JYHB-WCS/src/Khd.Core.Wcs/Wcs/FirstFloor.cs

using Khd.Core.Domain.Models;
using Khd.Core.EntityFramework;
using Khd.Core.Library.Mapper;
using Khd.Core.Plc.S7;
using Khd.Core.Wcs.Global;
using Masuit.Tools.Logging;
using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.Hosting;
using Z.EntityFramework.Plus;

namespace Khd.Core.Wcs.Wcs
{
    /// <summary>
    /// 一楼线程（包括接驳位，提升机调度）
    /// </summary>
    public class FirstFloor
    {
        private readonly IHost _host;
        private Plc.S7.Plc _plc;
        private readonly long F01 = 1;
        private readonly long T01 = 6;
        /// <summary>
        /// 一楼RFID 读
        /// </summary>
        private readonly BasePlcpoint RFID001;
        private readonly BasePlcpoint automatic;
        /// <summary>
        /// 到位信号 读
        /// </summary>
        private readonly BasePlcpoint linesignal01;
        /// <summary>
        /// 提升机流水号 读
        /// </summary>
        private readonly BasePlcpoint serialno06;
        /// <summary>
        /// 提升机状态 读
        /// </summary>
        private readonly BasePlcpoint equipstate06;
        /// <summary>
        /// 提升机任务状态 读
        /// </summary>
        private readonly BasePlcpoint hoistertrayin06;
        /// <summary>
        /// 提升机当前楼层 写
        /// </summary>
        private readonly BasePlcpoint currentfloor06;
        /// <summary>
        /// 提升机目的楼层 写
        /// </summary>
        private readonly BasePlcpoint targetfloor06;
        /// <summary>
        /// 提升机反馈流水号
        /// </summary>
        private readonly BasePlcpoint reserialno06;
        private readonly BasePlcpoint mesClose;




        public FirstFloor(IHost host, Plc.S7.Plc plc)
        {
            this._host = host;
            this._plc = plc;

            //一楼RFID 读
            this.RFID001 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FirstFloorLine") && t.plcpointNo.Contains("RFID001"));
            //到位信号 读
            this.linesignal01 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FirstFloorLine") && t.plcpointNo.Contains("linesignal01"));

            //一楼提升机流水号 读
            this.serialno06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("serialno06"));
            this.mesClose = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("mesclose"));
            this.automatic = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("automatic"));
            //一楼提升机状态 读
            this.equipstate06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("equipstate06"));
            //一楼提升机任务状态 读
            this.hoistertrayin06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("hoistertrayin06"));
            //一楼提升机当前楼层 写
            this.currentfloor06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("currentfloor06"));
            //一楼提升机目的楼层 写
            this.targetfloor06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("targetfloor06"));
            //一楼提升机到位信号 读
            this.reserialno06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("reserialno06"));

        }

        /// <summary>
        /// 启动上件扫描监听
        /// </summary>
        public void StartPoint()
        {
            //Thread firstFloorLine = new(FirstFloorLine)
            //{
            //    IsBackground = true
            //};
            //firstFloorLine.Start();
            Console.WriteLine(DateTime.Now + ":一楼接驳位线程启动成功");
            LogManager.Info("一楼接驳位线程启动成功");

            Thread firstFloorHoister = new(FirstFloorHoister)
            {
                IsBackground = true
            };
            firstFloorHoister.Start();

            //Thread CallEmptyThread = new Thread(CallEmpty)
            //{
            //    IsBackground = true
            //};
            //CallEmptyThread.Start();

            Console.WriteLine(DateTime.Now + ":一楼提升机线程启动成功");
            LogManager.Info("一楼提升机线程启动成功");
        }

        private void CallEmpty()
        {
            using var scope = _host.Services.CreateScope();
            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
            BasePlcpoint oneOutPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "oneOut");
            BasePlcpoint someOutPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "someOut");
            BaseEquip mdjEquip = StaticData.BaseEquip.First(t => t.objid == 40);
            while (true)
            {
                try
                {
                    dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
                    var linesignal = this._plc.Read(this.linesignal01.plcpointAddress);
                    int taskCount = dbContext.WcsTask.Where(t => t.nextPointId == 6 && t.taskStatus > 0 && t.endPointId == 1).Count();
                    int firstFloorCount = dbContext.WcsTask.Where(t => t.currPointId == 1).Count();
                    if (Convert.ToInt32(linesignal) == 0 && taskCount == 0 && firstFloorCount == 0)
                    {
                        bool canSend = dbContext.WcsTask.Where(t => t.floorNo == 1).Where(t => t.taskStatus > 0).Any();
                        if (!canSend)
                        {
                            WcsTaskManual? wcsTaskManual = dbContext.WcsTaskManual.Where(t => t.nextPointId == 40).FirstOrDefault();
                            if (wcsTaskManual != null)
                            {
                                if (wcsTaskManual.taskType == 53)
                                {
                                    this._plc.WriteToPoint(someOutPoint.plcpointAddress, "1", someOutPoint.plcpointLength.ToString());
                                    WcsTask wcsTask = CoreMapper.Map<WcsTask>(wcsTaskManual);
                                    wcsTask.createTime = DateTime.Now;
                                    wcsTask.createBy = "一楼接驳位线程";
                                    wcsTask.taskStatus = 0;
                                    wcsTask.useFlag = 1;
                                    wcsTask.isEmpty = "1";
                                    wcsTask.qty = mdjEquip.emptyCount;
                                    wcsTask.remark = "一楼创建入库任务";
                                    WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
                                    mdjEquip.emptyCount = 0;
                                    dbContext.Update(mdjEquip);
                                    dbContext.Add(wcsTaskLog);
                                    dbContext.Add(wcsTask);
                                    dbContext.SaveChanges();
                                    LogManager.Info("一楼接驳位线程：空托盘任务下发成功");
                                    Console.WriteLine(DateTime.Now + ":一楼接驳位线程：空托盘任务下发成功");
                                }
                            }
                        }
                    }
                }
                catch
                {

                }
                Thread.Sleep(1000);
            }
        }

        public static bool ReadEmptyLocation()
        {
            var oneOutPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "oneOut");
            var someOutPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "someOut");
            var oneInPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "oneIn");
            var someInPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "someIn");
            var oneOutValue = StaticData.PlcDic[0].Read(oneOutPoint.plcpointAddress);
            var someOutValue = StaticData.PlcDic[0].Read(someOutPoint.plcpointAddress);
            var oneInValue = StaticData.PlcDic[0].Read(oneInPoint.plcpointAddress);
            var someInValue = StaticData.PlcDic[0].Read(someInPoint.plcpointAddress);
            if (oneOutValue != null && someOutValue != null && oneInValue != null && someInValue != null)
            {
                if (Convert.ToInt32(oneOutValue) == 0 && Convert.ToInt32(someOutValue) == 0 && Convert.ToInt32(oneInValue) == 0 && Convert.ToInt32(someInValue) == 0)
                {
                    return true;
                }
            }
            return false;
        }

        /// <summary>
        /// 启动一楼接驳位线程
        /// </summary>
        private void FirstFloorLine()
        {
            List<int?> Outtpyes = new() { 2, 4, 8, 6 };
            using var scope = _host.Services.CreateScope();
            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
            while (true)
            {
                try
                {
                    dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
                    var RFID001Value = this._plc.ReadRFID(this.RFID001.plcpointAddress);  //一楼RFID 读
                    var linesignal01Value = this._plc.Read(this.linesignal01.plcpointAddress); //到位信号 读
                    //正常读到plc值
                    if (linesignal01Value != null && RFID001Value != null)
                    {
                        //正常托盘到位
                        BaseEquip baseEquip = dbContext.BaseEquip.First(t => t.objid == 1);
                        if (Convert.ToInt32(linesignal01Value) == 1)
                        {
                            //判断task表里没有该rfid的未完成的入库
                            //信息，未下发去向
                            var task = dbContext.WcsTask.Where(t => t.nextPointId == 1).OrderBy(t => t.createTime).FirstOrDefault();
                            if (task == null)
                            {
                                //根据托盘号获取物料码
                                var material = dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value).FirstOrDefault();
                                WcsTaskLog? taskLog = dbContext.WcsTaskLog.Where(t => t.containerNo == RFID001Value).OrderByDescending(t => t.createTime).FirstOrDefault();

                                if (material != null)
                                {
                                    if (taskLog != null)
                                    {
                                        if (taskLog.materialBarcode == material.materialBarcode)
                                        {
                                            if (baseEquip.containerNo == "0")
                                            {
                                                baseEquip.containerNo = null;
                                                dbContext.Update(baseEquip);
                                                dbContext.SaveChanges();
                                                LogManager.Info("一楼接驳位线程：托盘" + RFID001Value + "解绑信息更新成功");
                                            }
                                            else if (baseEquip.containerNo != RFID001Value)
                                            {
                                                baseEquip.containerNo = RFID001Value;
                                                dbContext.Update(baseEquip);
                                                dbContext.SaveChanges();
                                                LogManager.Info("一楼接驳位线程：托盘" + RFID001Value + "绑定信息更新成功");
                                                Console.WriteLine(DateTime.Now + ":一楼接驳位线程：托盘" + RFID001Value + "绑定信息更新成功");
                                                Thread.Sleep(3000);
                                                continue;
                                            }
                                            else
                                            {
                                                Thread.Sleep(3000);
                                                continue;
                                            }
                                        }
                                    }

                                    var warehouseId = dbContext.WmsWarehouseMaterial.Where(t => t.storageType == "1" && t.storageId == material.materialId).FirstOrDefault()?.warehouseId;
                                    if (warehouseId != null)
                                    {
                                        var TargetFloor = dbContext.WmsBaseWarehouse.Where(t => t.warehouseId == warehouseId).FirstOrDefault();
                                        if (TargetFloor != null)
                                        {
                                            //插入task表

                                            var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.agvType == "I" && t.dicField == TargetFloor.warehouseInstockType).FirstOrDefault();
                                            if (dic != null)
                                            {
                                                var newTask = new WcsTask()
                                                {
                                                    objid = StaticData.SnowId.NextId(),
                                                    serialNo = SystemData.GetSerialNo(dbContext),
                                                    equipmentNo = "F01",
                                                    taskType = Convert.ToInt32(dic.dicValue),
                                                    taskStatus = 0,
                                                    containerNo = RFID001Value,
                                                    materialBarcode = material.materialBarcode,
                                                    materialId = material.materialId,
                                                    qty = Convert.ToInt32(material.bindAmount),
                                                    currPointId = F01,
                                                    currPointNo = "TSJ_01",
                                                    nextPointId = T01,
                                                    nextPointNo = "TSJ_01",
                                                    endPointId = warehouseId,
                                                    fromFloorNo = 1,
                                                    floorNo = TargetFloor.warehouseFloor,
                                                    useFlag = 1,
                                                    createBy = "一楼接驳位",
                                                    createTime = DateTime.Now,
                                                    remark = "一楼创建入库任务"
                                                };
                                                WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(newTask);
                                                dbContext.Add(wcsTaskLog);
                                                dbContext.Add(newTask);
                                                dbContext.SaveChanges();
                                            }
                                        }
                                    }
                                }
                            }
                            else
                            {
                                if (string.IsNullOrEmpty(task.containerNo))
                                {
                                    if (task.qty > 1)//多个托盘
                                    {
                                        if (task.useFlag == 1)
                                        {

                                        }
                                    }
                                    else if (task.qty == 1)
                                    {

                                    }
                                }
                            }
                        }
                    }
                }
                catch (Exception ex)
                {
                    if (ex is PlcException)
                    {
                        foreach (var item in StaticData.PlcDic)
                        {
                            if (item.Value.IP == ex.Message)
                            {
                                StaticData.PlcDic[item.Key] = new Plc.S7.Plc(item.Value.CPU, item.Value.IP, item.Value.Port, item.Value.Rack, item.Value.Slot);
                                StaticData.PlcDic[item.Key].Open();
                            }
                        }
                    }
                    LogManager.Error(ex);
                }
                Thread.Sleep(1000);
            }
        }

        /// <summary>
        /// 提升机线程
        /// </summary>
        private void FirstFloorHoister()
        {
            using var scope = _host.Services.CreateScope();
            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
            while (true)
            {
                try
                {
                    var mesCloseValue = this._plc.Read(this.mesClose.plcpointAddress);  //MES关闭状态 读
                    var serialno06Value = this._plc.Read(this.serialno06.plcpointAddress);  //提升机流水号 读
                    var equipstate06Value = this._plc.Read(this.equipstate06.plcpointAddress); //提升机状态 读
                    var hoisterTrayIn06Value = this._plc.Read(this.hoistertrayin06.plcpointAddress);      //提升机货物到位状态 读
                    var currentfloor06Value = this._plc.Read(this.currentfloor06.plcpointAddress);   //提升机当前楼层 读
                    var targetfloor06Value = this._plc.Read(this.targetfloor06.plcpointAddress);  //提升机目的楼层 写
                    var reserialno06 = this._plc.Read(this.reserialno06.plcpointAddress);  //反馈流水号
                    if (mesCloseValue != null && Convert.ToInt32(mesCloseValue) == 0)
                    {
                        //正常读到plc值
                        if (targetfloor06Value != null && serialno06Value != null && equipstate06Value != null && currentfloor06Value != null && reserialno06 != null && hoisterTrayIn06Value != null)
                        {
                            //提升机空闲
                            if (Convert.ToInt32(equipstate06Value) == 0)
                            {
                                dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
                                var wcsTasks = dbContext.WcsTask.Where(t => t.nextPointId == T01).OrderBy(t => t.createTime).ToList();
                                foreach (var wcsTask in wcsTasks)
                                {
                                    wcsTask.serialNo ??= SystemData.GetSerialNo(dbContext);
                                    if (wcsTasks.Where(t => t.taskStatus > 0).Where(t => t.objid != wcsTask.objid).Any())
                                    {
                                        LogManager.Info("提升机线程：有其他任务正在执行，跳过当前任务");
                                        continue;
                                    }
                                    BaseEquip lineEquip = StaticData.BaseEquip.First(t => t.objid == wcsTask.floorNo);
                                    if (wcsTask.taskStatus == 0 && Convert.ToInt32(hoisterTrayIn06Value) == 0)//创建状态，并且里面没有货物
                                    {
                                        if (lineEquip.equipStatus == 1)
                                        {
                                            LogManager.Info("提升机线程：" + wcsTask.floorNo + "楼接驳位有AGV任务，跳过当前任务");
                                            continue;
                                        }
                                        BasePlcpoint floorPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "RFID00" + wcsTask.fromFloorNo);
                                        if (wcsTask.containerNo == this._plc.ReadRFID(floorPoint.plcpointAddress))
                                        {
                                            if (Convert.ToInt32(currentfloor06Value) == wcsTask.fromFloorNo)
                                            {
                                                wcsTask.taskStatus = 2;
                                                wcsTask.updateBy = "提升机线程";
                                                wcsTask.updateTime = DateTime.Now;
                                                wcsTask.remark = "提升机任务执行中";
                                                BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.fromFloorNo && t.plcpointNo.Contains("wcsrun"));
                                                this._plc.WriteToPoint(basePlcpoint.plcpointAddress, "1", basePlcpoint.plcpointLength.ToString());
                                                this._plc.WriteToPoint(this.serialno06.plcpointAddress, wcsTask.serialNo.ToString(), this.serialno06.plcpointLength.ToString());
                                                dbContext.Update(wcsTask);
                                                dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 2, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行中" });
                                                lineEquip.equipStatus = 1;
                                                dbContext.Update(lineEquip);
                                                dbContext.SaveChanges();
                                            }
                                            else
                                            {
                                                wcsTask.taskStatus = 1;
                                                wcsTask.updateBy = "提升机线程";
                                                wcsTask.updateTime = DateTime.Now;
                                                wcsTask.remark = "提升机任务执行中";
                                                this._plc.WriteToPoint(this.targetfloor06.plcpointAddress, wcsTask.fromFloorNo.ToString(), this.targetfloor06.plcpointLength.ToString());//目的地楼层
                                                this._plc.WriteToPoint(this.serialno06.plcpointAddress, wcsTask.serialNo.ToString(), this.serialno06.plcpointLength.ToString());
                                                dbContext.Update(wcsTask);
                                                dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 1, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行中" });
                                                lineEquip.equipStatus = 1;
                                                dbContext.Update(lineEquip);
                                                dbContext.SaveChanges();
                                            }
                                        }
                                    }
                                    if (wcsTask.taskStatus == 1 && Convert.ToInt32(reserialno06) == wcsTask.serialNo)
                                    {
                                        BasePlcpoint floorPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "RFID00" + wcsTask.fromFloorNo);
                                        if (wcsTask.containerNo == this._plc.ReadRFID(floorPoint.plcpointAddress))
                                        {
                                            if (Convert.ToInt32(currentfloor06Value) == wcsTask.fromFloorNo)//提升机当前楼层为初始地楼层
                                            {
                                                wcsTask.taskStatus = 2;
                                                wcsTask.updateBy = "提升机线程";
                                                wcsTask.updateTime = DateTime.Now;
                                                wcsTask.remark = "提升机任务执行中";
                                                BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.fromFloorNo && t.plcpointNo.Contains("wcsrun"));
                                                this._plc.WriteToPoint(basePlcpoint.plcpointAddress, "1", basePlcpoint.plcpointLength.ToString());
                                                this._plc.WriteToPoint(this.serialno06.plcpointAddress, wcsTask.serialNo.ToString(), this.serialno06.plcpointLength.ToString());
                                                dbContext.Update(wcsTask);
                                                dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 2, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行中" });
                                                dbContext.SaveChanges();
                                            }
                                        }
                                    }
                                    if (wcsTask.taskStatus == 2 && Convert.ToInt32(reserialno06) == wcsTask.serialNo)
                                    {
                                        if (Convert.ToInt32(hoisterTrayIn06Value) == 1)//托盘已经进提升机
                                        {
                                            wcsTask.taskStatus = 3;
                                            wcsTask.updateBy = "提升机线程";
                                            wcsTask.updateTime = DateTime.Now;
                                            wcsTask.remark = "提升机任务执行完成";
                                            this._plc.WriteToPoint(this.targetfloor06.plcpointAddress, wcsTask.floorNo.ToString(), this.targetfloor06.plcpointLength.ToString());//目的地楼层
                                            dbContext.Update(wcsTask);
                                            dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 3, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行完成" });
                                            dbContext.SaveChanges();
                                        }
                                    }
                                    if (wcsTask.taskStatus == 3 && Convert.ToInt32(currentfloor06Value) == wcsTask.floorNo && Convert.ToInt32(reserialno06) == wcsTask.serialNo)//任务状态为3，且当前楼层为任务的目的楼层
                                    {
                                        if (wcsTask.floorNo == 1)
                                        {
                                            if (ReadEmptyLocation())
                                            {
                                                var linesignal = _plc.Read(StaticData.BasePlcpointList.First(t => t.plcpointNo == $"linesignal0{wcsTask.floorNo}").plcpointAddress);
                                                if (linesignal != null && Convert.ToInt32(linesignal) == 0)
                                                {
                                                    wcsTask.taskStatus = 4;
                                                    wcsTask.updateBy = "提升机线程";
                                                    wcsTask.updateTime = DateTime.Now;
                                                    wcsTask.remark = "提升机任务执行完成";
                                                    BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.floorNo && t.plcpointNo.Contains("wcsrun"));
                                                    this._plc.WriteToPoint(basePlcpoint.plcpointAddress, "2", basePlcpoint.plcpointLength.ToString());//去向为2，表示提升机已到达目的地，让货出去
                                                    dbContext.Update(wcsTask);
                                                    dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 4, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行完成" });
                                                    dbContext.SaveChanges();
                                                }
                                                else
                                                {
                                                    BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.equipmentNo == $"clear0{wcsTask.floorNo}");
                                                    this._plc.WriteToPoint(basePlcpoint.plcpointAddress, "1", basePlcpoint.plcpointLength.ToString());
                                                }
                                            }
                                        }
                                        else
                                        {
                                            var linesignal = _plc.Read(StaticData.BasePlcpointList.First(t => t.plcpointNo == $"linesignal0{wcsTask.floorNo}").plcpointAddress);
                                            if (linesignal != null && Convert.ToInt32(linesignal) == 0)
                                            {
                                                wcsTask.taskStatus = 4;
                                                wcsTask.updateBy = "提升机线程";
                                                wcsTask.updateTime = DateTime.Now;
                                                wcsTask.remark = "提升机任务执行完成";
                                                BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.floorNo && t.plcpointNo.Contains("wcsrun"));
                                                this._plc.WriteToPoint(basePlcpoint.plcpointAddress, "2", basePlcpoint.plcpointLength.ToString());//去向为2，表示提升机已到达目的地，让货出去
                                                dbContext.Update(wcsTask);
                                                dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 4, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行完成" });
                                                dbContext.SaveChanges();
                                            }
                                            else
                                            {
                                                BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.equipmentNo == $"clear0{wcsTask.floorNo}");
                                                this._plc.WriteToPoint(basePlcpoint.plcpointAddress, "1", basePlcpoint.plcpointLength.ToString());
                                            }
                                        }
                                    }
                                    else if (wcsTask.taskStatus == 4)
                                    {
                                        BaseEquip floorEquip = StaticData.BaseEquip.First(t => t.objid == wcsTask.floorNo);
                                        wcsTask.nextPointId = floorEquip.objid;
                                        wcsTask.nextPointNo = floorEquip.equipNo;
                                        wcsTask.taskStatus = 5;
                                        wcsTask.updateBy = "提升机线程";
                                        wcsTask.updateTime = DateTime.Now;
                                        wcsTask.remark = "提升机任务执行完成";
                                        lineEquip.equipStatus = 0;
                                        dbContext.Update(lineEquip);
                                        dbContext.Update(wcsTask);
                                        dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 5, nextPointId = floorEquip.objid, nextPointNo = floorEquip.equipNo, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行完成" });
                                        dbContext.SaveChanges();
                                    }
                                    break;
                                }
                            }
                        }
                    }
                    else
                    {
                        if (currentfloor06Value != null && targetfloor06Value != null)
                        {
                            this._plc.WriteToPoint(this.targetfloor06.plcpointAddress, Convert.ToString(currentfloor06Value), this.targetfloor06.plcpointLength.ToString());
                            continue;
                        }
                    }
                }
                catch (Exception ex)
                {
                    if (ex is PlcException)
                    {
                        try
                        {
                            foreach (var item in StaticData.PlcDic)
                            {
                                if (item.Value.IP == ex.Message)
                                {
                                    StaticData.PlcDic[item.Key] = new Plc.S7.Plc(item.Value.CPU, item.Value.IP, item.Value.Port, item.Value.Rack, item.Value.Slot);
                                    StaticData.PlcDic[item.Key].Open();
                                }
                            }
                        }
                        catch
                        {

                        }
                    }
                    LogManager.Error(ex);
                }
                Thread.Sleep(5000);
            }
        }
    }
}