From 2c889b38311883ceb703c4e0034c798fdaa2e21c Mon Sep 17 00:00:00 2001
From: wangxinhui <wangxinhui@hnkhzn.com>
Date: 星期二, 12 八月 2025 23:11:57 +0800
Subject: [PATCH] 更新代码,货位分配优化等

---
 代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/成品仓/AGV_CPExtend.cs |  509 +++++++++++++++++++++++++++++++++++++++++++++++++++----
 1 files changed, 467 insertions(+), 42 deletions(-)

diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/\346\210\220\345\223\201\344\273\223/AGV_CPExtend.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/\346\210\220\345\223\201\344\273\223/AGV_CPExtend.cs"
index 1e451d5..d267cb4 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/\346\210\220\345\223\201\344\273\223/AGV_CPExtend.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/\346\210\220\345\223\201\344\273\223/AGV_CPExtend.cs"
@@ -1,4 +1,5 @@
-锘縰sing System;
+锘縰sing OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
@@ -8,7 +9,9 @@
 using WIDESEAWCS_Common.TaskEnum;
 using WIDESEAWCS_Core;
 using WIDESEAWCS_Core.Helper;
+using WIDESEAWCS_DTO.Agv;
 using WIDESEAWCS_Model.Models;
+using WIDESEAWCS_QuartzJob;
 
 namespace WIDESEAWCS_Tasks
 {
@@ -18,51 +21,473 @@
         {
             try
             {
-                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt() && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
-                foreach (var task in newTasks)
+                var AllTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (nameof(AGV_CPJob).Contains(x.DeviceCode))).ToList();
+                var stationMangers = _stationMangerRepository.QueryData();
+                #region 鍏ュ簱浠诲姟鎺ㄩ��
                 {
-                    try
+                    var newTasksIn = AllTasks.Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()) && x.TaskType>=TaskTypeEnum.Inbound.ObjToInt() && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode) && x.TaskType!=999).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
+                    if (newTasksIn.Count>0)
                     {
-                        if (task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
-                            task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
-                        else
-                            task.NextAddress = GetAGVAddress(task.NextAddress);
-                        AgvTaskDTO taskDTO = new AgvTaskDTO()
+                        foreach (var task in newTasksIn)
                         {
-                            TaskCode = task.AgvTaskNum,
-                            ReqCode = DateTime.Now.ToString("yyyyMMddHHmmss") + task.AgvTaskNum,
-                            TaskTyp = task.TaskType < TaskTypeEnum.Inbound.ObjToInt() ? "CPC" : "CPR",
-                            ctnrCode = task.PalletCode,
-                            PositionCodePath = new List<CodePath>()
-                        {
-                            new CodePath()
+                            try
                             {
-                                type="05",
-                                positionCode=task.CurrentAddress
-                            },
-                            new CodePath()
-                            {
-                                type="05",
-                                positionCode=task.NextAddress
+                                if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+                                    task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
+                                else
+                                    task.NextAddress = GetAGVAddress(task.NextAddress);
+                                AgvTaskDTO taskDTO = new AgvTaskDTO()
+                                {
+                                    TaskCode = task.AgvTaskNum,
+                                    ReqCode = DateTime.Now.ToString("yyMMdd") + task.AgvTaskNum,
+                                    TaskTyp = task.TaskType < TaskTypeEnum.Inbound.ObjToInt() ? "CPC" : "CPR",
+                                    ctnrCode = task.PalletCode,
+                                    PositionCodePath = new List<CodePath>()
+                                    {
+                                        new CodePath()
+                                        {
+                                            type = "05",
+                                            positionCode = task.CurrentAddress
+                                        },
+                                        new CodePath()
+                                        {
+                                            type = "05",
+                                            positionCode = task.NextAddress
+                                        }
+                                    }
+                                };
+                                if (taskDTO.TaskTyp== "CPC")
+                                {
+                                    taskDTO.Priority = task.Grade.ToString();
+                                }
+                                if (task.GroupId.IsNotEmptyOrNull())
+                                {
+                                    taskDTO.GroupId=task.GroupId;
+                                }
+                                if (task.TaskType==TaskTypeEnum.OutMesRworkProduct.ObjToInt())
+                                {
+                                    taskDTO.Priority = "127";
+                                }
+                                //鍙戦�丄GV浠诲姟
+                                WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_CPSendTask);
+                                if (!content.Status)
+                                    throw new Exception(content.Message);
+                                if (taskDTO.TaskTyp == "CPC")
+                                {
+                                    task.Dispatchertime = DateTime.Now;
+                                    _taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
+                                }
+                                else
+                                {
+                                    task.Dispatchertime = DateTime.Now;
+                                    _taskService.UpdateTask(task, TaskStatusEnum.AGV_Takeing);
+                                }
+                                Thread.Sleep(500);
                             }
-                        },
-                        };
-                        WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_CPSendTask);
-                        if (!content.Status) throw new Exception(content.Message);
-
-                        task.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
-
-                    }
-                    catch (Exception ex)
-                    {
-                        task.TaskState = TaskStatusEnum.Exception.ObjToInt();
-                        task.ExceptionMessage = ex.Message;
+                            catch (Exception ex)
+                            {
+                                task.TaskState = TaskStatusEnum.Exception.ObjToInt();
+                                task.ExceptionMessage = ex.Message;
+                            }
+                        }
+                        if (newTasksIn.Count > 0)
+                        {
+                            _taskService.UpdateData(newTasksIn);
+                        }
                     }
                 }
-                if (newTasks.Count>0)
+                #endregion
+                #region 鍑哄簱鎺ㄩ�佷换鍔�1绾�
                 {
-                    _taskService.UpdateData(newTasks);
+                    var newTasksOut1 = AllTasks.Where(x => (x.TaskState == TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress=="5236").OrderBy(x => x.Grade).ThenBy(x => x.GroupId).Take(5).ToList();
+                    var downTasksOut1 = AllTasks.Where(x => (x.TaskState > TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5236").ToList();
+                    Dt_StationManger? stationManger = stationMangers.FirstOrDefault(x => x.AGVStationCode == "5236");
+                    IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
+                    if (device != null)
+                    {
+                        OtherDevice otherDevice = (OtherDevice)device;
+                        short stationCurrentStatus = device.Communicator.Read<short>("DB29.112");
+                        if (newTasksOut1.Count > 0 && downTasksOut1.Count <= 0 && stationCurrentStatus == 1)
+                        {
+                            foreach (var task in newTasksOut1)
+                            {
+                                try
+                                {
+                                    if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+                                        task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
+                                    else
+                                        task.NextAddress = GetAGVAddress(task.NextAddress);
+                                    AgvTaskDTO taskDTO = new AgvTaskDTO()
+                                    {
+                                        TaskCode = task.AgvTaskNum,
+                                        ReqCode = DateTime.Now.ToString("yyMMdd") + task.AgvTaskNum,
+                                        TaskTyp = task.TaskType < TaskTypeEnum.Inbound.ObjToInt() ? "CPC" : "CPR",
+                                        ctnrCode = task.PalletCode,
+                                        PositionCodePath = new List<CodePath>()
+                                    {
+                                        new CodePath()
+                                        {
+                                            type = "05",
+                                            positionCode = task.CurrentAddress
+                                        },
+                                        new CodePath()
+                                        {
+                                            type = "05",
+                                            positionCode = task.NextAddress
+                                        }
+                                    }
+                                    };
+                                    if (taskDTO.TaskTyp == "CPC")
+                                    {
+                                        taskDTO.Priority = task.Grade.ToString();
+                                    }
+                                    if (task.GroupId.IsNotEmptyOrNull())
+                                    {
+                                        taskDTO.GroupId = task.GroupId;
+                                    }
+                                    if (task.TaskType == TaskTypeEnum.OutMesRworkProduct.ObjToInt())
+                                    {
+                                        taskDTO.Priority = "127";
+                                    }
+                                    //鍙戦�丄GV浠诲姟
+                                    WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_CPSendTask);
+                                    if (!content.Status)
+                                        throw new Exception(content.Message);
+                                    if (taskDTO.TaskTyp == "CPC")
+                                    {
+                                        task.Dispatchertime = DateTime.Now;
+                                        _taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
+                                    }
+                                    else
+                                    {
+                                        task.Dispatchertime = DateTime.Now;
+                                        _taskService.UpdateTask(task, TaskStatusEnum.AGV_Takeing);
+                                    }
+                                }
+                                catch (Exception ex)
+                                {
+                                    task.TaskState = TaskStatusEnum.Exception.ObjToInt();
+                                    task.ExceptionMessage = ex.Message;
+                                }
+                            }
+                            if (newTasksOut1.Count > 0)
+                            {
+                                _taskService.UpdateData(newTasksOut1);
+                            }
+                        }
+                    }
+                    
                 }
+                #endregion
+                #region 鍑哄簱鎺ㄩ�佷换鍔�2绾�
+                {
+                    var newTasksOut2 = AllTasks.Where(x => (x.TaskState == TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5243").OrderBy(x => x.Grade).ThenBy(x => x.GroupId).Take(5).ToList();
+                    var downTasksOut2 = AllTasks.Where(x => (x.TaskState > TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5243").ToList();
+                    Dt_StationManger? stationManger = stationMangers.FirstOrDefault(x => x.AGVStationCode == "5243");
+                    IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
+                    if (device != null)
+                    {
+                        OtherDevice otherDevice = (OtherDevice)device;
+                        short stationCurrentStatus = device.Communicator.Read<short>("DB29.126");
+                        if (newTasksOut2.Count > 0 && downTasksOut2.Count <= 0 && stationCurrentStatus == 1)
+                        {
+                            foreach (var task in newTasksOut2)
+                            {
+                                try
+                                {
+                                    if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+                                        task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
+                                    else
+                                        task.NextAddress = GetAGVAddress(task.NextAddress);
+                                    AgvTaskDTO taskDTO = new AgvTaskDTO()
+                                    {
+                                        TaskCode = task.AgvTaskNum,
+                                        ReqCode = DateTime.Now.ToString("yyMMdd") + task.AgvTaskNum,
+                                        TaskTyp = task.TaskType < TaskTypeEnum.Inbound.ObjToInt() ? "CPC" : "CPR",
+                                        ctnrCode = task.PalletCode,
+                                        PositionCodePath = new List<CodePath>()
+                                    {
+                                        new CodePath()
+                                        {
+                                            type = "05",
+                                            positionCode = task.CurrentAddress
+                                        },
+                                        new CodePath()
+                                        {
+                                            type = "05",
+                                            positionCode = task.NextAddress
+                                        }
+                                    }
+                                    };
+                                    if (taskDTO.TaskTyp == "CPC")
+                                    {
+                                        taskDTO.Priority = task.Grade.ToString();
+                                    }
+                                    if (task.GroupId.IsNotEmptyOrNull())
+                                    {
+                                        taskDTO.GroupId = task.GroupId;
+                                    }
+                                    if (task.TaskType == TaskTypeEnum.OutMesRworkProduct.ObjToInt())
+                                    {
+                                        taskDTO.Priority = "127";
+                                    }
+                                    //鍙戦�丄GV浠诲姟
+                                    WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_CPSendTask);
+                                    if (!content.Status)
+                                        throw new Exception(content.Message);
+                                    if (taskDTO.TaskTyp == "CPC")
+                                    {
+                                        task.Dispatchertime = DateTime.Now;
+                                        _taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
+                                    }
+                                    else
+                                    {
+                                        task.Dispatchertime = DateTime.Now;
+                                        _taskService.UpdateTask(task, TaskStatusEnum.AGV_Takeing);
+                                    }
+                                }
+                                catch (Exception ex)
+                                {
+                                    task.TaskState = TaskStatusEnum.Exception.ObjToInt();
+                                    task.ExceptionMessage = ex.Message;
+                                }
+                            }
+                            if (newTasksOut2.Count > 0)
+                            {
+                                _taskService.UpdateData(newTasksOut2);
+                            }
+                        }
+                        //else
+                        //{
+                        //    WriteInfo(nameof(AGV_CPJob), $"2绾挎棤浠诲姟锛岀姸鎬亄stationCurrentStatus}");
+                        //}
+                    }
+
+                }
+                #endregion
+                #region 鍑哄簱鎺ㄩ�佷换鍔�3绾�
+                {
+                    var newTasksOut3 = AllTasks.Where(x => (x.TaskState == TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5250").OrderBy(x => x.Grade).ThenBy(x => x.GroupId).Take(5).ToList();
+                    var downTasksOut3 = AllTasks.Where(x => (x.TaskState > TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5250").ToList();
+                    Dt_StationManger? stationManger = stationMangers.FirstOrDefault(x => x.AGVStationCode == "5250");
+                    IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
+                    if (device != null)
+                    {
+                        OtherDevice otherDevice = (OtherDevice)device;
+                        short stationCurrentStatus = device.Communicator.Read<short>("DB29.140");
+                        if (newTasksOut3.Count > 0 && downTasksOut3.Count <= 0 && stationCurrentStatus == 1)
+                        {
+                            foreach (var task in newTasksOut3)
+                            {
+                                try
+                                {
+                                    if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+                                        task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
+                                    else
+                                        task.NextAddress = GetAGVAddress(task.NextAddress);
+                                    AgvTaskDTO taskDTO = new AgvTaskDTO()
+                                    {
+                                        TaskCode = task.AgvTaskNum,
+                                        ReqCode = DateTime.Now.ToString("yyMMdd") + task.AgvTaskNum,
+                                        TaskTyp = task.TaskType < TaskTypeEnum.Inbound.ObjToInt() ? "CPC" : "CPR",
+                                        ctnrCode = task.PalletCode,
+                                        PositionCodePath = new List<CodePath>()
+                                    {
+                                        new CodePath()
+                                        {
+                                            type = "05",
+                                            positionCode = task.CurrentAddress
+                                        },
+                                        new CodePath()
+                                        {
+                                            type = "05",
+                                            positionCode = task.NextAddress
+                                        }
+                                    }
+                                    };
+                                    if (taskDTO.TaskTyp == "CPC")
+                                    {
+                                        taskDTO.Priority = task.Grade.ToString();
+                                    }
+                                    if (task.GroupId.IsNotEmptyOrNull())
+                                    {
+                                        taskDTO.GroupId = task.GroupId;
+                                    }
+                                    if (task.TaskType == TaskTypeEnum.OutMesRworkProduct.ObjToInt())
+                                    {
+                                        taskDTO.Priority = "127";
+                                    }
+                                    //鍙戦�丄GV浠诲姟
+                                    WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_CPSendTask);
+                                    if (!content.Status)
+                                        throw new Exception(content.Message);
+                                    if (taskDTO.TaskTyp == "CPC")
+                                    {
+                                        task.Dispatchertime = DateTime.Now;
+                                        _taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
+                                    }
+                                    else
+                                    {
+                                        task.Dispatchertime = DateTime.Now;
+                                        _taskService.UpdateTask(task, TaskStatusEnum.AGV_Takeing);
+                                    }
+                                }
+                                catch (Exception ex)
+                                {
+                                    task.TaskState = TaskStatusEnum.Exception.ObjToInt();
+                                    task.ExceptionMessage = ex.Message;
+                                }
+                            }
+                            if (newTasksOut3.Count > 0)
+                            {
+                                _taskService.UpdateData(newTasksOut3);
+                            }
+                        }
+                        //else
+                        //{
+                        //    WriteInfo(nameof(AGV_CPJob), $"3绾挎棤浠诲姟锛岀姸鎬亄stationCurrentStatus}");
+                        //}
+                    }
+
+                }
+                #endregion
+                #region 绌烘鎼繍
+                {
+                    var newTasksLocations = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.New.ObjToInt() && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode) && x.Remark == "娴嬭瘯绌烘").ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
+                    if (newTasksLocations.Count>0)
+                    {
+                        foreach (var task in newTasksLocations)
+                        {
+                            try
+                            {
+                                string CurrentAddress = GetAGVAddress(task.CurrentAddress);
+                                string NextAddress = GetAGVAddress(task.NextAddress);
+                                AgvTaskDTO taskDTO = new AgvTaskDTO()
+                                {
+                                    TaskCode = task.AgvTaskNum,
+                                    ReqCode = DateTime.Now.ToString("yyMMdd") + task.AgvTaskNum,
+                                    TaskTyp = "CP",
+                                    ctnrCode = task.PalletCode,
+                                    PositionCodePath = new List<CodePath>()
+                                    {
+                                        new CodePath()
+                                        {
+                                            type="05",
+                                            positionCode=CurrentAddress
+                                        },
+                                        new CodePath()
+                                        {
+                                            type="05",
+                                            positionCode=NextAddress
+                                        }
+                                    },
+                                };
+                                //鍙戦�丄GV浠诲姟
+                                WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_CPSendTask);
+                                if (!content.Status)
+                                    throw new Exception(content.Message);
+                                task.TaskState = TaskStatusEnum.AGV_Takeing.ObjToInt();
+                                task.CurrentAddress = CurrentAddress;
+                                task.NextAddress = NextAddress;
+                                _taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
+                            }
+                            catch (Exception ex)
+                            {
+                                task.TaskState = TaskStatusEnum.Exception.ObjToInt();
+                                task.ExceptionMessage = ex.Message;
+                            }
+                        }
+                    }
+                }
+                #endregion
+            }
+            catch (Exception ex)
+            {
+                WriteError(nameof(AGV_CPJob), ex.Message, ex);
+            }
+        }
+        /// <summary>
+        /// AGV鍙栨斁璐у洖璋�
+        /// </summary>
+        public void ContinueAGVTask()
+        {
+            try
+            {
+                //鑾峰彇鏄惁鏈夊畨鍏ㄧ敵璇蜂腑鐨勪换鍔�
+                var continueTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_WaitToExecute.ObjToInt()) && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
+                foreach (var continueTask in continueTasks)
+                {
+                    //鍙栬揣鍥炶皟
+                    if (continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
+                    {
+                        Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == continueTask.CurrentAddress || x.StationCode == continueTask.CurrentAddress);
+                        if (stationManger == null)
+                        {
+                            continue;
+                        }
+                        IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
+                        if (device == null)
+                        {
+                            continue;
+                        }
+                        OtherDevice otherDevice = (OtherDevice)device;
+                        short canTake = otherDevice.GetValue<GroundStationDBName, short>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
+                        if (canTake != 1)
+                        {
+                            continue;
+                        }
+                    }
+                    else//鏀捐揣鍥炶皟
+                    {
+                        Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == continueTask.NextAddress);
+                        if (stationManger == null)
+                        {
+                            continue;
+                        }
+                        IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
+                        if (device == null)
+                        {
+                            continue;
+                        }
+                        OtherDevice otherDevice = (OtherDevice)device;
+                        short canPut = otherDevice.GetValue<GroundStationDBName, short>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
+                        if (canPut != 1)
+                        {
+                            continue;
+                        }
+                    }
+                    //鑾峰彇璋冨叆鍙傛暟
+                    AGVBoxApplyPassDTO boxApplyPassDTO = new AGVBoxApplyPassDTO()
+                    {
+                        ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
+                        ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
+                        TaskCode = continueTask.AgvTaskNum
+                    };
+                    if (continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
+                    {
+                        boxApplyPassDTO.Type = "1";
+                    }
+                    else
+                    {
+                        boxApplyPassDTO.Type = "2";
+                    }
+                    //璇锋眰鏂欑鍥炶皟鎺ュ彛
+                    WebResponseContent content = _taskService.AgvBoxApplyPass(boxApplyPassDTO);
+                    if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup && boxApplyPassDTO.TaskCode == continueTask.AgvTaskNum)
+                    {
+                        _taskService.UpdateTask(continueTask, TaskStatusEnum.AGV_Executing);
+                    }
+                    else if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && boxApplyPassDTO.TaskCode== continueTask.AgvTaskNum)
+                    {
+                        _taskService.UpdateTask(continueTask, TaskStatusEnum.AGV_Puting);
+                    }
+                    else
+                    {
+                        continueTask.ExceptionMessage = content.Message;
+                        _taskService.UpdateTask(continueTask, TaskStatusEnum.Exception);
+                    }
+                }
+                    
             }
             catch (Exception ex)
             {
@@ -84,11 +509,11 @@
                 var Layer = Convert.ToInt16(targetCodes[3]);
                 var a = Row switch
                 {
-                    1 => "A1",
-                    2 => "B1",
-                    3 => "C1",
-                    4 => "D1",
-                    5 => "E1",
+                    1 => "A",
+                    2 => "B",
+                    3 => "C",
+                    4 => "D",
+                    5 => "E",
                     _ => throw new Exception($"鏈畾涔夌殑鎺�,鍦板潃:銆恵Address}銆�"),
                 };
                 var b = Layer > 9 ? "" + Layer : "0" + Layer;

--
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