +128,9 @@
        OutNew = 100,

        /// <summary>
        /// æ¯è½¦ç§»åŠ¨
        /// æ¯è½¦ç§»åŠ¨ä¸­
        /// </summary>
        [Description("母车移动")]
        [Description("母车移动中")]
        RGV_OutMothercarExecuting = 110,

        /// <summary>

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Binary files differ

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Binary files differ

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/IRgvOperationService.cs

@@ -41,6 +41,14 @@
       WebResponseContent WriteInitialization(SaveModel saveModel);

        /// <summary>
        /// å•ä¸ªæ¨¡å—写入
        /// </summary>
        /// <param name="taskNum"></param>
        /// <param name="message"></param>
        /// <returns></returns>
        WebResponseContent WriteRGVmokuai(SaveModel saveModel);

        /// <summary>
        /// æ‰‹åŠ¨ç§»åŠ¨RGV
        /// </summary>
        /// <param name="saveModel"></param>
@@ -56,5 +64,17 @@
        /// å†™å…¥å¤ä½ï¼ˆå‡ºåº“端）
        /// </summary>
        WebResponseContent WriteOutReset(SaveModel saveModel);

        /// <summary>
        /// ä¸€é”®æš‚停
        /// </summary>
        WebResponseContent WriteOutbuttonpause(SaveModel saveModel);
        WebResponseContent WriteOuttouchstart(SaveModel saveModel);


        /// <summary>
        /// æŸ¥çœ‹æŠ¥è­¦
        /// </summary>
        WebResponseContent ReadAlarminformation(SaveModel saveModel);
    }
}

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/ITaskService.cs

@@ -76,8 +76,6 @@
        /// <summary>
        /// èŽ·å–母车是否有任务，进行判断
        /// </summary>
        /// <param name="Nextaderr"></param>
        /// <returns></returns>
        Dt_Task ObtainMuChetaskbool(AGVStation ZicheinnerSide);

        /// <summary>
@@ -86,6 +84,11 @@
        /// <param name="ZicheinnerSide"></param>
        /// <returns></returns>
        Dt_Task GetChariotTaskBool(string ChildPosiDeviceCode);

        /// <summary>
        /// èŽ·å–HCJ站台是否有任务
        /// </summary>
        Dt_Task GetHCJTaskBool(string ChildPosiDeviceCode, int HCJaddres);

        /// <summary>
        /// æ ¹æ®è®¾å¤‡ï¼Œåœ¨ä¸€ä¸ªåŒºåŸŸå†…，先找里面的任务，再找外侧的任务
@@ -150,6 +153,12 @@
        Dt_Task MothermachinemovementTask2(string DeviceCode);

        /// <summary>
        /// èŽ·å–母车移动任务和移动中的任务（出库）
        /// </summary>
        /// <param name="DeviceCode"></param>
        Dt_Task OutMothermaTask(string DeviceCode);

        /// <summary>
        /// å­è½¦å–货任务，取货HCJ任务
        /// </summary>
        /// <param name="DeviceCode"></param>

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/bin/Debug/net6.0/WIDESEAWCS_DTO.dll

Binary files differ

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Binary files differ

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/bin/Debug/net6.0/WIDESEAWCS_ITaskInfoRepository.dll

Binary files differ

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/bin/Debug/net6.0/WIDESEAWCS_ITaskInfoRepository.pdb

Binary files differ

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/bin/Debug/net6.0/WIDESEAWCS_ITaskInfoService.dll

Binary files differ

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/bin/Debug/net6.0/WIDESEAWCS_ITaskInfoService.pdb

Binary files differ

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Binary files differ

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Binary files differ

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/obj/Debug/net6.0/WIDESEAWCS_ITaskInfoService.csproj.AssemblyReference.cache

Binary files differ

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Binary files differ

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/obj/Debug/net6.0/WIDESEAWCS_ITaskInfoService.pdb

Binary files differ

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/obj/Debug/net6.0/ref/WIDESEAWCS_ITaskInfoService.dll

Binary files differ

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/obj/Debug/net6.0/refint/WIDESEAWCS_ITaskInfoService.dll

Binary files differ

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Controllers/RgvOper/RgvOperationController.cs

@@ -25,7 +25,7 @@


        /// <summary>
        /// æ ¹æ®ä¼ é€’进来的设备名称，查找到对应的DB内容
        /// åˆå§‹åŒ–子母车
        /// </summary>
        /// <param name="taskNum"></param>
        /// <param name="message"></param>
@@ -36,24 +36,71 @@
            return Service.WriteInitialization(saveModel);
        }

        /// <summary>
        /// å•ä¸ªæ¨¡å—写入
        /// </summary>
        /// <param name="taskNum"></param>
        /// <param name="message"></param>
        /// <returns></returns>
        [HttpPost, HttpGet, Route("WriteRGVmokuai")]
        public WebResponseContent WriteRGVmokuai([FromBody] SaveModel saveModel)
        {
            return Service.WriteRGVmokuai(saveModel);
        }

        /// <summary>
        /// æ‰‹åŠ¨ç§»åŠ¨å­æ¯è½¦
        /// </summary>
        [HttpPost, HttpGet, Route("ManualmovementRGV")]
        public WebResponseContent ManualmovementRGV([FromBody] SaveModel saveModel)
        {
            return Service.ManualmovementRGV(saveModel);
        }


        /// <summary>
        /// ä¸€é”®å¤ä½å…¥åº“子母车
        /// </summary>
        [HttpPost, HttpGet, Route("WriteInReset")]
        public WebResponseContent WriteInReset([FromBody] SaveModel saveModel)
        {
            return Service.WriteInReset(saveModel);
        }

        /// <summary>
        /// ä¸€é”®å¤ä½å‡ºåº“子母车
        /// </summary>
        [HttpPost, HttpGet, Route("WriteOutReset")]
        public WebResponseContent WriteOutReset([FromBody] SaveModel saveModel)
        {
            return Service.WriteOutReset(saveModel);
        }


        /// <summary>
        /// ä¸€é”®æš‚停
        /// </summary>
        [HttpPost, HttpGet, Route("WriteOutbuttonpause")]
        public WebResponseContent WriteOutbuttonpause([FromBody] SaveModel saveModel)
        {
            return Service.WriteOutbuttonpause(saveModel);
        }

        /// <summary>
        /// ä¸€é”®å¯åŠ¨
        /// </summary>
        [HttpPost, HttpGet, Route("WriteOuttouchstart")]
        public WebResponseContent WriteOuttouchstart([FromBody] SaveModel saveModel)
        {
            return Service.WriteOuttouchstart(saveModel);
        }

        /// <summary>
        /// è¯»å–报警信息
        /// </summary>
        [HttpPost, HttpGet, Route("ReadAlarminformation")]
        public WebResponseContent ReadAlarminformation([FromBody] SaveModel saveModel)
        {
            return Service.ReadAlarminformation(saveModel);
        }
    }
}

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Log/ÈÎÎñ½ÓÊÕ/2025-10-21/½ÓÊÕÀ¼½£Ï·¢ÈÎÎñ251021.txt

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,100 @@
2025/10/21 9:18:34.428
成功
"接收到的数据为：{\"data\":[{\"taskNo\":20,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"3\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/21 9:18:41.468
成功
"接收到的数据为：{\"data\":[{\"taskNo\":21,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"4\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/21 9:33:24.198
成功
"接收到的数据为：{\"data\":[{\"taskNo\":21,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"1\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/21 10:03:26.706
成功
"接收到的数据为：{\"data\":[{\"taskNo\":21,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"1\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/21 10:03:35.216
成功
"接收到的数据为：{\"data\":[{\"taskNo\":22,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"2\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/21 10:09:32.859
成功
"接收到的数据为：{\"data\":[{\"taskNo\":23,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"3\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/21 10:11:24.118
成功
"接收到的数据为：{\"data\":[{\"taskNo\":24,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"4\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/21 11:17:58.938
成功
"接收到的数据为：{\"data\":[{\"taskNo\":24,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"4\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/21 11:24:06.450
成功
"接收到的数据为：{\"data\":[{\"taskNo\":24,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"4\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/21 11:28:43.572
成功
"接收到的数据为：{\"data\":[{\"taskNo\":24,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"2\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/21 13:51:32.843
成功
"接收到的数据为：{\"data\":[{\"taskNo\":24,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"4\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/21 15:26:14.699
成功
"接收到的数据为：{\"data\":[{\"taskNo\":24,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"4\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/21 15:37:01.80
成功
"接收到的数据为：{\"data\":[{\"taskNo\":25,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"4\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/21 15:40:44.37
成功
"接收到的数据为：{\"data\":[{\"taskNo\":25,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"4\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/21 15:45:42.286
成功
"接收到的数据为：{\"data\":[{\"taskNo\":25,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"4\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/21 15:49:07.419
成功
"接收到的数据为：{\"data\":[{\"taskNo\":25,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"4\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/21 15:57:42.686
成功
"接收到的数据为：{\"data\":[{\"taskNo\":25,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"4\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/21 16:14:27.697
成功
"接收到的数据为：{\"data\":[{\"taskNo\":25,\"type\":1,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"\",\"endAddress\":\"4\"}]}"
-------------------------------

2025/10/21 16:16:47.646
成功
"接收到的数据为：{\"data\":[{\"taskNo\":25,\"type\":1,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"\",\"endAddress\":\"4\"}]}"
-------------------------------

2025/10/21 16:45:23.507
成功
"接收到的数据为：{\"data\":[{\"taskNo\":25,\"type\":1,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"\",\"endAddress\":\"3\"}]}"
-------------------------------


 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Log/ÈÎÎñ½ÓÊÕ/2025-10-22/½ÓÊÕÀ¼½£Ï·¢ÈÎÎñ251022.txt

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,15 @@
2025/10/22 9:25:22.537
成功
"接收到的数据为：{\"data\":[{\"taskNo\":25,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"4\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/22 9:34:15.714
成功
"接收到的数据为：{\"data\":[{\"taskNo\":25,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"4\",\"endAddress\":\"\"}]}"
-------------------------------

2025/10/22 9:53:27.21
成功
"接收到的数据为：{\"data\":[{\"taskNo\":25,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"4\",\"endAddress\":\"\"}]}"
-------------------------------


 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Log/È«¾ÖÒì³£´íÎóÈÕÖ¾_1758192580.log

@@ -153,3 +153,43 @@
--- End of stack trace from previous location ---
   at Microsoft.AspNetCore.Mvc.Infrastructure.ControllerActionInvoker.<InvokeInnerFilterAsync>g__Awaited|13_0(ControllerActionInvoker invoker, Task lastTask, State next, Scope scope, Object state, Boolean isCompleted)
   at Microsoft.AspNetCore.Mvc.Infrastructure.ResourceInvoker.<InvokeNextExceptionFilterAsync>g__Awaited|26_0(ResourceInvoker invoker, Task lastTask, State next, Scope scope, Object state, Boolean isCompleted)
--------------------------------
2025/10/21 14:50:11|
Unexpected end of request content.
【自定义错误】：Unexpected end of request content. 
【异常类型】：BadHttpRequestException 
【异常信息】：Unexpected end of request content. 
【堆栈调用】：   at Microsoft.AspNetCore.Server.Kestrel.Core.Internal.Http.Http1ContentLengthMessageBody.ReadAsyncInternal(CancellationToken cancellationToken)
   at System.Runtime.CompilerServices.PoolingAsyncValueTaskMethodBuilder`1.StateMachineBox`1.System.Threading.Tasks.Sources.IValueTaskSource<TResult>.GetResult(Int16 token)
   at Microsoft.AspNetCore.Server.Kestrel.Core.Internal.Http.HttpRequestStream.ReadAsyncInternal(Memory`1 destination, CancellationToken cancellationToken)
   at Microsoft.AspNetCore.WebUtilities.FileBufferingReadStream.ReadAsync(Memory`1 buffer, CancellationToken cancellationToken)
   at Microsoft.AspNetCore.WebUtilities.StreamHelperExtensions.DrainAsync(Stream stream, ArrayPool`1 bytePool, Nullable`1 limit, CancellationToken cancellationToken)
   at Microsoft.AspNetCore.Mvc.Formatters.NewtonsoftJsonInputFormatter.ReadRequestBodyAsync(InputFormatterContext context, Encoding encoding)
   at Microsoft.AspNetCore.Mvc.ModelBinding.Binders.BodyModelBinder.BindModelAsync(ModelBindingContext bindingContext)
   at Microsoft.AspNetCore.Mvc.ModelBinding.ParameterBinder.BindModelAsync(ActionContext actionContext, IModelBinder modelBinder, IValueProvider valueProvider, ParameterDescriptor parameter, ModelMetadata metadata, Object value, Object container)
   at Microsoft.AspNetCore.Mvc.Controllers.ControllerBinderDelegateProvider.<>c__DisplayClass0_0.<<CreateBinderDelegate>g__Bind|0>d.MoveNext()
--- End of stack trace from previous location ---
   at Microsoft.AspNetCore.Mvc.Infrastructure.ControllerActionInvoker.<InvokeInnerFilterAsync>g__Awaited|13_0(ControllerActionInvoker invoker, Task lastTask, State next, Scope scope, Object state, Boolean isCompleted)
   at Microsoft.AspNetCore.Mvc.Infrastructure.ResourceInvoker.<InvokeNextExceptionFilterAsync>g__Awaited|26_0(ResourceInvoker invoker, Task lastTask, State next, Scope scope, Object state, Boolean isCompleted)
--------------------------------
2025/10/21 16:13:05|
Input string was not in a correct format.
【自定义错误】：Input string was not in a correct format. 
【异常类型】：FormatException 
【异常信息】：Input string was not in a correct format. 
【堆栈调用】：   at System.Number.ThrowOverflowOrFormatException(ParsingStatus status, TypeCode type)
   at System.Int16.Parse(String s)
   at WIDESEAWCS_TaskInfoService.RgvOperationService.WriteRGVmokuai(SaveModel saveModel) in F:\项目\MingHeZhiNeng\嘉兴RGV\9-18\JiaXingRGV\代码管理\WCS\WCS\WIDESEAWCS_Server\WIDESEAWCS_TaskInfoService\RgvOperationService.cs:line 99
   at Castle.Proxies.Invocations.IRgvOperationService_WriteRGVmokuai.InvokeMethodOnTarget()
   at Castle.DynamicProxy.AbstractInvocation.Proceed()
   at Castle.Proxies.IService`1Proxy_6.WriteRGVmokuai(SaveModel saveModel)
   at WIDESEAWCS_Server.Controllers.RgvOper.RgvOperationController.WriteRGVmokuai(SaveModel saveModel) in F:\项目\MingHeZhiNeng\嘉兴RGV\9-18\JiaXingRGV\代码管理\WCS\WCS\WIDESEAWCS_Server\WIDESEAWCS_Server\Controllers\RgvOper\RgvOperationController.cs:line 48
   at lambda_method735(Closure , Object , Object[] )
   at Microsoft.AspNetCore.Mvc.Infrastructure.ActionMethodExecutor.SyncObjectResultExecutor.Execute(IActionResultTypeMapper mapper, ObjectMethodExecutor executor, Object controller, Object[] arguments)
   at Microsoft.AspNetCore.Mvc.Infrastructure.ControllerActionInvoker.<InvokeActionMethodAsync>g__Logged|12_1(ControllerActionInvoker invoker)
   at Microsoft.AspNetCore.Mvc.Infrastructure.ControllerActionInvoker.<InvokeNextActionFilterAsync>g__Awaited|10_0(ControllerActionInvoker invoker, Task lastTask, State next, Scope scope, Object state, Boolean isCompleted)
   at Microsoft.AspNetCore.Mvc.Infrastructure.ControllerActionInvoker.Rethrow(ActionExecutedContextSealed context)
   at Microsoft.AspNetCore.Mvc.Infrastructure.ControllerActionInvoker.Next(State& next, Scope& scope, Object& state, Boolean& isCompleted)
   at Microsoft.AspNetCore.Mvc.Infrastructure.ControllerActionInvoker.InvokeInnerFilterAsync()
--- End of stack trace from previous location ---
   at Microsoft.AspNetCore.Mvc.Infrastructure.ResourceInvoker.<InvokeNextExceptionFilterAsync>g__Awaited|26_0(ResourceInvoker invoker, Task lastTask, State next, Scope scope, Object state, Boolean isCompleted)

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Log/É豸״̬¸ü¸Ä/2025-10-21/¶Ñ¶â»ú״̬¸ü¸Ä251021.txt

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,150 @@
2025/10/21 14:04:12.846
正常
"《设备：DDJ104，修改前状态：0，<修改后状态：1>》................"
-------------------------------

2025/10/21 14:04:13.421
正常
"《设备：DDJ104，修改前状态：1，<修改后状态：0>》................"
-------------------------------

2025/10/21 14:05:20.808
正常
"《设备：DDJ104，修改前状态：0，<修改后状态：1>》................"
-------------------------------

2025/10/21 14:05:29.844
正常
"《设备：DDJ104，修改前状态：1，<修改后状态：0>》................"
-------------------------------

2025/10/21 14:06:47.958
正常
"《设备：DDJ104，修改前状态：0，<修改后状态：1>》................"
-------------------------------

2025/10/21 14:06:50.976
正常
"《设备：DDJ104，修改前状态：1，<修改后状态：0>》................"
-------------------------------

2025/10/21 14:07:54.54
正常
"《设备：DDJ104，修改前状态：0，<修改后状态：1>》................"
-------------------------------

2025/10/21 14:08:09.91
正常
"《设备：DDJ104，修改前状态：1，<修改后状态：0>》................"
-------------------------------

2025/10/21 14:09:18.180
正常
"《设备：DDJ104，修改前状态：0，<修改后状态：1>》................"
-------------------------------

2025/10/21 14:09:24.201
正常
"《设备：DDJ104，修改前状态：1，<修改后状态：0>》................"
-------------------------------

2025/10/21 14:11:30.343
正常
"《设备：DDJ104，修改前状态：0，<修改后状态：1>》................"
-------------------------------

2025/10/21 14:11:48.384
正常
"《设备：DDJ102，修改前状态：0，<修改后状态：1>》................"
-------------------------------

2025/10/21 14:11:57.429
正常
"《设备：DDJ102，修改前状态：1，<修改后状态：0>》................"
-------------------------------

2025/10/21 14:18:27.853
正常
"《设备：DDJ104，修改前状态：1，<修改后状态：1>》................"
-------------------------------

2025/10/21 14:18:30.902
正常
"《设备：DDJ104，修改前状态：1，<修改后状态：0>》................"
-------------------------------

2025/10/21 14:19:38.246
正常
"《设备：DDJ104，修改前状态：0，<修改后状态：1>》................"
-------------------------------

2025/10/21 14:19:44.278
正常
"《设备：DDJ104，修改前状态：1，<修改后状态：0>》................"
-------------------------------

2025/10/21 14:36:40.927
正常
"《设备：DDJ102，修改前状态：0，<修改后状态：1>》................"
-------------------------------

2025/10/21 14:36:46.950
正常
"《设备：DDJ102，修改前状态：1，<修改后状态：0>》................"
-------------------------------

2025/10/21 14:44:51.608
正常
"《设备：DDJ104，修改前状态：0，<修改后状态：1>》................"
-------------------------------

2025/10/21 14:45:12.724
正常
"《设备：DDJ104，修改前状态：1，<修改后状态：0>》................"
-------------------------------

2025/10/21 14:50:10.744
正常
"《设备：DDJ104，修改前状态：0，<修改后状态：1>》................"
-------------------------------

2025/10/21 14:50:20.54
正常
"《设备：DDJ104，修改前状态：0，<修改后状态：1>》................"
-------------------------------

2025/10/21 14:50:23.736
正常
"《设备：DDJ104，修改前状态：1，<修改后状态：0>》................"
-------------------------------

2025/10/21 14:51:43.901
正常
"《设备：DDJ104，修改前状态：0，<修改后状态：1>》................"
-------------------------------

2025/10/21 14:52:01.941
正常
"《设备：DDJ104，修改前状态：1，<修改后状态：0>》................"
-------------------------------

2025/10/21 14:56:09.156
正常
"《设备：DDJ104，修改前状态：0，<修改后状态：1>》................"
-------------------------------

2025/10/21 14:56:18.184
正常
"《设备：DDJ104，修改前状态：1，<修改后状态：0>》................"
-------------------------------

2025/10/21 15:17:18.692
正常
"《设备：DDJ104，修改前状态：0，<修改后状态：1>》................"
-------------------------------

2025/10/21 15:17:40.574
正常
"《设备：DDJ104，修改前状态：1，<修改后状态：0>》................"
-------------------------------


 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Log/É豸״̬¸ü¸Ä/2025-10-22/¶Ñ¶â»ú״̬¸ü¸Ä251022.txt

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,30 @@
2025/10/22 9:47:48.666
正常
"《设备：DDJ101，修改前状态：1，<修改后状态：1>》................《设备：DDJ102，修改前状态：0，<修改后状态：1>》................《设备：DDJ103，修改前状态：1，<修改后状态：1>》................《设备：DDJ104，修改前状态：0，<修改后状态：0>》................"
-------------------------------

2025/10/22 9:50:31.59
正常
"《设备：DDJ104，修改前状态：0，<修改后状态：1>》................"
-------------------------------

2025/10/22 9:50:37.136
正常
"《设备：DDJ104，修改前状态：1，<修改后状态：0>》................"
-------------------------------

2025/10/22 10:28:13.618
正常
"《设备：DDJ104，修改前状态：0，<修改后状态：0>》................"
-------------------------------

2025/10/22 10:28:25.698
正常
"《设备：DDJ102，修改前状态：1，<修改后状态：0>》................"
-------------------------------

2025/10/22 10:28:31.725
正常
"《设备：DDJ101，修改前状态：1，<修改后状态：0>》................"
-------------------------------


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@@ -48,6 +48,7 @@
using WIDESEAWCS_QuartzJob.Service;
using System.Net;
using WIDESEAWCS_ISystemServices;
using System.Security.Claims;

namespace WIDESEAWCS_TaskInfoService
{
@@ -88,6 +89,41 @@
            DeviceProDTO? RGV_taskcomplete = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_taskcomplete", "RGV_taskcomplete");        //任务id
            RgvSetLine(Commonstacker, RGV_taskcomplete.DeviceProAddress, (short)1);

            return webResponse.OK();
        }

        public WebResponseContent WriteRGVmokuai(SaveModel saveModel)
        {
            WebResponseContent webResponse = new WebResponseContent();
            string DeviceName = saveModel.DelKeys[0].ToString();    //工作类型
            string DBType = saveModel.DelKeys[1].ToString();    //设备名称
            short WriteRGVvalue = short.Parse(saveModel.DelKeys[2].ToString());    //写入值
            IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceName);
            SpeStackerCrane Commonstacker = (SpeStackerCrane)device;
            switch (DBType)
            {
                case "1":  // å·¥ä½œæ¨¡å¼ï¼ˆ0手动、1自动）
                           //获取实例
                    DeviceProDTO? RGV_DWorkingmode = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_DWorkingmode", "DeviceCommand");        //任务类型
                                                                                                                                                //第一步写入任务
                    RgvSetLine(Commonstacker, RGV_DWorkingmode.DeviceProAddress, WriteRGVvalue);
                    break;
                case "2":   //复位操作（0不复位、1复位）
                    DeviceProDTO? RGV_Resetoperation = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_Resetoperation", "DeviceCommand");        //任务类型
                                                                                                                                                    //第一步写入任务
                    RgvSetLine(Commonstacker, RGV_Resetoperation.DeviceProAddress, WriteRGVvalue);
                    break;
                case "3":   //任务确认完成（0不确定，1确定）
                    DeviceProDTO? RGV_taskcomplete = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_taskcomplete", "RGV_taskcomplete");        //任务类型
                                                                                                                                                   //第一步写入任务
                    RgvSetLine(Commonstacker, RGV_taskcomplete.DeviceProAddress, WriteRGVvalue);
                    break;
                case "4":   //任务类型(4清除)
                    DeviceProDTO? RGV_RGVtasktypet = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_RGVtasktypet", "DeviceCommand");        //任务类型
                                                                                                                                                //第一步写入任务
                    RgvSetLine(Commonstacker, RGV_RGVtasktypet.DeviceProAddress, WriteRGVvalue);
                    break;
            }
            return webResponse.OK();
        }

@@ -170,6 +206,52 @@
            return webResponse.OK();
        }

        /// <summary>
        /// ä¸€é”®æš‚停
        /// </summary>
        /// <param name="saveModel"></param>
        /// <returns></returns>
        public WebResponseContent WriteOutbuttonpause(SaveModel saveModel)
        {
            WebResponseContent webResponse = new WebResponseContent();
            List<AGVStation> rgvdata = _gvStationService.GetOutStroller();
            foreach (AGVStation rgvstation in rgvdata)
            {
                string DeviceName = rgvstation.ChildPosiDeviceCode;    //设备名称
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceName);
                if (device == null) continue;
                SpeStackerCrane Commonstacker = (SpeStackerCrane)device;

                //获取需要复位的设备
                DeviceProDTO? RGV_Resetoperation = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_DWorkingmode", "DeviceCommand");        //复位报警信息
                RgvSetLine(Commonstacker, RGV_Resetoperation.DeviceProAddress, (short)0);
            }
            return webResponse.OK();
        }

        /// <summary>
        /// ä¸€é”®å¯åŠ¨
        /// </summary>
        /// <param name="saveModel"></param>
        /// <returns></returns>
        public WebResponseContent WriteOuttouchstart(SaveModel saveModel)
        {
            WebResponseContent webResponse = new WebResponseContent();
            List<AGVStation> rgvdata = _gvStationService.GetOutStroller();
            foreach (AGVStation rgvstation in rgvdata)
            {
                string DeviceName = rgvstation.ChildPosiDeviceCode;    //设备名称
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceName);
                if (device == null) continue;
                SpeStackerCrane Commonstacker = (SpeStackerCrane)device;

                //获取需要复位的设备
                DeviceProDTO? RGV_Resetoperation = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_DWorkingmode", "DeviceCommand");        //复位报警信息
                RgvSetLine(Commonstacker, RGV_Resetoperation.DeviceProAddress, (short)1);
            }
            return webResponse.OK();
        }



        /// <summary>
@@ -189,7 +271,7 @@
        /// <param name="conveyorLine"></param>
        /// <param name="DeviceProDataBlock"></param>
        /// <returns></returns>
        public static int GetLine(CommonConveyorLine Commonstacker, string DeviceProDataBlock)
        public static int GetLine(SpeStackerCrane Commonstacker, string DeviceProDataBlock)
        {
            return Commonstacker.Communicator.Read<short>(DeviceProDataBlock);
        }
@@ -206,6 +288,125 @@
        }


        /// <summary>
        /// æŸ¥çœ‹æŠ¥è­¦
        /// </summary>
        public WebResponseContent ReadAlarminformation(SaveModel saveModel)
        {
            WebResponseContent webResponse = new WebResponseContent();
            string DeviceName = saveModel.DelKeys[0].ToString();    //设备名称
            IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceName);
            if (device == null) return webResponse.Error();
            SpeStackerCrane Commonstacker = (SpeStackerCrane)device;
            DeviceProDTO? RGV_Resetoperation = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_Faultcode", "ReadDeviceCommand");
            int baoj = GetLine(Commonstacker, RGV_Resetoperation.DeviceProAddress);
            string alarmMessage = "";
            if (DeviceName == "RGV118")
            {
                 alarmMessage = GetAlarmMessage(baoj);
            }
            else if (DeviceName == "RGV111" || DeviceName == "RGV116")
            {
                 alarmMessage = GetAlarmMessage2(baoj);
            }
            else if (DeviceName == "RGV110" || DeviceName == "RGV112" || DeviceName == "RGV114" || DeviceName == "RGV115")
            {
                 alarmMessage = GetAlarmMessage3(baoj);
            }


            return webResponse.OK(data: alarmMessage);
        }

        // æŠ¥è­¦ä»£ç æ˜ å°„方法
        private string GetAlarmMessage(int alarmCode)
        {
            var alarmMessages = new Dictionary<int, string>
            {
        {0, "无报警"},
        {1, "RGV小车急停被按下"},
        {2, "正转雷达报警"},
        {3, "反转雷达报警"},
        {4, "前进限位报警"},
        {5, "后退限位报警"},
        {6, ""},
        {7, "PLC摸块故障"},
        {8, "PLC扩展模块故障"},
        {9, "称重模块故障"},
        {10, "扫码定位故障"},
        {11, "RGV长时间空转故障"},
        {12, "目的地不等于实际位置故障"},
        {13, "与总控通讯故障"},
        {14, "前雷达屏蔽警告"},
        {15, "后雷达屏蔽警告"},
        {16, "行走变频器故障"},
        {17, "伸缩叉变频器故障"},
        {18, "液压单元过载保护故障"},
        {19, "液压上升超时报警"},
        {20, "液压下降超时报警"},
        {21, "伸缩叉伸出超时报警"},
        {22, "伸缩叉缩回超时报警"},
        {23, "外形检测报警"},
        {24, "称重超重报警"},
        {25, "货叉伸出极限限位报警"},
        {26, "货叉缩回极限限位报警"},
        {27, "取货时自身有货物报警"},
        {28, "放货时自身无货物报警"},
        {29, "货叉未回到初始位报警"},
        {30, "触发仅移动命令时货叉不在初始位报警"},
        {31, "货叉到达初始位但中位传感器未检测到报警"}
            };

            return alarmMessages.ContainsKey(alarmCode) ? alarmMessages[alarmCode] : "未知报警代码";
        }


        private string GetAlarmMessage2(int alarmCode)
        {
            var alarmMessages = new Dictionary<int, string>
    {
        {0, "无报警"},
        {1, "RGV小车急停被按下"},
        {2, "前进限位报警"},
        {3, "后退限位报警"},
        {4, "PLC摸块故障"},
        {5, "PLC扩展模块故障"},
        {6, "扫码定位故障"},
        {7, "RGV长时间空转故障"},
        {8, "目的地不等于实际位置故障"},
        {9, "与总控通讯故障"},
        {10, "行走变频器故障"},
        {11, "液压单元过载保护故障"},
        {12, "液压上升超时报警"},
        {13, "液压下降超时报警"},
        {14, "取货时自身有货物报警"},
        {15, "放货时自身无货物报警"},
        {16, "取货检测不到货物报警"}
    };

            return alarmMessages.ContainsKey(alarmCode) ? alarmMessages[alarmCode] : "未知报警代码";
        }

        private string GetAlarmMessage3(int alarmCode)
        {
            var alarmMessages = new Dictionary<int, string>
    {
        {0, "无报警"},
        {1, "RGV小车急停被按下"},
        {2, "前进限位报警"},
        {3, "后退限位报警"},
        {4, "PLC摸块故障"},
        {5, "PLC扩展模块故障"},
        {6, "RGV长时间空转故障"},
        {7, "目的地不等于实际位置故障"},
        {8, "与总控通讯故障"},
        {9, "行走变频器故障"},
        {10, "取货时自身有货物报警"},
        {11, "放货时自身无货物报警"},
        {12, "停止时位置过冲报警"}
    };

            return alarmMessages.ContainsKey(alarmCode) ? alarmMessages[alarmCode] : "未知报警代码";
        }
    }
}

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs

@@ -257,18 +257,28 @@
        {
            return BaseDal.QueryFirst(x => x.RGVTaskType == (int)RGVTaskTypeEnum.TravelingOnly && x.TaskState == (int)TaskOutStatusEnum.OutNew && x.NextAddress == Nextaderr, TaskOrderBy);
        }

        /// <summary>
        /// èŽ·å–母车是否有任务，进行判断
        /// </summary>
        public Dt_Task ObtainMuChetaskbool(AGVStation ZicheinnerSide)
        {
            Dt_Task dt_Task = BaseDal.QueryFirst(x => (x.TaskState == (int)TaskOutStatusEnum.OutNew || x.TaskState == (int)TaskOutStatusEnum.RGV_OutMothercarExecuting) && x.NextAddress == ZicheinnerSide.MotherCarDeviceCode.ToString(), TaskOrderBy);
            if (dt_Task != null) return dt_Task;
            Dt_Task dt_Task2 = BaseDal.QueryFirst(x => x.Roadway == ZicheinnerSide.ChildPosiDeviceCode, TaskOrderBy);
            if (dt_Task2 != null) return dt_Task2;
            return null;
            return BaseDal.QueryFirst(x => x.RGVTaskType == (int)RGVTaskTypeEnum.TravelingOnly && (x.TaskState == (int)TaskOutStatusEnum.OutNew || x.TaskType == (int)TaskOutStatusEnum.RGV_OutMothercarExecuting), TaskOrderBy);
        }

        public Dt_Task GetChariotTaskBool(string ChildPosiDeviceCode)
        {
            Dt_Task dt_Task2 = BaseDal.QueryFirst(x => x.Roadway == ChildPosiDeviceCode, TaskOrderBy);
            if (dt_Task2 != null) return dt_Task2;
            return null;
        }

        /// <summary>
        /// èŽ·å–HCJ站台是否有任务
        /// </summary>
        public Dt_Task GetHCJTaskBool(string ChildPosiDeviceCode,int HCJaddres)
        {
            Dt_Task dt_Task2 = BaseDal.QueryFirst(x => x.Roadway == ChildPosiDeviceCode && x.CurrentAddress== HCJaddres.ToString(), TaskOrderBy);
            if (dt_Task2 != null) return dt_Task2;
            return null;
        }
@@ -339,13 +349,22 @@
        }

        /// <summary>
        /// èŽ·å–母车移动任务和移动中的任务
        /// èŽ·å–母车移动任务和移动中的任务（入库）
        /// </summary>
        /// <param name="DeviceCode"></param>
        /// <returns></returns>
        public Dt_Task MothermachinemovementTask2(string DeviceCode)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.TaskState == (int)TaskInStatusEnum.RGV_InZicheReleaseFinish && x.TaskState == (int)TaskInStatusEnum.RGV_InMothercarExecuting && x.RGVTaskType == (int)RGVTaskTypeEnum.TravelingOnly, TaskOrderBy);
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && (x.TaskState == (int)TaskInStatusEnum.RGV_InZicheReleaseFinish || x.TaskState == (int)TaskInStatusEnum.RGV_InMothercarExecuting || x.RGVTaskType == (int)RGVTaskTypeEnum.TravelingOnly), TaskOrderBy);
        }

        /// <summary>
        /// èŽ·å–母车移动任务和移动中的任务（出库）
        /// </summary>
        /// <param name="DeviceCode"></param>
        public Dt_Task OutMothermaTask(string DeviceCode)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && (x.TaskState == (int)TaskOutStatusEnum.OutNew || x.TaskState == (int)TaskOutStatusEnum.RGV_OutMothercarExecuting || x.RGVTaskType == (int)TaskOutStatusEnum.RGV_OutMothercarFinish), TaskOrderBy);
        }


@@ -386,6 +405,8 @@
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && (x.TaskState == (int)TaskInStatusEnum.RGV_InReleaseFinish || x.TaskState == (int)TaskInStatusEnum.RGV_InZicheExecuting || x.TaskState == (int)TaskInStatusEnum.RGV_InZicheFinish || x.TaskState == (int)TaskInStatusEnum.RGV_InZicheReleaseExecuting || x.TaskState == (int)TaskInStatusEnum.RGV_InZicheReleaseFinish) && x.RGVTaskType == (int)RGVTaskTypeEnum.PickingUp, TaskOrderBy);
        }





@@ -944,6 +965,8 @@
                task.TaskState = (int)TaskOutStatusEnum.RGV_OutZicheReleaseFinish;
                task.RGVTaskType = (int)RGVTaskTypeEnum.PickingUp;
                task.Roadway = "RGV118";
                task.CurrentAddress = "1171";
                task.NextAddress = "";
            }
            else
            {
@@ -992,7 +1015,6 @@
                        rGVstatus.msg = "明和WCS接收到RGV编号为空，请检查";
                        return rGVstatus;
                    }

                    IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == item.rgvTag);
                    if (device == null)
                    {
@@ -1000,11 +1022,10 @@
                        rGVstatus.msg = "查询的RGV已断线";
                        return rGVstatus;
                    }
                    CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                    SpeStackerCrane Commonstacker = (SpeStackerCrane)device;

                    //当前位置
                    DeviceProDTO? deviceProDTO = conveyorLine.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == item.rgvTag && x.DeviceProParamName == "RGVCurrentlocation" && x.DeviceProParamType == "RGVCurrentlocation");

                    DeviceProDTO? deviceProDTO = Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == item.rgvTag && x.DeviceProParamName == "RGVCurrentlocation" && x.DeviceProParamType == "RGVCurrentlocation");

                    if (item.type == "pick")   //取货
                    {
@@ -1018,7 +1039,7 @@
                            return rGVstatus;
                        }

                        int Currentlocation = conveyorLine.Communicator.Read<short>(deviceProDTO.DeviceProAddress);
                        int Currentlocation = Commonstacker.Communicator.Read<short>(deviceProDTO.DeviceProAddress);
                        if (Currentlocation == aGVStation.Motherinlaw)    //是否在取货位
                        {
                            rGVstatus.code = 0;
@@ -1039,10 +1060,10 @@
                    else if (item.type == "put")    //放货
                    {
                        AGVStation aGVStation = _gvStationService.Corridorequipment(item.rgvTag);
                        int Currentlocation = conveyorLine.Communicator.Read<short>(deviceProDTO.DeviceProAddress);
                        int Currentlocation = Commonstacker.Communicator.Read<short>(deviceProDTO.DeviceProAddress);

                        DeviceProDTO? deviceProFh = conveyorLine.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == item.rgvTag && x.DeviceProParamName == "RgvEquipmentStatus" && x.DeviceProParamType == "RgvEquipmentStatus");
                        int Itstock = conveyorLine.Communicator.Read<short>(deviceProFh.DeviceProAddress);
                        DeviceProDTO? deviceProFh = Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == item.rgvTag && x.DeviceProParamName == "RgvEquipmentStatus" && x.DeviceProParamType == "RgvEquipmentStatus");
                        int Itstock = Commonstacker.Communicator.Read<short>(deviceProFh.DeviceProAddress);

                        if (aGVStation.Motherinlaw== Currentlocation && Itstock==0)
                        {

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 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/obj/Debug/net6.0/WIDESEAWCS_TaskInfoService.AssemblyInfo.cs

@@ -11,12 +11,12 @@
using System;
using System.Reflection;

[assembly: System.Reflection.AssemblyCompanyAttribute("WIDESEAWCs_TaskInfoService")]
[assembly: System.Reflection.AssemblyCompanyAttribute("WIDESEAWCS_TaskInfoService")]
[assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")]
[assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")]
[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0")]
[assembly: System.Reflection.AssemblyProductAttribute("WIDESEAWCs_TaskInfoService")]
[assembly: System.Reflection.AssemblyTitleAttribute("WIDESEAWCs_TaskInfoService")]
[assembly: System.Reflection.AssemblyProductAttribute("WIDESEAWCS_TaskInfoService")]
[assembly: System.Reflection.AssemblyTitleAttribute("WIDESEAWCS_TaskInfoService")]
[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")]

// ç”± MSBuild WriteCodeFragment ç±»ç”Ÿæˆã€‚

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@@ -1 +1 @@
696e07e336e90b059d5a69ceac1b59c1567636d6
0c89bb1cae87ea43ac260fbf353d127eb2b5c7af

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/obj/Debug/net6.0/WIDESEAWCS_TaskInfoService.GeneratedMSBuildEditorConfig.editorconfig

@@ -7,5 +7,5 @@
build_property.PlatformNeutralAssembly = 
build_property.EnforceExtendedAnalyzerRules = 
build_property._SupportedPlatformList = Linux,macOS,Windows
build_property.RootNamespace = WIDESEAWCs_TaskInfoService
build_property.ProjectDir = F:\项目\MingHeZhiNeng\嘉兴RGV\9-18\JiaXingRGV\代码管理\WCS\WCS\WIDESEAWCS_Server\WIDESEAWCs_TaskInfoService\
build_property.RootNamespace = WIDESEAWCS_TaskInfoService
build_property.ProjectDir = F:\项目\MingHeZhiNeng\嘉兴RGV\9-18\JiaXingRGV\代码管理\WCS\WCS\WIDESEAWCS_Server\WIDESEAWCS_TaskInfoService\

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@@ -624,8 +624,14 @@
            Dt_Task Muche2Task = _taskService.ObtainMuChetask(ZicheinnerSide.MotherCardeputy.ToString());
            if (Muche2Task == null) return null;

            //获取子车是否有任务
            Dt_Task zicheTASK = _taskService.GetChariotTaskBool(ZicheinnerSide.ChildPosiDeviceCode);
            if (zicheTASK != null) return null;

            //获取2巷道子车是否有任务
            var muche1 = _agvStationService.GetMothervehicle(ZicheinnerSide.MotherCarDeviceCode);
            Dt_Task Muche1 = _taskService.GetChariotTaskBool(muche1.ChildPosiDeviceCode.ToString());
            if(Muche1!=null) return null;

            return Muche2Task;
        }
@@ -635,15 +641,11 @@
            Dt_Task Muche3Task = _taskService.ObtainMuChetask(ZicheinnerSide.MotherCarDeviceCode.ToString());
            if (Muche3Task == null) return null;

            //判断子车是否有有需要取货的任务
            Dt_Task zicheTASK = _taskService.GetChariotTaskBool(ZicheinnerSide.ChildPosiDeviceCode);
            //判断子车是否有要取HCJ任务
            Dt_Task zicheTASK = _taskService.GetHCJTaskBool(ZicheinnerSide.ChildPosiDeviceCode, ZicheinnerSide.HCJStorageaddress);
            if (zicheTASK != null) return null;

            if (curraddZiChe == ZicheinnerSide.WaitmomentTwo || curraddZiChe == ZicheinnerSide.WaitmomentOne)
            {
                return Muche3Task;
            }
            return null;
            return Muche3Task;
        }
        public Dt_Task? OutboundSideAisle4(int curraddZiChe, AGVStation ZicheinnerSide)
        {
@@ -651,25 +653,16 @@
            Dt_Task Muche4Task = _taskService.ObtainMuChetask(ZicheinnerSide.MotherCardeputy.ToString());
            if (Muche4Task == null) return null;

            //判断是否有需要取HCJ的任务
            Dt_Task zicheTASK = _taskService.GetChariotTaskBool(ZicheinnerSide.ChildPosiDeviceCode);
            if (zicheTASK != null) return null;

            if (curraddZiChe == ZicheinnerSide.WaitmomentOne)
            {
            //判断3巷道是否有出库的任务
            var muche3 = _agvStationService.GetMothervehicle(ZicheinnerSide.MotherCarDeviceCode);
            Dt_Task muchetask = _taskService.OutMothermaTask(muche3.ChildPosiDeviceCode);
            if (muchetask != null) return null;

            }

            

            



            if ( || curraddZiChe == ZicheinnerSide.WaitmomentTwo)
            {
                return Muche4Task;
            }
            return null;
            return Muche4Task;
        }

        #endregion
@@ -901,7 +894,7 @@
                    {
                        RGVMovetask(GdZiche.WaitmomentOne, GdZiche.ChildPosiDeviceCode);
                    }
                    else if (GdZiche.MotherCardeputy == RGVCurrentlocation && RGVCurrentlocation == 1171)
                    else if (GdZiche.MotherCardeputy == RGVCurrentlocation || RGVCurrentlocation == 1171)
                    {
                        RGVMovetask(GdZiche.WaitmomentTwo, GdZiche.ChildPosiDeviceCode);
                    }
@@ -918,14 +911,19 @@
            {
                if (GdZiche.Station_Area == 5)
                {
                    if (GdZiche.MotherCarDeviceCode == RGVCurrentlocation || GdZiche.HCJStorageaddress == RGVCurrentlocation)
                    Dt_Task task = _taskService.GetChariotTaskBool(GdZiche.ChildPosiDeviceCode);
                    if (task == null && RgvCraneStatusValue == (int)RgvEquipmentStatus.NoCargo)
                    {
                        RGVMovetask(GdZiche.WaitmomentOne, GdZiche.ChildPosiDeviceCode);
                        if (GdZiche.MotherCarDeviceCode == RGVCurrentlocation || GdZiche.HCJStorageaddress == RGVCurrentlocation)
                        {
                            RGVMovetask(GdZiche.WaitmomentOne, GdZiche.ChildPosiDeviceCode);
                        }
                        else if (GdZiche.MotherCardeputy == RGVCurrentlocation)
                        {
                            RGVMovetask(GdZiche.WaitmomentTwo, GdZiche.ChildPosiDeviceCode);
                        }
                    }
                    else if (GdZiche.MotherCardeputy == RGVCurrentlocation)
                    {
                        RGVMovetask(GdZiche.WaitmomentTwo, GdZiche.ChildPosiDeviceCode);
                    }
                        
                }
                else
                {

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