20240702

src/Khd.Core.Api/Controllers/RecieveRcsController.cs

@@ -3,6 +3,7 @@ using Khd.Core.Domain.Dto.webapi;
 using Masuit.Tools;
 using Masuit.Tools.Logging;
 using Microsoft.AspNetCore.Mvc;
+using System.Threading;
 
 namespace Khd.Core.Api.Controllers
 {
@@ -25,15 +26,49 @@ namespace Khd.Core.Api.Controllers
         public ReponseagvCallbackDto agvCallback(agvCallbackDto agvCallbackDto)
         {
             LogManager.Info($"RecieveRcsController接口信息：{agvCallbackDto.ToJsonString()}");
+            if (agvCallbackDto.method == "start")
+            {
+                Thread.Sleep(1000);
+            }
             return _application.AgvCallback(agvCallbackDto);
 
         }
 
-        [HttpPost("MesToAgvComplete")]
+        /// <summary>
+        /// 背负式Agv通知任务完成
+        /// </summary>
+        /// <param name="agvCompeletedRequest"></param>
+        /// <returns></returns>
+        [HttpPost("agvComplete")]
         public AgvCompeletedResponse MesToAgvComplete(AgvCompeleted agvCompeletedRequest)
         {
             LogManager.Info($"RecieveRcsController接口信息：{agvCompeletedRequest.ToJsonString()}");
             return _application.MesToAgvComplete(agvCompeletedRequest);
         }
+
+        /// <summary>
+        /// 原材料入口任务继续通知
+        /// </summary>
+        /// <param name="taskContinue"></param>
+        /// <returns></returns>
+        [HttpPost("taskContinue")]
+        public AgvCompeletedResponse TaskContinue(TaskContinue taskContinue)
+        {
+            LogManager.Info($"TaskContinue 接口收到消息： {taskContinue}");
+            return _application.TaskContinue(taskContinue);
+        }
+
+        /// <summary>
+        /// 柜体拆分验收区通知返库接口
+        /// </summary>
+        /// <param name="taskReturn"></param>
+        /// <returns></returns>
+        [HttpPost("taskReturn")]
+        public AgvCompeletedResponse TaskReturn(TaskReturn taskReturn)
+        {
+            LogManager.Info($"TaskReturn 接口收到消息： {taskReturn}");
+            return _application.TaskReturn(taskReturn);
+        }
+
     }
 }

src/Khd.Core.Application/Interface/IWcsTaskApplication.cs

@@ -24,5 +24,10 @@ namespace Khd.Core.Application.Interface
 
 
         AgvCompeletedResponse MesToAgvComplete(AgvCompeleted agvCompeletedRequest);
+
+
+        AgvCompeletedResponse TaskContinue(TaskContinue taskContinue);
+
+        AgvCompeletedResponse TaskReturn(TaskReturn taskReturn);
     }
 }

src/Khd.Core.Application/WcsTaskApplication.cs

@@ -2,6 +2,7 @@
 using Khd.Core.Domain.Dto.webapi;
 using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
+using Microsoft.EntityFrameworkCore;
 using Microsoft.Extensions.DependencyInjection;
 using System;
 using System.Linq;
@@ -47,18 +48,19 @@ namespace Khd.Core.Application
             ReponseagvCallbackDto reponseagvCallbackDto = new ReponseagvCallbackDto();
             try
             {
+                _dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
                 var wcscmd = _dbContext.WcsCmd
-                    .Where(t=>t.taskCode==agvCallbackDto.taskCode)
+                    .Where(t => t.taskCode == agvCallbackDto.taskCode)
                     .FirstOrDefault();
                 if (wcscmd != null)
                 {
                     WcsTask wcsTask = _dbContext.WcsTask.FirstOrDefault(t => t.objid == wcscmd.taskId);
-                    if(wcsTask != null)
+                    if (wcsTask != null)
                     {
                         //start 开始   end结束   continue继续
                         //待取货
                         if (agvCallbackDto.method.ToLower() == "start")
-                        { 
+                        {
                             wcscmd.cmdStatus = 2;
                             wcscmd.sendFlag = 1;
                             wcsTask.taskStatus = 2;
@@ -87,7 +89,7 @@ namespace Khd.Core.Application
                         {
                             wcscmd.cmdStatus = 5;
                             wcscmd.sendFlag = 1;
-                            wcsTask.taskStatus= 5;
+                            wcsTask.taskStatus = 5;
                             _dbContext.WcsCmd.Update(wcscmd);
                             _dbContext.Update(wcsTask);
                             _dbContext.SaveChanges();
@@ -129,13 +131,19 @@ namespace Khd.Core.Application
             return "";
         }
 
+        /// <summary>
+        /// 背负式Agv通知完成
+        /// </summary>
+        /// <param name="agvCompeletedRequest"></param>
+        /// <returns></returns>
         public AgvCompeletedResponse MesToAgvComplete(AgvCompeleted agvCompeletedRequest)
         {
             AgvCompeletedResponse agvCompeletedResponse = new AgvCompeletedResponse();
             try
             {
-                string stationId = agvCompeletedRequest.stationId;
-                BaseEquip baseEquip = _dbContext.BaseEquip.FirstOrDefault(t=>t.equipNo==stationId);
+                _dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
+                string stationId = agvCompeletedRequest.stationNo;
+                BaseEquip baseEquip = _dbContext.BaseEquip.FirstOrDefault(t => t.equipNo == stationId);
                 if (baseEquip != null)
                 {
                     var wcsCmd = _dbContext.WcsCmd.Where(t => t.nextPointId == baseEquip.objid).FirstOrDefault();
@@ -172,5 +180,78 @@ namespace Khd.Core.Application
             }
             return agvCompeletedResponse;
         }
+
+        /// <summary>
+        /// 4楼到5楼原材料入口继续
+        /// </summary>
+        /// <param name="taskContinue"></param>
+        /// <returns></returns>
+        public AgvCompeletedResponse TaskContinue(TaskContinue taskContinue)
+        {
+            AgvCompeletedResponse compeletedResponse = new AgvCompeletedResponse();
+            try
+            {
+                _dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
+                WcsTask wcsTask = _dbContext.WcsTask
+                    .Where(t => t.materialId == taskContinue.materialId)
+                    .Where(t => t.taskType == 47)
+                    .FirstOrDefault();
+                if (wcsTask != null)
+                {
+                    wcsTask.useFlag = 1;
+                    _dbContext.WcsTask.Update(wcsTask);
+                    _dbContext.SaveChanges();
+                    compeletedResponse.code = "0";
+                    compeletedResponse.message = "成功";
+                }
+                else
+                {
+                    compeletedResponse.code = "1";
+                    compeletedResponse.message = "未找到当前任务";
+                }
+            }
+            catch (Exception ex)
+            {
+                compeletedResponse.code = "1";
+                compeletedResponse.message = ex.Message;
+            }
+            return compeletedResponse;
+        }
+        /// <summary>
+        /// 柜体拆分区通知返库
+        /// </summary>
+        /// <param name="taskReturn"></param>
+        /// <returns></returns>
+        public AgvCompeletedResponse TaskReturn(TaskReturn taskReturn)
+        {
+            AgvCompeletedResponse compeletedResponse = new AgvCompeletedResponse();
+            try
+            {
+                _dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
+                WcsTask wcsTask = _dbContext.WcsTask
+                    .Where(t => t.taskType == 28)
+                    .Where(t => t.materialId == taskReturn.materialId)
+                    .FirstOrDefault();
+                if (wcsTask != null)
+                {
+                    wcsTask.useFlag = 1;
+                    _dbContext.WcsTask.Update(wcsTask);
+                    _dbContext.SaveChanges();
+                    compeletedResponse.code = "0";
+                    compeletedResponse.message = "成功";
+                }
+                else
+                {
+                    compeletedResponse.code = "1";
+                    compeletedResponse.message = "未找到当前任务";
+                }
+            }
+            catch (Exception ex)
+            {
+                compeletedResponse.code = "1";
+                compeletedResponse.message = ex.Message;
+            }
+            return compeletedResponse;
+        }
     }
 }

src/Khd.Core.Domain/Dto/webapi/AgvCompeleted.cs

@@ -9,10 +9,21 @@ namespace Khd.Core.Domain.Dto.webapi
     public class AgvCompeleted
     {
         public string stationId { get; set; }
+        public string stationNo { get; set; }
         public string stationState { get; set; }
         public string method { get; set; }
     }
 
+    public class TaskContinue
+    {
+        public long? materialId { get; set; }
+    }
+
+    public class TaskReturn
+    {
+        public long? materialId { get; set; }
+    }
+
     public class AgvCompeletedResponse
     {
         public string code { get; set; }

src/Khd.Core.Domain/Dto/webapi/AgvStatusDto.cs

@@ -0,0 +1,34 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Khd.Core.Domain.Dto.webapi
+{
+    public class AgvStatusDto
+    {
+        public string code { get; set; }
+        public List<cardStatus> data { get; set; }
+    }
+
+    public class cardStatus
+    {
+        public string battery { get; set; }
+        public string exclType { get; set; }
+        public string mapCode { get; set; }
+        public string online { get; set; }
+        public string[] path { get; set; }
+        public string podCode { get; set; }
+        public string podDir { get; set; }
+        public string posX { get; set; }
+        public string posY { get; set; }
+        public string robotCode { get; set; }
+        public string robotDir { get; set; }
+        public string robotIp { get; set; }
+        public string speed { get; set; }
+        public string status { get; set; }
+        public string stop { get; set; }
+        public string timestamp { get; set; }
+    }
+}

src/Khd.Core.Domain/Models/BaseDictionary.cs

@@ -91,20 +91,20 @@ namespace Khd.Core.Domain.Models
         /// <summary>
         /// 备用字段1
         /// </summary>
-        [Column("ud1")]
-        public string ud1 { get; set; }
+        [Column("agv_type")]
+        public string agvType { get; set; }
 
         /// <summary>
         /// 备用字段2
         /// </summary>
-        [Column("ud2")]
-        public string ud2 { get; set; }
+        [Column("agv_task_type")]
+        public string agvTaskType { get; set; }
 
         /// <summary>
         /// 备用字段3
         /// </summary>
-        [Column("ud3")]
-        public string ud3 { get; set; }
+        [Column("to_plc")]
+        public string ToPlc { get; set; }
 
         /// <summary>
         /// 备注

src/Khd.Core.Domain/Models/BaseEquip.cs

@@ -17,6 +17,9 @@ namespace Khd.Core.Domain.Models
     [Table("wcs_base_equip")]
     public class BaseEquip
     {
+        [Column("empty_count")]
+        public int? emptyCount;
+
         [Column("agv_position_code")]
         public string agvPositionCode { get; set; }
 
@@ -125,6 +128,7 @@ namespace Khd.Core.Domain.Models
         /// </summary>
         [Column("remark")]
         public string remark { get; set; }
+
     }
 }
 

src/Khd.Core.Domain/Models/BasePlc.cs

@@ -0,0 +1,32 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel.DataAnnotations.Schema;
+using System.Linq;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Khd.Core.Domain.Models
+{
+    [Table("base_plcpoint")]
+    public class BasePlc
+    {
+        [Column("id")]
+        public int Id { get; set; }
+
+        [Column("name")]
+        public string Name { get; set; }
+
+        [Column("station")]
+        public string Station { get; set; }
+
+        [Column("address")]
+        public string Address { get; set; }
+
+        [Column("value")]
+        public string Value { get; set; }
+
+        [Column("type")]
+        public string type { get; set; }
+    }
+}

src/Khd.Core.Domain/Models/WcsTask.cs

@@ -56,6 +56,21 @@ namespace Khd.Core.Domain.Models
 
         /// <summary>
         /// 任务类型,字典表
+        /// 27提升机输送线对接位-验收拆分区
+        /// 28验收拆分区-原材料周转区
+        /// 29回转输送线回库口-辅料库货架
+        /// 30辅料库货架-回转输送线出库口
+        /// 31回转输送线回库口-辅料库货架
+        /// 32物料分拣位-装配区领料工位
+        /// 33原材料周转区-背板安装区
+        /// 34背板安装区-半成品周转区
+        /// 35半成品周转区-检测台
+        /// 37检验台-成品区
+        /// 38成品区-提升机输送线对接点
+        /// 46原材料-柜体拆分区
+        /// 47接驳位-原材料周转区
+        /// 
+        /// 
         /// </summary>
         [Column("task_type")]
         public int? taskType { get; set; }

src/Khd.Core.Domain/Models/WcsTaskLog.cs

@@ -17,17 +17,13 @@ namespace Khd.Core.Domain.Models
     [Table("wcs_task_log")]
     public class WcsTaskLog
     {
+        [Column("from_floor_no")]
+        public int? fromFloorNo { get; set; }
 
         [Key]
         [Column("objid")]
         public long objid { get; set; }
 
-        /// <summary>
-        /// 任务ID
-        /// </summary>
-        [Column("taskid")]
-        public long? taskid { get; set; }
-
         /// <summary>
         /// wcs_warehouse_order 主键id
         /// </summary>
@@ -60,6 +56,21 @@ namespace Khd.Core.Domain.Models
 
         /// <summary>
         /// 任务类型,字典表
+        /// 27提升机输送线对接位-验收拆分区
+        /// 28验收拆分区-原材料周转区
+        /// 29回转输送线回库口-辅料库货架
+        /// 30辅料库货架-回转输送线出库口
+        /// 31回转输送线回库口-辅料库货架
+        /// 32物料分拣位-装配区领料工位
+        /// 33原材料周转区-背板安装区
+        /// 34背板安装区-半成品周转区
+        /// 35半成品周转区-检测台
+        /// 37检验台-成品区
+        /// 38成品区-提升机输送线对接点
+        /// 46原材料-柜体拆分区
+        /// 47接驳位-原材料周转区
+        /// 
+        /// 
         /// </summary>
         [Column("task_type")]
         public int? taskType { get; set; }
@@ -80,7 +91,7 @@ namespace Khd.Core.Domain.Models
         /// 物料号
         /// </summary>
         [Column("material_no")]
-        public int? materialNo { get; set; }
+        public string? materialNo { get; set; }
 
         /// <summary>
         /// 数量
@@ -112,11 +123,14 @@ namespace Khd.Core.Domain.Models
         [Column("curr_point_id")]
         public long? currPointId { get; set; }
 
+        /// <summary>
+        /// 下一点位id
+        /// </summary>
         [Column("next_point_id")]
         public long? nextPointId { get; set; }
 
         /// <summary>
-        /// 结束点编号
+        /// 下一点位编号
         /// </summary>
         [Column("next_point_no")]
         public string nextPointNo { get; set; }
@@ -131,7 +145,7 @@ namespace Khd.Core.Domain.Models
         /// 结束点id
         /// </summary>
         [Column("end_point_id")]
-        public Guid endPointId { get; set; }
+        public long? endPointId { get; set; }
 
         /// <summary>
         /// 所属楼层
@@ -192,6 +206,9 @@ namespace Khd.Core.Domain.Models
         /// </summary>
         [Column("remark")]
         public string remark { get; set; }
+
+        [Column("is_delete")]
+        public int? IsDelete { get; set; }
     }
 }
 

src/Khd.Core.Domain/Models/WmsBaseLocation.cs

@@ -40,7 +40,7 @@ namespace Khd.Core.Domain.Models
         public string agvPositionCode { get; set; }
 
         [Column("warehouse_floor")]
-        public int warehouseFloor { get; set; }
+        public int? warehouseFloor { get; set; }
 
         /// <summary>
         /// 库位编码
@@ -221,6 +221,9 @@ namespace Khd.Core.Domain.Models
         /// </summary>
         [Column("height")]
         public decimal? height { get; set; }
+
+        [Column("container_status")]
+        public string ContainerStatus { get; set; }
     }
 }
 

src/Khd.Core.Domain/Models/WmsBaseWarehouse.cs

@@ -106,11 +106,11 @@ namespace Khd.Core.Domain.Models
         [Column("active_flag")]
         public string activeFlag { get; set; }
 
-        /// <summary>
-        /// 审核标识 （1是，0否）
-        /// </summary>
-        [Column("audit_flag")]
-        public string auditFlag { get; set; }
+        ///// <summary>
+        ///// 审核标识 （1是，0否）
+        ///// </summary>
+        //[Column("audit_flag")]
+        //public string auditFlag { get; set; }
 
         /// <summary>
         /// 返库标识(1是，0否)

src/Khd.Core.Domain/Models/WmsProductInstock.cs

@@ -22,6 +22,11 @@ namespace Khd.Core.Domain.Models
         [Column("product_instock_id")]
         public long productInstockId { get; set; }
 
+        [Column("sale_order_id")]
+        public long? SaleOrderId { get; set; }
+
+        [Column("saleorder_code")]
+        public string saleorderCode { get; set; }
         /// <summary>
         /// 任务编号
         /// </summary>
@@ -33,7 +38,11 @@ namespace Khd.Core.Domain.Models
         /// </summary>
         [Column("warehouse_id")]
         public long warehouseId { get; set; }
-
+        /// <summary>
+        /// 仓库ID
+        /// </summary>
+        [Column("warehouse_floor")]
+        public int? warehouseFloor { get; set; }
         /// <summary>
         /// 库位编码
         /// </summary>

src/Khd.Core.Domain/Models/WmsProductOutstock.cs

@@ -110,7 +110,7 @@ namespace Khd.Core.Domain.Models
         /// 出库目的地
         /// </summary>
         [Column("end_station_code")]
-        public long? endStationCode { get; set; }
+        public string endStationCode { get; set; }
 
         /// <summary>
         /// 申请数量

src/Khd.Core.Domain/Models/WmsProductStock.cs

@@ -68,7 +68,7 @@ namespace Khd.Core.Domain.Models
         /// 产品ID，关联物料信息的物料ID
         /// </summary>
         [Column("product_id")]
-        public long productId { get; set; }
+        public long? productId { get; set; }
 
         /// <summary>
         /// 计划编号,关联pd_base_plan_info的plan_code

src/Khd.Core.Domain/Models/WmsRawOutstock.cs

@@ -90,7 +90,7 @@ namespace Khd.Core.Domain.Models
         /// 已出库数量
         /// </summary>
         [Column("real_outstock_amount")]
-        public decimal realOutstockAmount { get; set; }
+        public decimal? realOutstockAmount { get; set; }
 
         /// <summary>
         /// 出库目的地

src/Khd.Core.Domain/Models/WmsRawReturn.cs

@@ -0,0 +1,168 @@
+
+//-----------------------------------------------------------------------
+//<copyright>
+// * Copyright (C) 2021 KEHAIDASOFT All Rights Reserved
+// * version : 4.0.30319.42000
+// * author  : khd by t4-2
+// </copyright>
+//-----------------------------------------------------------------------
+
+using System;
+using System.ComponentModel.DataAnnotations;
+using System.ComponentModel.DataAnnotations.Schema;
+
+namespace Khd.Core.Domain.Models
+{
+
+    [Table("wms_raw_return")]
+    public class WmsRawReturn
+    {
+
+        [Key]
+        [Column("raw_return_id")]
+        public long rawReturnId { get; set; }
+
+        /// <summary>
+        /// 任务编号
+        /// </summary>
+        [Column("task_code")]
+        public string taskCode { get; set; }
+
+        /// <summary>
+        /// 仓库ID;领料时需要保存
+        /// </summary>
+        [Column("warehouse_id")]
+        public long? warehouseId { get; set; }
+
+        /// <summary>
+        /// 库位编码
+        /// </summary>
+        [Column("location_code")]
+        public string locationCode { get; set; }
+
+        /// <summary>
+        /// 计划编号,关联mes_product_plan_info的plan_code
+        /// </summary>
+        [Column("plan_code")]
+        public string planCode { get; set; }
+
+        /// <summary>
+        /// 计划明细编号,关联mes_product_plan_detail的plan_detail_code
+        /// </summary>
+        [Column("plan_detail_code")]
+        public string planDetailCode { get; set; }
+
+
+        [Column("material_id")]
+        public long? materialId { get; set; }
+
+        /// <summary>
+        /// 物料批次
+        /// </summary>
+        [Column("material_batch")]
+        public string materialBatch { get; set; }
+
+        /// <summary>
+        /// 计划出库数量
+        /// </summary>
+        [Column("plan_amount")]
+        public decimal planAmount { get; set; }
+
+        /// <summary>
+        /// 已出库数量
+        /// </summary>
+        [Column("return_amount")]
+        public decimal returnAmount { get; set; }
+
+        /// <summary>
+        /// 出库目的地
+        /// </summary>
+        [Column("end_station_code")]
+        public string endStationCode { get; set; }
+
+        /// <summary>
+        /// 操作类型(0自动,1人工,2强制,3调度)
+        /// </summary>
+        [Column("operation_type")]
+        public string operationType { get; set; }
+
+        /// <summary>
+        /// 任务类型(1生产领料,2拆分出库,3组装出库,9其他)
+        /// </summary>
+        [Column("task_type")]
+        public string taskType { get; set; }
+
+        /// <summary>
+        /// 申请原因
+        /// </summary>
+        [Column("apply_reason")]
+        public string applyReason { get; set; }
+
+        /// <summary>
+        /// 审核原因
+        /// </summary>
+        [Column("audit_reason")]
+        public string auditReason { get; set; }
+
+        /// <summary>
+        /// 审核状态(0待审核,1审核通过,2审核未通过)
+        /// </summary>
+        [Column("audit_status")]
+        public string auditStatus { get; set; }
+
+        /// <summary>
+        /// 执行状态(0待执行,1执行中,2执行完成)
+        /// </summary>
+        [Column("execute_status")]
+        public string executeStatus { get; set; }
+
+        /// <summary>
+        /// 申请人
+        /// </summary>
+        [Column("apply_by")]
+        public string applyBy { get; set; }
+
+        /// <summary>
+        /// 申请时间
+        /// </summary>
+        [Column("apply_date")]
+        public DateTime? applyDate { get; set; }
+
+        /// <summary>
+        /// 审核人
+        /// </summary>
+        [Column("audit_by")]
+        public string auditBy { get; set; }
+
+        /// <summary>
+        /// 审核时间
+        /// </summary>
+        [Column("audit_date")]
+        public DateTime? auditDate { get; set; }
+
+        /// <summary>
+        /// 最后更新人
+        /// </summary>
+        [Column("update_by")]
+        public string updateBy { get; set; }
+
+        /// <summary>
+        /// 最后更新时间
+        /// </summary>
+        [Column("update_date")]
+        public DateTime? updateDate { get; set; }
+
+        /// <summary>
+        /// 执行开始时间
+        /// </summary>
+        [Column("begin_time")]
+        public DateTime? beginTime { get; set; }
+
+        /// <summary>
+        /// 执行结束时间
+        /// </summary>
+        [Column("end_time")]
+        public DateTime? endTime { get; set; }
+    }
+}
+

src/Khd.Core.Domain/Models/WmsRawStock.cs

@@ -50,7 +50,7 @@ namespace Khd.Core.Domain.Models
         /// 物料ID
         /// </summary>
         [Column("material_id")]
-        public long materialId { get; set; }
+        public long? materialId { get; set; }
 
         /// <summary>
         /// 入库批次号
@@ -92,19 +92,19 @@ namespace Khd.Core.Domain.Models
         /// 总数量;库位存放的总数量
         /// </summary>
         [Column("total_amount")]
-        public decimal totalAmount { get; set; }
+        public decimal? totalAmount { get; set; }
 
         /// <summary>
         /// 冻结数量;手动冻结的，暂时可不用
         /// </summary>
         [Column("frozen_amount")]
-        public decimal frozenAmount { get; set; }
+        public decimal? frozenAmount { get; set; }
 
         /// <summary>
         /// 占用数量;申请时占用的数量，在出库时要减去出库数量，并且总数量要同步更新;
         /// </summary>
         [Column("occupy_amount")]
-        public decimal occupyAmount { get; set; }
+        public decimal? occupyAmount { get; set; }
 
         /// <summary>
         /// 供应商ID

src/Khd.Core.EntityFramework/DefaultDbContext.cs

@@ -1,4 +1,5 @@
-using Khd.Core.Domain.Models;
+using Khd.Core.Domain.Dto.wcs;
+using Khd.Core.Domain.Models;
 using Microsoft.EntityFrameworkCore;
 
 namespace Khd.Core.EntityFramework
@@ -8,12 +9,16 @@ namespace Khd.Core.EntityFramework
         public DefaultDbContext(DbContextOptions<DefaultDbContext> options) : base(options)
         {
         }
+        public DbSet<WmsRawReturn> WmsRawReturn { get; set; }
+
         public DbSet<BaseDictionary> BaseDictionary { get; set; }
 
         public DbSet<BaseEquip> BaseEquip { get; set; }
 
         public DbSet<BasePlcpoint> BasePlcpoint { get; set; }
 
+        public DbSet<BasePlc> BasePlc { get; set; }
+
         public DbSet<MesBasePalletInfo> MesBasePalletInfo { get; set; }
 
         public DbSet<WcsCmd> WcsCmd { get; set; }

src/Khd.Core.Library/Khd.Core.Library.csproj

@@ -5,6 +5,7 @@
 	</PropertyGroup>
 
 	<ItemGroup>
+		<PackageReference Include="Mapster" Version="7.4.0" />
 		<PackageReference Include="Microsoft.AspNetCore.Mvc" Version="2.2.0" />
 		<PackageReference Include="Microsoft.EntityFrameworkCore" Version="6.0.21" />
 		<PackageReference Include="Swashbuckle.AspNetCore" Version="6.5.0" />

src/Khd.Core.Library/Mapper/CoreMapper.cs

@@ -0,0 +1,42 @@
+using Mapster;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Khd.Core.Library.Mapper
+{
+    public class CoreMapper
+    {
+        /// <summary>
+        /// Map source object to destination object
+        /// </summary>
+        /// <typeparam name="TDestination"> The type of the destination. </typeparam>
+        /// <param name="source"> The source object. </param>
+        /// <returns>The destination object. </returns>
+        /// <exception cref="ArgumentNullException"> Thrown when source is null. </exception>
+        public static TDestination Map<TDestination>(object source)
+        {
+            if(source == null) 
+                throw new ArgumentNullException("Map Error : source is null");
+            TypeAdapterConfig config = new TypeAdapterConfig();
+
+            config.NewConfig<string, Guid>().MapWith(dest => string.IsNullOrEmpty(dest.Trim()) ? Guid.Empty : new Guid(dest));
+            config.NewConfig<string, Guid?>().MapWith(dest => string.IsNullOrEmpty(dest.Trim()) ? null : new Guid(dest));
+            config.NewConfig<Guid, string>().MapWith(dest => dest.ToString());
+
+            config.NewConfig<string, DateTime>().MapWith(dest => string.IsNullOrEmpty(dest) ? DateTime.Now : Convert.ToDateTime(dest));
+            config.NewConfig<string, DateTime?>().MapWith(dest => string.IsNullOrEmpty(dest) ? null : Convert.ToDateTime(dest));
+            config.NewConfig<DateTime, string>().MapWith(dest => dest.ToString());
+            //  var c = source.Adapt(destination, config2);
+            config.NewConfig<string, string>().MapWith(dest => dest.Trim());
+            // config.ForType<string, Guid>().Map(member: guid => guid, source: @string => string.IsNullOrEmpty(@string) ? Guid.Empty : new Guid(@string));
+            //  config.ForType<Guid, String>().Map(member: @string => @string, source: guid => ("wode"));
+            config.Default.IgnoreNullValues(true);//忽略null
+            config.Default.NameMatchingStrategy(NameMatchingStrategy.IgnoreCase);//忽略大小写
+            var destination = source.Adapt<TDestination>(config);
+            return destination;
+        }
+    }
+}

src/Khd.Core.Plc/S7/PLCHelpers.cs

@@ -260,5 +260,6 @@ namespace Khd.Core.Plc.S7
 
             return package.ToArray();
         }
+
     }
 }

src/Khd.Core.Plc/S7/PlcSynchronous.cs

@@ -79,7 +79,7 @@ namespace Khd.Core.Plc.S7
             return Read(adr.DataType, adr.DbNumber, adr.StartByte, adr.VarType, 1, (byte)adr.BitNumber);
         }
 
-        public object? Read(string variable,VarType varType)
+        public object? Read(string variable, VarType varType)
         {
             var adr = new PLCAddress(variable);
             return Read(adr.DataType, adr.DbNumber, adr.StartByte, varType, 1, (byte)adr.BitNumber);
@@ -316,7 +316,7 @@ namespace Khd.Core.Plc.S7
             }
             catch (Exception exc)
             {
-                throw new PlcException(ErrorCode.ReadData, exc);
+                throw new PlcException(ErrorCode.ReadData, this.IP, exc);
             }
         }
 
@@ -348,7 +348,7 @@ namespace Khd.Core.Plc.S7
             }
             catch (Exception exc)
             {
-                throw new PlcException(ErrorCode.WriteData, exc);
+                throw new PlcException(ErrorCode.WriteData, this.IP, exc);
             }
         }
 

src/Khd.Core.Plc/StaticPlcHelper.cs

@@ -72,6 +72,10 @@ namespace Khd.Core.Plc
             {
                 return Convert.ToByte(value);
             }
+            if (len == "8")
+            {
+                return Convert.ToString(value);
+            }
             return 0;
         }
     }

src/Khd.Core.Wcs/Global/HttpHelper.cs

@@ -5,9 +5,8 @@ namespace Khd.Core.Wcs
     public class HttpHelper
     {
 
-        public static string SendPostMessage(string ip, int port, string url, string message)
+        public static string SendPostMessage(string ip, int port, string url, string message,string contentType="application/Text")
         {
-            var contentType = "application/Text";
             string retsult = HttpPost("http://" + ip + ":" + port + "/" + url, message, contentType, 30, null);
             return retsult;
         }

src/Khd.Core.Wcs/Global/StaticData.cs

@@ -36,13 +36,32 @@ namespace Khd.Core.Wcs.Global
         public static List<WmsWarehouseMaterial> WmsWarehouseMaterial = new List<WmsWarehouseMaterial>();
         public static List<MesBasePalletInfo> MesBasePalletInfo = new List<MesBasePalletInfo>();
         public static List<BaseDictionary> BaseDictionary = new List<BaseDictionary>();
-        public static List<BaseEquip> BaseEquip = new List<BaseEquip>();
+
+        private static object baseEquipLock = new object();
+        private static List<BaseEquip> _baseEquip= new List<BaseEquip>();
+        public static List<BaseEquip> BaseEquip
+        {
+            get
+            {
+                lock (baseEquipLock)
+                {
+                    return _baseEquip;
+                }
+            }
+            set
+            {
+                lock (baseEquipLock)
+                {
+                    _baseEquip = value;
+                }
+            }
+        }
         public static List<WcsCmd> WcsCmd = new List<WcsCmd>();
         public static List<WcsCmdLog> WcsCmdLog = new List<WcsCmdLog>();
         public static List<WcsStock> WcsStock = new List<WcsStock>();
         public static List<WcsInWareOrder> WcsInWareOrder = new List<WcsInWareOrder>();
         public static List<WcsOutWareOrder> WcsOutWareOrder = new List<WcsOutWareOrder>();
-
+        public static List<BasePlc> basePlcs = new List<BasePlc>();
         public static List<PlcConfig> PlcConfigs { get;  set; }
         public static Dictionary<int,Dictionary<string,PlcPoint>> PlcPoints = new Dictionary<int, Dictionary<string, PlcPoint>>();
         public static Dictionary<int, Plc.S7.Plc> PlcDic = new Dictionary<int, Plc.S7.Plc>();

src/Khd.Core.Wcs/MainCentralControl.cs

@@ -1,4 +1,5 @@
-using Khd.Core.EntityFramework;
+using Khd.Core.Domain.Models;
+using Khd.Core.EntityFramework;
 using Khd.Core.Plc;
 using Khd.Core.Plc.S7;
 using Khd.Core.Wcs.Global;
@@ -9,6 +10,7 @@ using Microsoft.Extensions.Hosting;
 using System.Data;
 using System.Net.Http.Headers;
 using System.Text;
+using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs
 {
@@ -46,19 +48,31 @@ namespace Khd.Core.Wcs
                 //设置默认去向=>1为 Int16位
                 WcsMoRenQuXiang = StaticPlcHelper.GetValue("2", "1");
                 dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
+
                 StaticData.BasePlcpointList = dbContext.BasePlcpoint.Where(t => t.isDelete == 0).ToList();
                 StaticData.BaseEquip = dbContext.BaseEquip.ToList();
+                StaticData.basePlcs = dbContext.BasePlc.ToList();
+                StaticData.BaseDictionary = dbContext.BaseDictionary.ToList();
                 foreach (var plcConfig in StaticData.PlcConfigs)
                 {
                     if (!StaticData.PlcDic.Any(t => t.Key == plcConfig.Code))
                     {
                         Plc.S7.Plc plc;
                         plc = new Plc.S7.Plc(plcConfig.CpuType, plcConfig.IP, plcConfig.Port, plcConfig.Rack, plcConfig.Slot);
-                        plc.Open();
+                        try
+                        {
+                            plc.Open();
+                            Console.WriteLine(DateTime.Now + ":连接到PLC：" + plcConfig.IP);
+                        }
+                        catch
+                        {
+                            Console.WriteLine(DateTime.Now + ":连接Plc" + plcConfig.IP + "失败~~~~~~~");
+                        }
                         StaticData.PlcDic.TryAdd(plcConfig.Code, plc);
                     }
                 }
-                ////创建任务
+
+                //////创建任务
                 //CreateTaskByRecord createTaskByRecord = new(_host, StaticData.PlcDic[0], "");
                 //createTaskByRecord.StartPoint();
 
@@ -101,10 +115,10 @@ namespace Khd.Core.Wcs
                 //FiveFloorLine fiveFloorLine = new(_host, StaticData.PlcDic[0], FiveFloorLineEquip.floorNo.Value, FiveFloorLineEquip.equipNo);
                 //fiveFloorLine.StartPoint();
 
-                //五层CTU
-                var FiveFloorCTUEquip = StaticData.BaseEquip.Where(t => t.floorNo == 5 && t.equipType == 6).First();
-                FiveFloorCTU fiveFloorCTU = new(_host, StaticData.PlcDic[0], FiveFloorCTUEquip.floorNo.Value, FiveFloorCTUEquip.equipNo);
-                fiveFloorCTU.StartPoint();
+                ////五层CTU
+                //var FiveFloorCTUEquip = StaticData.BaseEquip.Where(t => t.floorNo == 5 && t.equipType == 6).First();
+                //FiveFloorCTU fiveFloorCTU = new(_host, StaticData.PlcDic[1], FiveFloorCTUEquip.floorNo.Value, FiveFloorCTUEquip.equipNo);
+                //fiveFloorCTU.StartPoint();
 
                 ////五层AGV
                 //var FifthFloorAgvEquip = StaticData.BaseEquip.Where(t => t.floorNo == 5 && t.equipType == 5).First();

src/Khd.Core.Wcs/Wcs/FirstFloor.cs

@@ -2,12 +2,14 @@
 using Khd.Core.Application.Interface;
 using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
+using Khd.Core.Library.Mapper;
 using Khd.Core.Plc;
 using Khd.Core.Plc.S7;
 using Khd.Core.Wcs.Global;
 using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
+using System.Diagnostics;
 using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs.Wcs
@@ -133,12 +135,25 @@ namespace Khd.Core.Wcs.Wcs
                             var task = dbContext.WcsTask.Where(t => t.containerNo == RFID001Value && t.taskStatus < 1).FirstOrDefault();
                             if (task == null)
                             {
-                                //入库
-
                                 //根据托盘号获取物料码
                                 var material = dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value).FirstOrDefault();
                                 if (material != null)
                                 {
+                                    var lastTask = dbContext.WcsTaskLog.Where(t => t.containerNo == RFID001Value).OrderByDescending(t => t.createTime).FirstOrDefault();
+                                    if (lastTask != null)
+                                    {
+                                        if (lastTask.materialId == material.materialId && lastTask.ud3 != "10")
+                                        {
+                                            lastTask.ud2 = "1";
+                                            lastTask.ud3 = "1";
+                                            dbContext.Update(lastTask);
+                                            dbContext.SaveChanges();
+                                            LogManager.Info("一楼接驳位线程：托盘" + RFID001Value + "绑定信息未更新，请人工确认是否再次入库");
+                                            Console.WriteLine(DateTime.Now + ":一楼接驳位线程：托盘" + RFID001Value + "绑定信息未更新，请人工确认是否再次入库");
+                                            Thread.Sleep(3000);
+                                            continue;
+                                        }
+                                    }
                                     var warehouseId = dbContext.WmsWarehouseMaterial.Where(t => t.storageType == "1" && t.storageId == material.materialId).FirstOrDefault()?.warehouseId;
                                     if (warehouseId != null)
                                     {
@@ -147,7 +162,7 @@ namespace Khd.Core.Wcs.Wcs
                                         {
                                             //插入task表
 
-                                            var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.ud1 == "I" && t.dicField == TargetFloor.warehouseInstockType).FirstOrDefault();
+                                            var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.agvType == "I" && t.dicField == TargetFloor.warehouseInstockType).FirstOrDefault();
                                             if (dic != null)
                                             {
                                                 var newTask = new WcsTask()
@@ -175,7 +190,10 @@ namespace Khd.Core.Wcs.Wcs
                                                     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();
                                             }
                                         }
                                     }
@@ -193,28 +211,50 @@ namespace Khd.Core.Wcs.Wcs
                                     task.updateBy = "一楼接驳位线程";
                                     task.updateTime = DateTime.Now;
                                     task.remark = "一楼创建入库任务";
-                                    dbContext.WcsTask.Update(task);
+                                    WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(task);
+                                    dbContext.Update(wcsTaskLog);
+                                    dbContext.Update(task);
                                     dbContext.SaveChanges();
                                 }
                             }
                             //出库
                             else
                             {
-                                //清空托盘绑定
-                                var material = dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value).FirstOrDefault();
-                                if (material != null)
-                                {
-                                    material.bindAmount = 0;
-                                    material.materialBarcode = null;
-                                    material.materialCode = null;
-                                    material.materialId = null;
-                                    material.materialName = null;
-                                    material.updateBy = "SYS";
-                                    material.updateTime = DateTime.Now;
-                                    dbContext.Update(material);
-                                    //dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value).Delete();
-                                    dbContext.SaveChanges();
-                                }
+                                dbContext.WcsTask.Where(t => t.objid == task.objid).Delete();
+                                dbContext.WcsTaskLog.Where(t => t.objid == task.objid).Update(t => new WcsTaskLog { taskStatus = 4 });
+                                //没有绑定信息
+
+                                //WmsProductOutstock? wmsProductOutstock = dbContext.WmsProductOutstock.FirstOrDefault(t => t.palletInfoCode == RFID001Value&& t.executeStatus =="1");
+                                //WmsRawOutstock? wmsRawOutstock = dbContext.WmsRawOutstock.FirstOrDefault(t => t.palletInfoCode == RFID001Value && t.executeStatus == "1");
+                                //if (wmsProductOutstock != null || wmsRawOutstock != null)
+                                //{
+                                //    //清空托盘绑定
+                                //    var material = dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value).FirstOrDefault();
+                                //    if (material != null)
+                                //    {
+                                //        material.bindAmount = 0;
+                                //        material.materialBarcode = null;
+                                //        material.materialCode = null;
+                                //        material.materialId = null;
+                                //        material.materialName = null;
+                                //        material.updateBy = "WCS";
+                                //        material.updateTime = DateTime.Now;
+                                //        dbContext.Update(material);
+                                //        if (wmsRawOutstock != null)
+                                //        {
+                                //            wmsRawOutstock.executeStatus = "2";
+                                //            dbContext.Update(wmsRawOutstock);
+                                //        }
+                                //        else if(wmsProductOutstock != null)
+                                //        {
+                                //            wmsProductOutstock.executeStatus = "2";
+                                //            dbContext.Update(wmsProductOutstock);
+                                //        }
+                                //        //dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value).Delete();
+                                //        dbContext.SaveChanges();
+
+                                //    }
+                                //}
                             }
                         }
                     }
@@ -223,14 +263,13 @@ namespace Khd.Core.Wcs.Wcs
                 {
                     if (ex is PlcException)
                     {
-                        try
+                        foreach (var item in StaticData.PlcDic)
                         {
-                            this._plc = new Plc.S7.Plc(this._plc.CPU, this._plc.IP, this._plc.Port, this._plc.Rack, this._plc.Slot);
-                            this._plc.Open();
-                        }
-                        catch
-                        {
-
+                            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);
@@ -265,11 +304,22 @@ namespace Khd.Core.Wcs.Wcs
                         //提升机空闲
                         if (Convert.ToInt32(equipstate06Value) == 0)
                         {
-                            var wcsTasks = dbContext.WcsTask.Where(t => t.nextPointId == T01).OrderBy(t => t.createTime);
+                            var wcsTasks = dbContext.WcsTask.Where(t => t.nextPointId == T01).OrderBy(t => t.createTime).ToList();
                             foreach (var wcsTask in wcsTasks)
                             {
+                                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))
                                     {
@@ -285,6 +335,9 @@ namespace Khd.Core.Wcs.Wcs
                                                 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();
                                             }
                                         }
@@ -297,6 +350,9 @@ namespace Khd.Core.Wcs.Wcs
                                             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();
                                         }
                                     }
@@ -318,6 +374,7 @@ namespace Khd.Core.Wcs.Wcs
                                                 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();
                                             }
                                         }
@@ -333,6 +390,7 @@ namespace Khd.Core.Wcs.Wcs
                                         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();
                                     }
                                 }
@@ -347,9 +405,26 @@ namespace Khd.Core.Wcs.Wcs
                                         BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.fromFloorNo && 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 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.SaveChanges();
+                                    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;
                             }
                         }
@@ -361,8 +436,14 @@ namespace Khd.Core.Wcs.Wcs
                     {
                         try
                         {
-                            this._plc = new Plc.S7.Plc(this._plc.CPU, this._plc.IP, this._plc.Port, this._plc.Rack, this._plc.Slot);
-                            this._plc.Open();
+                            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
                         {

src/Khd.Core.Wcs/Wcs/FiveFloorAGV.cs

@@ -2,6 +2,7 @@
 using Khd.Core.Domain.Dto.webapi;
 using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
+using Khd.Core.Library.Mapper;
 using Khd.Core.Wcs.Global;
 using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
@@ -64,6 +65,7 @@ namespace Khd.Core.Wcs.Wcs
             using var scope = _host.Services.CreateScope();
             using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
             List<int?> taskType = new() { 1, 3, 5, 7 };
+            BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.objid == agvID);
             while (true)
             {
                 try
@@ -78,12 +80,17 @@ namespace Khd.Core.Wcs.Wcs
                     }
                     foreach (var item in taskList)
                     {
+                        if (taskList.Where(t => t.taskStatus > 0).Where(t => t.objid != item.objid).Any())
+                        {
+                            LogManager.Info($"5楼AGV线程：有其他任务正在执行，跳过当前任务{item.objid}");
+                            continue;
+                        }
                         if (item.taskStatus == 0)//下发任务
                         {
                             if (item.taskType == 37)//入库任务
                             {
                                 WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
-                                BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.floorNo == 5 && t.equipType == 1);
+                                BaseEquip currentEquip = StaticData.BaseEquip.First(t => t.floorNo == 5 && t.equipType == 1);
                                 WcsCmd wcsCmd = new()
                                 {
                                     objid = StaticData.SnowId.NextId(),
@@ -95,7 +102,7 @@ namespace Khd.Core.Wcs.Wcs
                                     createTime = DateTime.Now,
                                     createBy = FloorNo + "楼AGV",
                                     currPointId = item.currPointId,
-                                    currPointNo = baseEquip.agvPositionCode,
+                                    currPointNo = currentEquip.agvPositionCode,
                                     nextPointId = item.endPointId,
                                     nextPointNo = wmsBaseLocation.agvPositionCode,
                                 };
@@ -118,7 +125,7 @@ namespace Khd.Core.Wcs.Wcs
                                     ctnrTyp = "2",
                                 };
                                 string message = JsonConvert.SerializeObject(agvTask);
-                                string result = HttpHelper.SendPostMessage("172.16.12.24", 8182, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
                                 var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
                                 if (reponseMessage != null && reponseMessage.message == "成功")
                                 {
@@ -126,23 +133,33 @@ namespace Khd.Core.Wcs.Wcs
                                     wcsCmd.cmdStatus = 1;
                                     item.taskStatus = 1;
                                     dbContext.Update(item);
+                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
+                                    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                    dbContext.Add(wcsCmdLog);
                                     dbContext.Add(wcsCmd);
                                     dbContext.SaveChanges();
                                 }
                                 else
                                 {
-
+                                    LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
                                 }
                             }
                             else if (item.taskType == 38)//出库任务
                             {
-                                if (Convert.ToInt32(this._plc.Read(LineSignal.plcpointAddress)) == 1)
+                                BaseEquip lineEquip = StaticData.BaseEquip.First(t => t.objid == 5);
+                                bool canSend = dbContext.WcsTask.Where(t => t.nextPointId == lineEquip.objid && t.taskStatus > 0).Any();
+                                if (lineEquip.equipStatus == 1)
+                                {
+                                    LogManager.Info("五楼AGV:接驳位有任务，无法下发出库任务");
+                                    continue;
+                                }
+                                if (Convert.ToInt32(this._plc.Read(LineSignal.plcpointAddress)) == 1 && !canSend)
                                 {
                                     Console.WriteLine($"{DateTime.Now}:5楼接驳位上有货，无法下发Agv出库任务");
                                     continue;
                                 }
                                 WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
-                                BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.floorNo == 5 && t.equipType == 1);
+                                BaseEquip nextEquip = StaticData.BaseEquip.First(t => t.floorNo == 5 && t.equipType == 1);
                                 WcsCmd wcsCmd = new()
                                 {
                                     objid = item.objid,
@@ -156,7 +173,7 @@ namespace Khd.Core.Wcs.Wcs
                                     currPointId = item.currPointId,
                                     currPointNo = wmsBaseLocation.agvPositionCode,
                                     nextPointId = item.endPointId,
-                                    nextPointNo = baseEquip.agvPositionCode,
+                                    nextPointNo = nextEquip.agvPositionCode,
                                 };
                                 RequestAGVTaskDto agvTask = new()
                                 {
@@ -178,7 +195,67 @@ namespace Khd.Core.Wcs.Wcs
                                     ctnrTyp = "2"
                                 };
                                 string message = JsonConvert.SerializeObject(agvTask);
-                                string result = HttpHelper.SendPostMessage("172.16.12.24", 8182, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                if (reponseMessage != null && reponseMessage.message == "成功")
+                                {
+                                    wcsCmd.taskCode = reponseMessage.data;
+                                    wcsCmd.cmdStatus = 1;
+                                    item.taskStatus = 1;
+                                    lineEquip.equipStatus = 1;
+                                    dbContext.Update(lineEquip);
+                                    dbContext.Update(item);
+                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 1 });
+                                    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                    dbContext.Add(wcsCmdLog);
+                                    dbContext.Add(wcsCmd);
+                                    dbContext.SaveChanges();
+                                }
+                                else
+                                {
+                                    LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
+                                }
+                            }
+                            else if (item.taskType == 33)//原材料到背板安装
+                            {
+                                BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == 30);
+                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
+                                WcsCmd wcsCmd = new()
+                                {
+                                    objid = item.objid,
+                                    cmdStatus = 0,
+                                    taskId = item.orderId,
+                                    useFlag = 1,
+                                    cmdType = item.taskType,
+                                    containerNo = item.containerNo,
+                                    createTime = DateTime.Now,
+                                    createBy = FloorNo + "楼AGV",
+                                    currPointId = item.currPointId,
+                                    currPointNo = wmsBaseLocation.agvPositionCode,
+                                    nextPointId = 30,
+                                    nextPointNo = endEquip.agvPositionCode,
+                                };
+                                RequestAGVTaskDto agvTask = new()
+                                {
+                                    reqCode = item.objid.ToString(),
+                                    positionCodePath = new List<Position>
+                                    {
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.currPointNo,
+                                            type="00"
+                                        },
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.nextPointNo,
+                                            type="00"
+                                        }
+                                    },
+                                    taskTyp = "",
+                                    ctnrTyp = "2"
+                                };
+                                string message = JsonConvert.SerializeObject(agvTask);
+                                string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
                                 var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
                                 if (reponseMessage != null && reponseMessage.message == "成功")
                                 {
@@ -186,14 +263,249 @@ namespace Khd.Core.Wcs.Wcs
                                     wcsCmd.cmdStatus = 1;
                                     item.taskStatus = 1;
                                     dbContext.Update(item);
+                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 1 });
+                                    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                    dbContext.Add(wcsCmdLog);
                                     dbContext.Add(wcsCmd);
                                     dbContext.SaveChanges();
                                 }
+                                else
+                                {
+                                    LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
+                                }
+                            }
+                            else if (item.taskType == 34)//背板安装到半成品
+                            {
+                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
+                                BaseEquip currentEquip = StaticData.BaseEquip.First(t => t.objid == 30);
+                                WcsCmd wcsCmd = new()
+                                {
+                                    objid = StaticData.SnowId.NextId(),
+                                    cmdStatus = 0,
+                                    taskId = item.objid,
+                                    useFlag = 1,
+                                    cmdType = item.taskType,
+                                    containerNo = item.containerNo,
+                                    createTime = DateTime.Now,
+                                    createBy = FloorNo + "楼AGV",
+                                    currPointId = item.currPointId,
+                                    currPointNo = currentEquip.agvPositionCode,
+                                    nextPointId = item.endPointId,
+                                    nextPointNo = wmsBaseLocation.agvPositionCode,
+                                };
+                                var agvTask = new RequestAGVTaskDto
+                                {
+                                    reqCode = item.objid.ToString(),
+                                    positionCodePath = new List<Position>
+                                    {
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.currPointNo,
+                                            type="00"
+                                        },
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.nextPointNo,
+                                            type="00"
+                                        }
+                                    },
+                                    ctnrTyp = "2",
+                                };
+                                string message = JsonConvert.SerializeObject(agvTask);
+                                string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                if (reponseMessage != null && reponseMessage.message == "成功")
+                                {
+                                    wcsCmd.taskCode = reponseMessage.data;
+                                    wcsCmd.cmdStatus = 1;
+                                    item.taskStatus = 1;
+                                    dbContext.Update(item);
+                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
+                                    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                    dbContext.Add(wcsCmdLog);
+                                    dbContext.Add(wcsCmd);
+                                    dbContext.SaveChanges();
+                                }
+                                else
+                                {
+                                    LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
+                                }
+                            }
+                            else if (item.taskType == 46)//原材料到拆分区
+                            {
+                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
+                                BaseEquip currentEquip = StaticData.BaseEquip.First(t => t.objid == 29);
+                                WcsCmd wcsCmd = new()
+                                {
+                                    objid = item.objid,
+                                    cmdStatus = 0,
+                                    taskId = item.orderId,
+                                    useFlag = 1,
+                                    cmdType = item.taskType,
+                                    containerNo = item.containerNo,
+                                    createTime = DateTime.Now,
+                                    createBy = FloorNo + "楼AGV",
+                                    currPointId = item.currPointId,
+                                    currPointNo = wmsBaseLocation.agvPositionCode,
+                                    nextPointId = 29,
+                                    nextPointNo = currentEquip.agvPositionCode,
+                                };
+                                RequestAGVTaskDto agvTask = new()
+                                {
+                                    reqCode = item.objid.ToString(),
+                                    positionCodePath = new List<Position>
+                                    {
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.currPointNo,
+                                            type="00"
+                                        },
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.nextPointNo,
+                                            type="00"
+                                        }
+                                    },
+                                    taskTyp = "",
+                                    ctnrTyp = "2"
+                                };
+                                string message = JsonConvert.SerializeObject(agvTask);
+                                string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                if (reponseMessage != null && reponseMessage.message == "成功")
+                                {
+                                    wcsCmd.taskCode = reponseMessage.data;
+                                    wcsCmd.cmdStatus = 1;
+                                    item.taskStatus = 1;
+                                    dbContext.Update(item);
+                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 1 });
+                                    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                    dbContext.Add(wcsCmdLog);
+                                    dbContext.Add(wcsCmd);
+                                    dbContext.SaveChanges();
+                                }
+                                else
+                                {
+                                    LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
+                                }
+                            }
+                            else if (item.taskType == 28)//拆分区返库
+                            {
+                                BaseEquip currentEquip = StaticData.BaseEquip.First(t => t.objid == 29);
+                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
+                                WcsCmd wcsCmd = new()
+                                {
+                                    objid = item.objid,
+                                    cmdStatus = 0,
+                                    taskId = item.orderId,
+                                    useFlag = 1,
+                                    cmdType = item.taskType,
+                                    containerNo = item.containerNo,
+                                    createTime = DateTime.Now,
+                                    createBy = FloorNo + "楼AGV",
+                                    currPointId = item.currPointId,
+                                    currPointNo = currentEquip.agvPositionCode,
+                                    nextPointId = item.endPointId,
+                                    nextPointNo = wmsBaseLocation.agvPositionCode,
+                                };
+                                RequestAGVTaskDto agvTask = new()
+                                {
+                                    reqCode = item.objid.ToString(),
+                                    positionCodePath = new List<Position>
+                                    {
+                                        new()
+                                        {
+                                            positionCode = wcsCmd.currPointNo,
+                                            type = "00"
+                                        },
+                                        new()
+                                        {
+                                            positionCode = wcsCmd.nextPointNo,
+                                            type = "00"
+                                        }
+                                    }
+                                };
+                                string message = JsonConvert.SerializeObject(agvTask);
+                                string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                if (reponseMessage != null && reponseMessage.message == "成功")
+                                {
+                                    wcsCmd.taskCode = reponseMessage.data;
+                                    wcsCmd.cmdStatus = 1;
+                                    item.taskStatus = 1;
+                                    dbContext.Update(item);
+                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 1 });
+                                    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                    dbContext.Add(wcsCmdLog);
+                                    dbContext.Add(wcsCmd);
+                                    dbContext.SaveChanges();
+                                }
+                                else
+                                {
+                                    LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
+                                }
+                            }
+                            else if (item.taskType == 47)//原材料入库
+                            {
+                                BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == 5);
+                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
+                                WcsCmd wcsCmd = new WcsCmd
+                                {
+                                    objid = StaticData.SnowId.NextId(),
+                                    cmdStatus = 0,
+                                    taskId = item.objid,
+                                    useFlag = 1,
+                                    cmdType = item.taskType,
+                                    containerNo = item.containerNo,
+                                    createTime = DateTime.Now,
+                                    createBy = FloorNo + "楼AGV",
+                                    currPointId = startEquip.objid,
+                                    currPointNo = startEquip.agvPositionCode,
+                                    nextPointId = item.endPointId,
+                                    nextPointNo = wmsBaseLocation.agvPositionCode,
+                                };
+                                var agvTask = new RequestAGVTaskDto
+                                {
+                                    reqCode = item.objid.ToString(),
+                                    positionCodePath = new List<Position>
+                                    {
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.currPointNo,
+                                            type="00"
+                                        },
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.nextPointNo,
+                                            type="00"
+                                        }
+                                    },
+                                    ctnrTyp = "2",
+                                };
+                                string message = JsonConvert.SerializeObject(agvTask);
+                                string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                if (reponseMessage != null && reponseMessage.message == "成功")
+                                {
+                                    wcsCmd.taskCode = reponseMessage.data;
+                                    wcsCmd.cmdStatus = 1;
+                                    item.taskStatus = 1;
+                                    dbContext.Update(item);
+                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
+                                    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                    dbContext.Add(wcsCmdLog);
+                                    dbContext.Add(wcsCmd);
+                                    dbContext.SaveChanges();
+                                }
+                                else
+                                {
+                                    LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
+                                }
                             }
                         }
                         else
                         {
-                            WcsCmd? wcsCmd = dbContext.WcsCmd.FirstOrDefault(t => t.objid == item.objid);
+                            WcsCmd? wcsCmd = dbContext.WcsCmd.FirstOrDefault(t => t.taskId == item.objid);
                             if (wcsCmd != null)
                             {
                                 if (wcsCmd.cmdStatus == 3)
@@ -204,86 +516,254 @@ namespace Khd.Core.Wcs.Wcs
                                         taskCode = wcsCmd.taskCode
                                     };
                                     string message = JsonConvert.SerializeObject(agvTask);
-                                    string result = HttpHelper.SendPostMessage("172.16.12.24", 8182, "rcms/services/rest/hikRpcService/continueTask", message);
+                                    string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/continueTask", message);
                                     ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
                                     if (reponseMessage != null && reponseMessage.message == "成功")
                                     {
                                         wcsCmd.cmdStatus = 4;
+                                        dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmd() { cmdStatus = 4 });
                                         dbContext.Update(wcsCmd);
+                                        dbContext.WcsTask.Where(t => t.objid == item.objid).Update(t => new WcsTask() { taskStatus = 4 });
+                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 4 });
                                         dbContext.SaveChanges();
                                     }
                                 }
                                 else if (wcsCmd.cmdStatus == 5)
                                 {
-                                    //任务完成
-                                    //如果是入库任务,更新库存信息,并删除任务
-                                    if (taskType.Contains(item.taskType))
+                                    if (item.taskType == 37)//入库
                                     {
+
+                                        //WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
+                                        //    .First(t => t.locationId == item.startPointId && t.warehouseFloor == 5);
+                                        //wmsBaseLocation.locationStatus = "1";
+                                        //wmsBaseLocation.instockFlag = "0";
+                                        //wmsBaseLocation.containerCode = item.containerNo;
+                                        //wmsBaseLocation.updateTime = DateTime.Now;
+                                        //wmsBaseLocation.updateBy = "WCS";
+                                        //MesBasePalletInfo? mesBasePalletInfo = dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == item.containerNo).FirstOrDefault();
+                                        //if (mesBasePalletInfo != null)
+                                        //{
+                                        //    WmsProductStock wmsProductStock = new WmsProductStock()
+                                        //    {
+                                        //        productBatch = mesBasePalletInfo.materialBarcode,
+                                        //        palletInfoCode = mesBasePalletInfo.palletInfoCode,
+                                        //        activeFlag = "1",
+                                        //        createBy = "WCS",
+                                        //        createDate = DateTime.Now,
+                                        //        frozenAmount = 0,
+                                        //        instockDate = DateTime.Now,
+                                        //        locationCode = wmsBaseLocation.locationCode,
+                                        //        occupyAmount = 0,
+                                        //        warehouseFloor = 5,
+                                        //        saleorderCode = mesBasePalletInfo.materialBarcode,
+                                        //        stockType = "3",
+                                        //        totalAmount = 1,
+
+                                        //    };
+                                        //    dbContext.Update(wmsBaseLocation);
+                                        //    dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
+                                        //    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6 });
+                                        //    dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog { cmdStatus = 6 });
+                                        //    dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
+                                        //    dbContext.SaveChanges();
+                                        //}
+
+                                    }
+                                    else if (item.taskType == 38)//出库
+                                    {
+                                        BaseEquip lineEquip = StaticData.BaseEquip.First(t=>t.objid==5);
                                         WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
-                                           .First(t => t.locationId == item.startPointId && t.warehouseFloor == 5);
+                                            .First(t => t.locationId == item.endPointId && t.warehouseFloor == 5);
                                         wmsBaseLocation.outstockFlag = "0";
                                         wmsBaseLocation.locationStatus = "1";
+                                        wmsBaseLocation.containerCode = "";
+                                        wmsBaseLocation.updateTime = DateTime.Now;
+                                        wmsBaseLocation.updateBy = "WCS";
                                         dbContext.Update(wmsBaseLocation);
-
-
+                                        dbContext.WmsProductStock.Where(t => t.locationCode == wmsBaseLocation.locationCode).Delete();
+                                        BaseEquip floorLineEquip = StaticData.BaseEquip.First(t => t.equipType == 1 && t.floorNo == 5);
+                                        item.nextPointId = floorLineEquip.objid;
+                                        item.nextPointNo = floorLineEquip.equipNo;
+                                        item.fromFloorNo = 5;
+                                        item.floorNo = 1;
+                                        item.taskStatus = 6;
+                                        lineEquip.equipStatus = 0;
+                                        dbContext.Update(lineEquip);
+                                        dbContext.Update(item);
+                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6, nextPointId = floorLineEquip.objid, nextPointNo = floorLineEquip.equipNo, fromFloorNo = 5, floorNo = 1 });
+                                        dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog { cmdStatus = 6 });
                                         dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
-                                        dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
                                         dbContext.SaveChanges();
                                     }
-                                    else//如果是出库任务,更新库存信息,下一个任务为提升机
+                                    else if (item.taskType == 33)//原材料到背板安装
                                     {
-                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
-                                            .First(t => t.locationId == item.startPointId && t.warehouseFloor == 5);
-                                        if (item.taskType == 38)//出库
+                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
+                                        wmsBaseLocation.locationStatus = "1";
+                                        wmsBaseLocation.outstockFlag = "0";
+                                        wmsBaseLocation.containerCode = "";
+                                        wmsBaseLocation.updateTime = DateTime.Now;
+                                        wmsBaseLocation.updateBy = "WCS";
+                                        dbContext.Update(wmsBaseLocation);
+                                        dbContext.WmsRawStock.Where(t => t.locationCode == wmsBaseLocation.locationCode).Delete();
+                                        dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
+                                        dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
+                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6 });
+                                        dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog { cmdStatus = 6 });
+                                        dbContext.SaveChanges();
+                                    }
+                                    else if (item.taskType == 34)//半成品入库
+                                    {
+                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
+                                        wmsBaseLocation.locationStatus = "1";
+                                        wmsBaseLocation.instockFlag = "0";
+                                        wmsBaseLocation.containerCode = item.containerNo;
+                                        wmsBaseLocation.updateTime = DateTime.Now;
+                                        wmsBaseLocation.updateBy = "WCS";
+                                        var mesBasePalletInfo = dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == item.containerNo).FirstOrDefault();
+                                        var wmsProductInstock = dbContext.WmsProductInstock
+                                            .Where(t => t.palletInfoCode == item.containerNo)
+                                            .Where(t => t.instockType == "2" && t.executeStatus == "1" && t.productType == "2" && t.warehouseFloor == 5)
+                                            .FirstOrDefault();
+                                        if (mesBasePalletInfo != null && wmsProductInstock != null)
                                         {
-                                            wmsBaseLocation.outstockFlag = "0";
-                                            wmsBaseLocation.locationStatus = "1";
-                                            wmsBaseLocation.containerCode = "";
-                                            wmsBaseLocation.updateTime = DateTime.Now;
-                                            wmsBaseLocation.updateBy = "SYS";
-
-
+                                            WmsProductStock wmsProductStock = new WmsProductStock()
+                                            {
+                                                productId = wmsProductInstock.productId,
+                                                activeFlag = "1",
+                                                updateBy = "WCS",
+                                                updateDate = DateTime.Now,
+                                                saleorderCode = wmsProductInstock.saleorderCode,
+                                                saleOrderId = wmsProductInstock.SaleOrderId,
+                                                stockType = "2",
+                                                productStockId = wmsProductInstock.productInstockId,
+                                                qualityStatus = "0",
+                                                createBy = "WCS",
+                                                createDate = DateTime.Now,
+                                                locationCode = wmsBaseLocation.locationCode,
+                                                warehouseFloor = 5,
+                                                totalAmount = 1,
+                                                instockDate = DateTime.Now,
+                                                productBatch = mesBasePalletInfo.materialBarcode,
+                                                palletInfoCode = mesBasePalletInfo.palletInfoCode,
+                                                frozenAmount = 0,
+                                                occupyAmount = 0,
+                                                planCode = wmsProductInstock.planCode,
+                                                planDetailCode = wmsProductInstock.planDetailCode,
+                                                warehouseId = 512
+                                            };
+                                            dbContext.Add(wmsProductStock);
                                             dbContext.Update(wmsBaseLocation);
-
-                                            BaseEquip floorLineEquip = StaticData.BaseEquip.First(t => t.equipType == 1 && t.floorNo == 5);
-                                            BaseEquip eletorEquip = StaticData.BaseEquip.First(t => t.equipType == 2);
-                                            item.nextPointId = floorLineEquip.objid;
-                                            item.nextPointNo = floorLineEquip.equipNo;
-                                            item.fromFloorNo = 5;
-                                            item.floorNo = 1;
-                                            item.taskStatus = 6;
-                                            dbContext.Update(item);
+                                            dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
+                                            dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
+                                            dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6 });
+                                            dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog { cmdStatus = 6 });
+                                            dbContext.SaveChanges();
+                                        }
+                                    }
+                                    else if (item.taskType == 46)//该任务结束后，立刻生成一个新的返库任务，但是是否使用标志未0，等待mes通知
+                                    {
+                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
+                                        wmsBaseLocation.outstockFlag = "0";
+                                        wmsBaseLocation.instockFlag = "1";
+                                        wmsBaseLocation.containerCode = "";
+                                        wmsBaseLocation.updateTime = DateTime.Now;
+                                        wmsBaseLocation.updateBy = "WCS";
+                                        dbContext.Update(wmsBaseLocation);
+                                        dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
+                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6 });
+                                        dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog { cmdStatus = 6 });
+                                        dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
+                                        item.objid = StaticData.SnowId.NextId();
+                                        item.currPointId = item.endPointId;
+                                        item.currPointNo = item.endPointNo;
+                                        item.endPointId = item.startPointId;
+                                        item.endPointNo = item.startPointNo;
+                                        item.startPointId = item.currPointId;
+                                        item.startPointNo = item.currPointNo;
+                                        item.taskType = 28;
+                                        item.taskStatus = 0;
+                                        item.useFlag = 0;
+                                        dbContext.Add(item);
+                                        WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(item);
+                                        dbContext.Add(wcsTaskLog);
+                                        dbContext.SaveChanges();
+                                    }
+                                    else if (item.taskType == 28)//柜体拆分到原材料
+                                    {
+                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
+                                        wmsBaseLocation.locationStatus = "1";
+                                        wmsBaseLocation.instockFlag = "0";
+                                        wmsBaseLocation.containerCode = item.containerNo;
+                                        wmsBaseLocation.updateTime = DateTime.Now;
+                                        wmsBaseLocation.updateBy = "WCS";
+                                        wmsBaseLocation.returnFlag = "1";
+                                        var wmsRawStock = dbContext.WmsRawStock.FirstOrDefault(t => t.locationCode == wmsBaseLocation.locationCode);
+                                        if (wmsRawStock != null)
+                                        {
+                                            wmsRawStock.completeFlag = "0";
+                                            wmsRawStock.updateDate = DateTime.Now;
+                                            wmsRawStock.updateBy = "WCS";
+                                            dbContext.Update(wmsRawStock);
+                                            dbContext.Update(wmsBaseLocation);
+                                            dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
+                                            dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6 });
+                                            dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog { cmdStatus = 6 });
                                             dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
                                             dbContext.SaveChanges();
                                         }
-                                        else if (item.taskType == 37)//入库
+
+                                    }
+                                    else if (item.taskType == 47)
+                                    {
+                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
+                                        wmsBaseLocation.instockFlag = "0";
+                                        wmsBaseLocation.locationStatus = "1";
+                                        wmsBaseLocation.containerCode = item.containerNo;
+                                        var mesBasePalletInfo = dbContext.MesBasePalletInfo.FirstOrDefault(t => t.palletInfoCode == item.containerNo);
+                                        if (mesBasePalletInfo != null)
                                         {
-                                            wmsBaseLocation.locationStatus = "1";
-                                            wmsBaseLocation.instockFlag = "0";
-
-
-                                            dbContext.Update(wmsBaseLocation);
-                                            BaseEquip floorLineEquip = StaticData.BaseEquip.First(t => t.equipType == 1 && t.floorNo == 5);
-                                            BaseEquip eletorEquip = StaticData.BaseEquip.First(t => t.equipType == 2);
-                                            item.nextPointId = floorLineEquip.objid;
-                                            item.nextPointNo = floorLineEquip.equipNo;
-                                            item.fromFloorNo = 5;
-                                            item.floorNo = 1;
-                                            item.taskStatus = 6;
-                                            dbContext.Update(item);
-                                            dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
-                                            dbContext.SaveChanges();
-
+                                            var mesBaseBarcodeInfo = dbContext.MesBaseBarcodeInfo.FirstOrDefault(t => t.barcodeInfo == mesBasePalletInfo.materialBarcode);
+                                            if (mesBaseBarcodeInfo != null)
+                                            {
+                                                WmsRawStock wmsRawStock = new()
+                                                {
+                                                    palletInfoCode = mesBasePalletInfo.palletInfoCode,
+                                                    activeFlag = "1",
+                                                    createBy = "WCS",
+                                                    createDate = DateTime.Now,
+                                                    frozenAmount = 0,
+                                                    instockDate = DateTime.Now,
+                                                    locationCode = wmsBaseLocation.locationCode,
+                                                    occupyAmount = 0,
+                                                    warehouseFloor = 5,
+                                                    stockType = "1",
+                                                    totalAmount = 1,
+                                                    saleOrderId = 0,
+                                                    supplierId = mesBaseBarcodeInfo.manufacturerId,
+                                                    materialId = mesBasePalletInfo.materialId,
+                                                    qualityStatus = "0",
+                                                    rawStockId = StaticData.SnowId.NextId(),
+                                                    completeFlag = "1",
+                                                    instockBatch = mesBaseBarcodeInfo.batchCode,
+                                                    updateBy = "WCS",
+                                                    updateDate = DateTime.Now,
+                                                    warehouseId = 511
+                                                };
+                                                dbContext.Add(wmsRawStock);
+                                                dbContext.Add(wmsBaseLocation);
+                                                dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
+                                                dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog { cmdStatus = 6 });
+                                                dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
+                                                dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6 });
+                                                dbContext.SaveChanges();
+                                            }
                                         }
                                     }
                                 }
                             }
                         }
+                        break;
                     }
-                    //foreach (var item in taskList)
-                    //{
-                    //    SendAndUpdateTask(item);
-                    //}
                 }
                 catch (Exception ex)
                 {
@@ -297,102 +777,5 @@ namespace Khd.Core.Wcs.Wcs
         }
 
 
-        public List<WcsTask> GetTask(int floorNo, string equipNo)
-        {
-            using var scope = _host.Services.CreateScope();
-            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
-            List<WcsTask> wcsTask = new List<WcsTask>();
-            var wareHouseList = StaticData.WmsBaseWarehouse.ToList();
-            var equip = StaticData.BaseEquip.Where(t => t.floorNo == floorNo && t.equipType == 4).FirstOrDefault();
-            //入库类型
-            List<int> taskInType = new() { 1, 3, 5, 7 };
-            List<int> taskOutType = new() { 2, 4, 6, 8 };
-            try
-            {
-                //获取条码号,如果该条码任务存在就继续任务,如果条码不存在,创建入库任务并调度agv
-                var taskList = StaticData.WcsTask.Where(t => t.nextPointId == equip.objid).ToList();
-                if (taskList.Count() == 0)
-                { return null; }
-                wcsTask = taskList;
-            }
-            catch (Exception ex)
-            {
-                LogManager.Info(floorNo + "楼AGV异常" + ex.Message);
-                throw;
-            }
-            return wcsTask;
-        }
-
-        public void SendAndUpdateTask(WcsTask task)
-        {
-            //获取
-            if (task == null) return;
-            using var scope = _host.Services.CreateScope();
-            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
-            WcsToWms wcsToWms = new WcsToWms();
-            //首先判断是否已下发指令
-            var cmd = dbContext.WcsCmd.Where(t => t.taskId == task.objid).FirstOrDefault();
-            var locList = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1").ToList();
-            if (locList.Count == 0) return;
-            //指令表存在说明已下发
-            if (cmd == null)
-            { //获取下发agv指令
-                string ip = ""; int port = 0; string url = "";
-                RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
-                agvtask.reqCode = task.objid.ToString();
-                //var json = JsonConvert.SerializeObject(agvtask);
-                //HttpHelper.SendPostMessage(ip, port, url, json);
-                agvtask.positionCodePath = new List<Position>();
-                Position p = new Position();
-                WmsBaseLocation putPos = new WmsBaseLocation(); //放料点
-                WmsBaseLocation setPos = new WmsBaseLocation(); //取料点
-                if (task.taskType == 5) //入库
-                {
-                    setPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
-                }
-                else
-                {
-                    setPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
-                }
-                putPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
-                p.positionCode = setPos?.agvPositionCode;
-                p.type = "";
-                agvtask.positionCodePath.Add(p);
-                p.positionCode = putPos?.agvPositionCode;
-                p.type = "";
-                //取料点
-                agvtask.positionCodePath.Add(p);
-                agvtask.taskTyp = "";
-                //给agv创建任务
-                var reponseMessage = wcsToWms.genAgvSchedulingTask(agvtask);
-                if (reponseMessage != null)
-                {
-
-                }
-                //未下发给agv下发指令
-                WcsCmd taskCmd = new WcsCmd()
-                {
-                    taskId = task.objid,
-                    cmdType = task.taskType,
-                    serialNo = task.serialNo,
-                    equipmentNo = task.equipmentNo,
-                    cmdStatus = 1,
-                    createBy = FloorNo + "楼AGV",
-                    createTime = DateTime.Now,
-                };
-                dbContext.Add(taskCmd);
-                dbContext.SaveChanges();
-                //更新任务表
-                dbContext.WcsTask.Where(t => t.objid == task.objid).Update(t => new WcsTask()
-                {
-                    currPointId = task.currPointId,
-                    currPointNo = task.currPointNo,
-                    nextPointId = task.nextPointId,
-                    nextPointNo = task.nextPointNo,
-                    updateTime = DateTime.Now,
-                    updateBy = "agv出库",
-                });
-            }
-        }
     }
 }

src/Khd.Core.Wcs/Wcs/FiveFloorBearAgv.cs

@@ -1,6 +1,7 @@
 using Khd.Core.Domain.Dto.webapi;
 using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
+using Khd.Core.Library.Mapper;
 using Khd.Core.Wcs.Global;
 using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
@@ -15,7 +16,10 @@ using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs.Wcs
 {
-    internal class FiveFloorBearAgv
+    /// <summary>
+    /// 背负式AGV
+    /// </summary>
+    public class FiveFloorBearAgv
     {
 
         List<BasePlcpoint> ScanPoint { get; set; }//点位信息
@@ -66,26 +70,26 @@ namespace Khd.Core.Wcs.Wcs
             using var scope = _host.Services.CreateScope();
             using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
             List<int?> taskType = new() { 1, 3, 5, 7 };
+            BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.objid == agvID);
             while (true)
             {
                 try
                 {
                     dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
                     var taskList = dbContext.WcsTask
-                        .Where(t => t.useFlag == 1)
                         .Where(t => t.nextPointId == agvID)
                         .OrderBy(t => t.createTime).ToList();
                     if (taskList.Count == 0)
                     {
                         LogManager.Info(FloorNo + "楼AGV无任务");
                     }
-                    foreach (var item in taskList)
+                    foreach (var item in taskList)//出库
                     {
                         if (item.taskStatus == 0)//下发任务
                         {
                             BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.startPointId);
                             BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
-                            BaseDictionary baseDictionary = dbContext.BaseDictionary.First(t=>t.objid==item.taskType);
+                            BaseDictionary baseDictionary = dbContext.BaseDictionary.First(t => t.objid == item.taskType);
                             WcsCmd wcsCmd = new()
                             {
                                 objid = StaticData.SnowId.NextId(),
@@ -109,19 +113,19 @@ namespace Khd.Core.Wcs.Wcs
                                         new ()
                                         {
                                             positionCode=wcsCmd.currPointNo,
-                                            type="00"
+                                            type=baseDictionary.agvType
                                         },
                                         new ()
                                         {
                                             positionCode=wcsCmd.nextPointNo,
-                                            type="00"
+                                            type=baseDictionary.agvType
                                         }
                                     },
-                                taskTyp=baseDictionary.dicValue,
+                                taskTyp = baseDictionary.dicValue,
                                 ctnrTyp = "2",
                             };
                             string message = JsonConvert.SerializeObject(agvTask);
-                            string result = HttpHelper.SendPostMessage("172.16.12.24", 8182, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                            string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
                             var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
                             if (reponseMessage != null && reponseMessage.code == "0")
                             {
@@ -129,6 +133,9 @@ namespace Khd.Core.Wcs.Wcs
                                 wcsCmd.cmdStatus = 1;
                                 item.taskStatus = 1;
                                 dbContext.Update(item);
+                                dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
+                                WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                dbContext.Add(wcsCmdLog);
                                 dbContext.Add(wcsCmd);
                                 dbContext.SaveChanges();
                             }
@@ -139,56 +146,70 @@ namespace Khd.Core.Wcs.Wcs
                         }
                         else
                         {
-                            WcsCmd? wcsCmd = dbContext.WcsCmd.FirstOrDefault(t => t.taskId == item.objid);
-                            if (wcsCmd != null)
+                            if (item.useFlag == 1)//接料位-工位默认为1，工位到接料位需Mes通知
                             {
-                                if (wcsCmd.cmdStatus == 3)
+                                WcsCmd? wcsCmd = dbContext.WcsCmd.FirstOrDefault(t => t.taskId == item.objid);
+                                if (wcsCmd != null)
                                 {
-                                    var agvTask = new RequestAGVTaskDto
+                                    if (wcsCmd.cmdStatus == 3)
                                     {
-                                        reqCode = StaticData.SnowId.NextId().ToString(),
-                                        taskCode = wcsCmd.taskCode
-                                    };
-                                    string message = JsonConvert.SerializeObject(agvTask);
-                                    string result = HttpHelper.SendPostMessage("172.16.12.24", 8182, "rcms/services/rest/hikRpcService/continueTask", message);
-                                    ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
-                                    if (reponseMessage != null && reponseMessage.message == "成功")
+                                        var agvTask = new RequestAGVTaskDto
+                                        {
+                                            reqCode = StaticData.SnowId.NextId().ToString(),
+                                            taskCode = wcsCmd.taskCode
+                                        };
+                                        string message = JsonConvert.SerializeObject(agvTask);
+                                        string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/continueTask", message);
+                                        ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                        if (reponseMessage != null && reponseMessage.message == "成功")
+                                        {
+                                            dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmd() { cmdStatus = 4 });
+                                            dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog() { cmdStatus = 4 });
+                                            dbContext.WcsTask.Where(t => t.objid == item.objid).Update(t => new WcsTask() { taskStatus = 4 });
+                                            dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 4 });
+                                            dbContext.SaveChanges();
+                                        }
+                                    }
+                                    else if (wcsCmd.cmdStatus == 5)
                                     {
-                                        dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Update(t => t.cmdStatus == 4);
-                                        dbContext.WcsTask.Where(t => t.objid == item.objid).Update(t => t.taskStatus == 4);
+                                        dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmd() { cmdStatus = 6 });
+                                        dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog() { cmdStatus = 6 });
+                                        dbContext.WcsTask.Where(t => t.objid == item.objid).Update(t => new WcsTask() { taskStatus = 6 });
+                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 6 });
                                         dbContext.SaveChanges();
                                     }
-                                }
-                                else if (wcsCmd.cmdStatus == 5)
-                                {
-                                    dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Update(t=>t.cmdStatus==6);
-                                    dbContext.WcsTask.Where(t => t.objid == item.objid).Update(t => t.taskStatus == 6);
-                                    dbContext.SaveChanges();
-                                }
-                                else if (wcsCmd.cmdStatus == 7)
-                                {
-                                    var agvTask = new RequestAGVTaskDto
+                                    else if (wcsCmd.cmdStatus == 7)
                                     {
-                                        reqCode = StaticData.SnowId.NextId().ToString(),
-                                        taskCode = wcsCmd.taskCode
-                                    };
-                                    string message = JsonConvert.SerializeObject(agvTask);
-                                    string result = HttpHelper.SendPostMessage("172.16.12.24", 8182, "rcms/services/rest/hikRpcService/continueTask", message);
-                                    ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
-                                    if (reponseMessage != null && reponseMessage.message == "成功")
-                                    {
-                                        dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
-                                        dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
-                                        dbContext.SaveChanges();
+                                        var agvTask = new RequestAGVTaskDto
+                                        {
+                                            reqCode = StaticData.SnowId.NextId().ToString(),
+                                            taskCode = wcsCmd.taskCode
+                                        };
+                                        string message = JsonConvert.SerializeObject(agvTask);
+                                        string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/continueTask", message);
+                                        ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                        if (reponseMessage != null && reponseMessage.message == "成功")
+                                        {
+                                            dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
+                                            dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog() { cmdStatus = 8 });
+                                            dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
+                                            dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
+                                            if (item.taskType == 48)
+                                            {
+                                                dbContext.WmsRawReturn.Where(t => t.rawReturnId == item.orderId).Update(t => new WmsRawReturn { executeStatus = "2" });
+                                            }
+                                            else
+                                            {
+
+                                            }
+                                            dbContext.SaveChanges();
+                                        }
                                     }
                                 }
                             }
                         }
+                        break;
                     }
-                    //foreach (var item in taskList)
-                    //{
-                    //    SendAndUpdateTask(item);
-                    //}
                 }
                 catch (Exception ex)
                 {

src/Khd.Core.Wcs/Wcs/FiveFloorCTU.cs

@@ -1,11 +1,18 @@
-using Khd.Core.Domain.Dto.webapi;
+using AngleSharp.Css.Dom;
+using Castle.Core.Logging;
+using Khd.Core.Domain.Dto.webapi;
 using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
+using Khd.Core.Library.Mapper;
+using Khd.Core.Plc;
+using Khd.Core.Plc.S7;
 using Khd.Core.Wcs.Global;
+using Masuit.Tools;
 using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
 using Newtonsoft.Json;
+using System;
 using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs.Wcs
@@ -17,10 +24,12 @@ namespace Khd.Core.Wcs.Wcs
     {
         List<BasePlcpoint> ScanPoint { get; set; }//点位信息
         private readonly IHost _host;
-        private readonly Plc.S7.Plc _plc;
+        private Plc.S7.Plc _plc;
         private readonly BasePlcpoint LineRFID;
         private readonly BasePlcpoint isarrive;
         private readonly BasePlcpoint isput;
+        private bool isWait = false;
+        private bool isSendWait = false;
         int FloorNo { get; set; }
         string EquipNo = "";
         int CTUID = 11;
@@ -57,8 +66,12 @@ namespace Khd.Core.Wcs.Wcs
             Thread FlowPointThread = new Thread(MonitorInLocatorPoint);
             FlowPointThread.Start();
 
-            //Thread FlowCTUInWareThread = new Thread(MonitorInWare);
-            //FlowCTUInWareThread.Start();
+            Thread FlowCTUInWareThread = new Thread(MonitorInWare);
+            FlowCTUInWareThread.Start();
+
+            Thread CtuWaitThread = new Thread(CtuWaitLogic);
+            CtuWaitThread.Start();
+
             Console.WriteLine(DateTime.Now + ":五楼CTU上件扫描监听启动");
             LogManager.Info("五楼CTU上件扫描监听启动");
         }
@@ -72,71 +85,155 @@ namespace Khd.Core.Wcs.Wcs
                 try
                 {
                     dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
-                    var rfid = this._plc.Read(LineRFID.plcpointAddress);
+                    var rfid = this._plc.ReadRFID(LineRFID.plcpointAddress);
                     var isArrive = this._plc.Read(isarrive.plcpointAddress);
                     if (rfid != null && isArrive != null && Convert.ToInt32(isArrive) == 1)
                     {
-                        //根据rfid找到库位
-                        //生成入库任务
-                        var wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.containerCode == rfid.ToString());
-                        BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.equipNo == "FL051");
-                        BaseEquip ctuEquip = StaticData.BaseEquip.First(t => t.objid == 11);
-                        if (wmsBaseLocation != null)
+                        rfid = rfid[rfid.IndexOf('C')..];
+                        WcsTask? task = dbContext.WcsTask.FirstOrDefault(t => t.containerNo == rfid);
+                        if (task == null)
                         {
-                            var wcsTask = new WcsTask()
+                            //根据rfid找到库位
+                            //生成入库任务
+                            var wmsBaseLocation = dbContext.WmsBaseLocation.FirstOrDefault(t => t.containerCode == rfid);
+                            if (wmsBaseLocation != null)
                             {
-                                objid = StaticData.SnowId.NextId(),
-                                startPointId = baseEquip.objid,
-                                startPointNo = baseEquip.agvPositionCode,
-                                currPointId = baseEquip.objid,
-                                currPointNo = baseEquip.agvPositionCode,
-                                nextPointId = ctuEquip.objid,
-                                nextPointNo = ctuEquip.equipNo,
-                                endPointId = wmsBaseLocation.locationId,
-                                endPointNo = wmsBaseLocation.agvPositionCode,
-                                taskType = 1,
-                                taskStatus = 0,
-                                floorNo = 5,
-                                ud1 = "0",//是否是最后一个任务
-                                containerNo = rfid.ToString(),
-                                equipmentNo = baseEquip.equipNo,
-                                createBy = FloorNo + "楼CTU",
-                                createTime = DateTime.Now,
-                            };
-                            dbContext.Add(wcsTask);
-                            dbContext.SaveChanges();
+                                BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.equipNo == "FL051");
+                                BaseEquip ctuEquip = StaticData.BaseEquip.First(t => t.objid == 11);
+                                if (wmsBaseLocation != null)
+                                {
+                                    var wcsTask = new WcsTask()
+                                    {
+                                        objid = StaticData.SnowId.NextId(),
+                                        startPointId = baseEquip.objid,
+                                        startPointNo = baseEquip.agvPositionCode,
+                                        currPointId = baseEquip.objid,
+                                        currPointNo = baseEquip.agvPositionCode,
+                                        nextPointId = ctuEquip.objid,
+                                        nextPointNo = ctuEquip.equipNo,
+                                        endPointId = wmsBaseLocation.locationId,
+                                        endPointNo = wmsBaseLocation.agvPositionCode,
+                                        taskType = 29,
+                                        taskStatus = 0,
+                                        floorNo = 5,
+                                        containerNo = rfid.ToString(),
+                                        equipmentNo = baseEquip.equipNo,
+                                        createBy = FloorNo + "楼CTU",
+                                        createTime = DateTime.Now,
+                                    };
+                                    wmsBaseLocation.instockFlag = "1";
+                                    wmsBaseLocation.locationStatus = "2";
+                                    dbContext.Update(wmsBaseLocation);
+                                    dbContext.Add(wcsTask);
+                                    //WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
+                                    //dbContext.WcsTaskLog.Add(wcsTaskLog);
+                                    dbContext.SaveChanges();
+                                }
+                            }
                         }
                     }
                 }
-                catch
+                catch(Exception ex)
                 {
+                    if (ex is PlcException)
+                    {
+                        try
+                        {
+                            this._plc = new Plc.S7.Plc(this._plc.CPU, this._plc.IP, this._plc.Port, this._plc.Rack, this._plc.Slot);
+                            this._plc.Open();
+                        }
+                        catch
+                        {
 
+                        }
+                    }
                 }
+                Thread.Sleep(1000);
             }
         }
 
+        /// <summary>
+        /// 预执行任务下发
+        /// </summary>
+        private void CtuWaitLogic()
+        {
+            BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.objid == CTUID);
+            BaseEquip Fl051 = StaticData.BaseEquip.First(t => t.objid == 19);//入库输送线
+            while (true)
+            {
+                try
+                {
+                    while (isWait)
+                    {
+                        var waitTask = new
+                        {
+                            reqCode = StaticData.SnowId.NextId().ToString(),
+                            positionCode = "CTU_IN",
+                            nextTask = 1200
+                        };
+                        string waitMessage = JsonConvert.SerializeObject(waitTask);
+                        string waitResult = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genPreScheduleTask", waitMessage);
+                        var waitReponse = JsonConvert.DeserializeObject<ReponseMessage>(waitResult);
+                        if (waitReponse != null && waitReponse.code == "0")
+                        {
+                            isSendWait = true;
+                        }
+                        else
+                        {
+                            LogManager.Info("CTU下发预执行任务失败:\nwaitTask:" + waitMessage + "\nwaitResult:" + waitResult);
+                        }
+                        Thread.Sleep(1000 * 60 * 10);//每10分钟重新下发预执行任务
+                    }
+                    isSendWait = false;
+                }
+                catch (Exception ex)
+                {
+                    LogManager.Error(ex);
+                }
+                Thread.Sleep(3000);
+            }
+        }
+
+        /// <summary>
+        /// 监控上件扫描点位
+        /// </summary>
         public void MonitorInLocatorPoint()
         {
             List<int?> taskType = new() { 1, 3, 5, 7 };
             using var scope = _host.Services.CreateScope();
             using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.objid == CTUID);
             while (true)
             {
                 try
                 {
                     dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
-                    var taskList = dbContext.WcsTask.Where(t => t.nextPointId == CTUID).ToList();
+                    var taskList = dbContext.WcsTask.Where(t => t.nextPointId == CTUID).OrderBy(t=>t.createTime).ToList();
                     if (taskList.Count == 0)
                     {
                         LogManager.Info(FloorNo + "楼CTU无任务");
                     }
                     foreach (var item in taskList)
                     {
+                        if (!taskList.Where(t => t.taskType == 29 && t.ud1 == "2").Any())
+                        {
+                            if (item.ud1 == "1")
+                            {
+                                ExecuteInTask(baseEquip);
+                                WcsOutstockLock wcsOutstockLock = dbContext.WcsOutstockLock.Where(t => t.warehouseId == 512).First();
+                                wcsOutstockLock.qty = 0;
+                                wcsOutstockLock.boxStatus = 0;
+                                dbContext.Update(wcsOutstockLock);
+                                isWait = false;
+                                item.ud1 = "2";
+                                dbContext.Update(item);
+                            }
+                        }
                         if (item.taskStatus == 0)//CTU会同时生成多个任务，生成就下发？
                         {
                             if (item.taskType == 30)//出库任务
                             {
-                                BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
+                                BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
                                 WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
                                 var wcsCmd = new WcsCmd()
                                 {
@@ -150,8 +247,8 @@ namespace Khd.Core.Wcs.Wcs
                                     createBy = FloorNo + "楼CTU",
                                     currPointId = wmsBaseLocation.locationId,
                                     currPointNo = wmsBaseLocation.agvPositionCode,
-                                    nextPointId = baseEquip.objid,
-                                    nextPointNo = baseEquip.agvPositionCode,
+                                    nextPointId = endEquip.objid,
+                                    nextPointNo = endEquip.agvPositionCode,
                                     taskCode = null
                                 };
                                 var agvTask = new RequestAGVTaskDto
@@ -174,21 +271,31 @@ namespace Khd.Core.Wcs.Wcs
                                     taskTyp = "F504"
                                 };
                                 string message = JsonConvert.SerializeObject(agvTask);
-                                string result = HttpHelper.HttpPost("http://172.16.12.24:8182/rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
                                 var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
-                                if (reponseMessage != null && reponseMessage.message == "成功")
+                                if (reponseMessage != null && reponseMessage.code == "0")
                                 {
                                     wcsCmd.taskCode = reponseMessage.data;
                                     wcsCmd.cmdStatus = 1;
                                     item.taskStatus = 1;
                                     dbContext.Update(item);
+                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
+                                    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                    dbContext.Add(wcsCmdLog);
+                                    WcsOutstockLock wcsOutstockLock = dbContext.WcsOutstockLock.Where(t => t.warehouseId == 512).First();
+                                    wcsOutstockLock.qty = wcsOutstockLock.qty + 1;
+                                    dbContext.Update(wcsOutstockLock);
                                     dbContext.WcsCmd.Add(wcsCmd);
                                     dbContext.SaveChanges();
                                 }
+                                else
+                                {
+                                    LogManager.Info("CTU下发出库任务失败：" + reponseMessage?.message);
+                                }
                             }
                             else if (item.taskType == 29)//入库任务
                             {
-                                BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.objid == item.startPointId);
+                                BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.startPointId);
                                 WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
                                 var wcsCmd = new WcsCmd()
                                 {
@@ -202,13 +309,16 @@ namespace Khd.Core.Wcs.Wcs
                                     createBy = FloorNo + "楼CTU",
                                     nextPointId = wmsBaseLocation.locationId,
                                     nextPointNo = wmsBaseLocation.agvPositionCode,
-                                    currPointId = baseEquip.objid,
-                                    currPointNo = baseEquip.agvPositionCode,
+                                    currPointId = startEquip.objid,
+                                    currPointNo = startEquip.agvPositionCode,
                                 };
-                                var agvTask = new RequestAGVTaskDto
+                                isWait = true;
+                                if (isSendWait)
                                 {
-                                    reqCode = StaticData.SnowId.NextId().ToString(),
-                                    positionCodePath = new List<Position>
+                                    var agvTask = new
+                                    {
+                                        reqCode = StaticData.SnowId.NextId().ToString(),
+                                        positionCodePath = new List<Position>
                                             {
                                                 new()
                                                 {
@@ -221,21 +331,38 @@ namespace Khd.Core.Wcs.Wcs
                                                     type = "05"
                                                 },
                                             },
-                                    ctnrTyp = "1",
-                                    taskTyp = "F503"
-                                };
-                                string message = JsonConvert.SerializeObject(agvTask);
-                                string result = HttpHelper.HttpPost("http://172.16.12.24:8182/rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
-                                var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
-                                if (reponseMessage != null && reponseMessage.message == "成功")
-                                {
-                                    wcsCmd.taskCode = reponseMessage.data;
-                                    wcsCmd.cmdStatus = 1;
-                                    item.taskStatus = 1;
-                                    dbContext.Update(wmsBaseLocation);
-                                    dbContext.Update(item);
-                                    dbContext.Add(wcsCmd);
-                                    dbContext.SaveChanges();
+                                        ctnrTyp = "1",
+                                        taskTyp = "F503"
+                                    };
+                                    string message = JsonConvert.SerializeObject(agvTask);
+                                    string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                    var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                    if (reponseMessage != null && reponseMessage.code == "0")
+                                    {
+                                        wcsCmd.taskCode = reponseMessage.data;
+                                        wcsCmd.cmdStatus = 1;
+                                        item.taskStatus = 1;
+                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
+                                        WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                        dbContext.Add(wcsCmdLog);
+                                        dbContext.Update(item);
+                                        dbContext.Add(wcsCmd);
+                                        int ctuTaskCount = dbContext.WcsTask.Where(t => t.taskType == 29 || t.taskType == 30).Count();
+                                        WcsOutstockLock wcsOutstockLock = dbContext.WcsOutstockLock.Where(t => t.warehouseId == 512).First();
+                                        if (ctuTaskCount >= 6 || wcsOutstockLock.qty == ctuTaskCount)//如果CTU当前任务数量很多，取消预执行任务
+                                        {
+                                            ExecuteInTask(baseEquip);
+                                            wcsOutstockLock.qty = 0;
+                                            wcsOutstockLock.boxStatus = 0;
+                                            dbContext.Update(wcsOutstockLock);
+                                            isWait = false;
+                                        }
+                                        dbContext.SaveChanges();
+                                    }
+                                    else
+                                    {
+                                        LogManager.Info("CTU下发入库任务失败：" + reponseMessage?.message);
+                                    }
                                 }
                             }
                         }
@@ -246,10 +373,11 @@ namespace Khd.Core.Wcs.Wcs
                             {
                                 if (wcsCmd.cmdStatus == 3)
                                 {
-                                    var canOut = this._plc.Read("");
-                                    if (canOut != null && Convert.ToInt64(canOut) == 1)
+
+                                    if (item.taskType == 30)
                                     {
-                                        if (item.taskType == 30)
+                                        var canOut = this._plc.Read(isput.plcpointAddress);
+                                        if (canOut != null && Convert.ToInt64(canOut) == 1)
                                         {
                                             var agvTask = new
                                             {
@@ -258,40 +386,52 @@ namespace Khd.Core.Wcs.Wcs
                                                 type = 2
                                             };
                                             string message = JsonConvert.SerializeObject(agvTask);
-                                            string result = HttpHelper.HttpPost("http://172.16.12.24:8182/rcms/services/rest/hikRpcService/boxApplyPass", message);
+                                            string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/boxApplyPass", message);
                                             ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
-                                            if (reponseMessage != null && reponseMessage.message == "成功")
+                                            if (reponseMessage != null && reponseMessage.code == "0")
                                             {
-                                                wcsCmd.cmdStatus = 4;
-                                                dbContext.Update(wcsCmd);
+                                                dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmd() { cmdStatus = 4 });
+                                                dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog() { cmdStatus = 4 });
+                                                dbContext.WcsTask.Where(t => t.objid == item.objid).Update(t => new WcsTask() { taskStatus = 4 });
+                                                dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 4 });
                                                 dbContext.SaveChanges();
                                             }
+                                            else
+                                            {
+                                                LogManager.Info("CTU第一次下发继续任务失败：" + reponseMessage?.message);
+                                            }
                                         }
-                                        else if(item.taskType ==29)
+                                    }
+                                    if (item.taskType == 29)
+                                    {
+                                        var agvTask = new
                                         {
-                                            var agvTask = new
-                                            {
-                                                reqCode = StaticData.SnowId.NextId().ToString(),
-                                                taskCode = wcsCmd.taskCode,
-                                                type = 1
-                                            };
-                                            string message = JsonConvert.SerializeObject(agvTask);
-                                            string result = HttpHelper.HttpPost("http://172.16.12.24:8182/rcms/services/rest/hikRpcService/boxApplyPass", message);
-                                            ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
-                                            if (reponseMessage != null && reponseMessage.message == "成功")
-                                            {
-                                                wcsCmd.cmdStatus = 4;
-                                                dbContext.Update(wcsCmd);
-                                                dbContext.SaveChanges();
-                                            }
+                                            reqCode = StaticData.SnowId.NextId().ToString(),
+                                            taskCode = wcsCmd.taskCode,
+                                            type = 1
+                                        };
+                                        string message = JsonConvert.SerializeObject(agvTask);
+                                        string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/boxApplyPass", message);
+                                        ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                        if (reponseMessage != null && reponseMessage.code == "0")
+                                        {
+                                            dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmd() { cmdStatus = 4 });
+                                            dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog() { cmdStatus = 4 });
+                                            dbContext.WcsTask.Where(t => t.objid == item.objid).Update(t => new WcsTask() { taskStatus = 4 });
+                                            dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 4 });
+                                            dbContext.SaveChanges();
+                                        }
+                                        else
+                                        {
+                                            LogManager.Info("CTU第二次下发继续任务失败：" + reponseMessage?.message);
                                         }
                                     }
                                 }
                                 else if (wcsCmd.cmdStatus == 5)
                                 {
                                     //任务完成
-                                    //如果是入库任务,更新库存信息,并删除任务
-                                    if (taskType.Contains(item.taskType))
+                                    //如果是出库任务,更新库存信息,并删除任务
+                                    if (item.taskType == 30)
                                     {
                                         WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
                                            .First(t => t.locationId == item.startPointId && t.warehouseFloor == 5);
@@ -300,29 +440,22 @@ namespace Khd.Core.Wcs.Wcs
                                         dbContext.Update(wmsBaseLocation);
 
                                         dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
+                                        dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog() { cmdStatus = 6 });
                                         dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
+                                        dbContext.WcsTaskLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsTaskLog() { taskStatus = 6 });
                                         dbContext.SaveChanges();
                                     }
-                                    else//如果是出库任务,更新库存信息,下一个任务为提升机
+                                    else//如果是入库任务,更新库存信息,下一个任务为提升机
                                     {
                                         WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
-                                            .First(t => t.locationId == item.startPointId && t.warehouseFloor == 5);
-                                        if (item.taskType == 29)
-                                        {
-                                            wmsBaseLocation.outstockFlag = "0";
-                                            wmsBaseLocation.locationStatus = "1";
-                                            dbContext.Update(wmsBaseLocation);
-                                        }
-
-                                        BaseEquip floorLineEquip = StaticData.BaseEquip.First(t => t.equipType == 1 && t.floorNo == 5);
-                                        BaseEquip eletorEquip = StaticData.BaseEquip.First(t => t.equipType == 2);
-                                        item.nextPointId = floorLineEquip.objid;
-                                        item.nextPointNo = floorLineEquip.equipNo;
-                                        item.fromFloorNo = 5;
-                                        item.floorNo = 1;
-                                        item.taskStatus = 6;
-                                        dbContext.Update(item);
+                                            .First(t => t.locationId == item.endPointId && t.warehouseFloor == 5);
+                                        wmsBaseLocation.instockFlag = "0";
+                                        wmsBaseLocation.locationStatus = "1";
+                                        dbContext.Update(wmsBaseLocation);
                                         dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
+                                        dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog() { cmdStatus = 6 });
+                                        dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
+                                        dbContext.WcsTaskLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsTaskLog() { taskStatus = 6 });
                                         dbContext.SaveChanges();
                                     }
                                 }
@@ -341,7 +474,34 @@ namespace Khd.Core.Wcs.Wcs
             }
         }
 
-
+        /// <summary>
+        /// 通知CTU取消预执行任务
+        /// </summary>
+        /// <param name="baseEquip"></param>
+        /// <param name="wcsCmd"></param>
+        private void ExecuteInTask(BaseEquip baseEquip)
+        {
+            //while (isWait)
+            {
+                var executeTask = new
+                {
+                    reqCode = StaticData.SnowId.NextId().ToString(),
+                    positionCode = "CTU_IN",
+                    nextTask = -1
+                };
+                string executeMessage = JsonConvert.SerializeObject(executeTask);
+                string executeResult = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genPreScheduleTask", executeMessage);
+                var executeReponse = JsonConvert.DeserializeObject<ReponseMessage>(executeResult);
+                if (executeReponse != null && executeReponse.code == "0")
+                {
+                    LogManager.Info("下发CTU执行入库任务成功");
+                }
+                else
+                {
+                    LogManager.Info("下发CTU执行入库任务失败");
+                }
+            }
+        }
 
         /// <summary>
         /// 下发任务

src/Khd.Core.Wcs/Wcs/FiveFloorLine.cs

@@ -1,120 +1,120 @@
-using Khd.Core.Domain.Dto.webapi;
-using Khd.Core.Domain.Models;
-using Khd.Core.EntityFramework;
-using Khd.Core.Wcs.Global;
-using Masuit.Tools.Logging;
-using Microsoft.Extensions.DependencyInjection;
-using Microsoft.Extensions.Hosting;
-using Z.EntityFramework.Plus;
+//using Khd.Core.Domain.Dto.webapi;
+//using Khd.Core.Domain.Models;
+//using Khd.Core.EntityFramework;
+//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>
-    /// 五楼人工分拣输送线
-    /// </summary>
-    public class FiveFloorLine
-    {
-        List<BasePlcpoint> ScanPoint { get; set; }//点位信息
-        private readonly IHost _host;
-        private readonly Plc.S7.Plc _plc;
-        private readonly BasePlcpoint LineRFID;
-        private readonly BasePlcpoint IsArrive;
-        private readonly BasePlcpoint IsPut;
-        int FloorNo { get; set; }
-        string EquipNo = "";
-        int CTUID = 11;
-        public FiveFloorLine(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
-        {
-            this._host = host;
-            this._plc = plc;
-            FloorNo = floor;
-            EquipNo = equipNo;
-            this.ScanPoint = StaticData.BasePlcpointList.Where(t => t.floorNo == floor).ToList();//加载当前站点所对应的点位
-            this.LineRFID = this.ScanPoint.First(t => t.plcpointNo == "RFID5001");
-            this.IsArrive = this.ScanPoint.First(t => t.plcpointNo.Contains("isarrive"));
-            this.IsPut = this.ScanPoint.First(t => t.plcpointNo == "isput");
+//namespace Khd.Core.Wcs.Wcs
+//{
+//    /// <summary>
+//    /// 五楼人工分拣输送线
+//    /// </summary>
+//    public class FiveFloorLine
+//    {
+//        List<BasePlcpoint> ScanPoint { get; set; }//点位信息
+//        private readonly IHost _host;
+//        private readonly Plc.S7.Plc _plc;
+//        private readonly BasePlcpoint LineRFID;
+//        private readonly BasePlcpoint IsArrive;
+//        private readonly BasePlcpoint IsPut;
+//        int FloorNo { get; set; }
+//        string EquipNo = "";
+//        int CTUID = 11;
+//        public FiveFloorLine(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
+//        {
+//            this._host = host;
+//            this._plc = plc;
+//            FloorNo = floor;
+//            EquipNo = equipNo;
+//            this.ScanPoint = StaticData.BasePlcpointList.Where(t => t.floorNo == floor).ToList();//加载当前站点所对应的点位
+//            this.LineRFID = this.ScanPoint.First(t => t.plcpointNo == "RFID5001");
+//            this.IsArrive = this.ScanPoint.First(t => t.plcpointNo.Contains("isarrive"));
+//            this.IsPut = this.ScanPoint.First(t => t.plcpointNo == "isput");
 
-            //var lineRFID = this._plc.Read(NodeSettingCarNo.plcpointAddress);
-            try
-            {
-                //默认启动,清理plc的上位机写入点位值
-                this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
-            }
-            catch (Exception ex)
-            {
-                Console.WriteLine("楼层" + floor + " 初始化数据异常" + ex.Message);
-                LogManager.Error(ex);
-            }
-        }
-        /// <summary>
-        /// 启动上件扫描监听
-        /// </summary>
-        public void StartPoint()
-        {
+//            //var lineRFID = this._plc.Read(NodeSettingCarNo.plcpointAddress);
+//            try
+//            {
+//                //默认启动,清理plc的上位机写入点位值
+//                this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
+//            }
+//            catch (Exception ex)
+//            {
+//                Console.WriteLine("楼层" + floor + " 初始化数据异常" + ex.Message);
+//                LogManager.Error(ex);
+//            }
+//        }
+//        /// <summary>
+//        /// 启动上件扫描监听
+//        /// </summary>
+//        public void StartPoint()
+//        {
 
-            Thread FlowPointThread = new Thread(MonitorInLocatorPoint);
-            FlowPointThread.Start();
-            Console.WriteLine(DateTime.Now+":五楼人工分拣输送线启动成功");
-            LogManager.Info("五楼人工分拣输送线启动成功");
-        }
+//            Thread FlowPointThread = new Thread(MonitorInLocatorPoint);
+//            FlowPointThread.Start();
+//            Console.WriteLine(DateTime.Now+":五楼人工分拣输送线启动成功");
+//            LogManager.Info("五楼人工分拣输送线启动成功");
+//        }
 
-        public void MonitorInLocatorPoint()
-        {
-            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 rfid = this._plc.Read(LineRFID.plcpointAddress);
-                    var isarrive = this._plc.Read(IsArrive.plcpointAddress);
-                    //获取条码信息
-                    var palletNo = Convert.ToString(rfid);
-                    var taskid = 0;
-                    WcsToWms wcsToWms = new WcsToWms();
-                    continueTaskDto agvtask = new continueTaskDto();
-                    //入库:待取料
-                    if (rfid != null && isarrive != null)
-                    {
-                        //正常读到输送线信息 有到位信号,并且有托盘,获取条码信息
-                        if (Convert.ToInt32(isarrive) == 1)
-                        {
-                            var wcsTaskList = dbContext.WcsTask.Where(t => t.taskType == 7).ToList();
-                            var cmd = dbContext.WcsCmd.Where(t => t.containerNo == rfid && t.cmdStatus == 14).FirstOrDefault();
-                            if (cmd != null)
-                            {
-                                agvtask.reqCode = cmd.taskId.ToString();
-                                //给ctu下发继续任务指令
-                                wcsToWms.continueTask(agvtask);
-                            }
-                        }
-                    }
-                    //出库:取料完成待放料
-                    if (IsPut != null)
-                    {
-                        var cmdList = dbContext.WcsCmd.Where(t => t.cmdStatus == 15).ToList();
-                        if (cmdList == null) return;
-                        foreach (var item in cmdList)
-                        {
-                            if (item != null)
-                            {
-                                agvtask.reqCode = item.taskId.ToString();
-                                //给ctu下发继续任务指令
-                                wcsToWms.continueTask(agvtask);
-                            }
-                        }
-                    }
-                }
-                catch (Exception ex)
-                {
-                    LogManager.Error(ex);
-                }
-                finally
-                {
-                    Thread.Sleep(1000);
-                }
-            }
-        }
-    }
-}
+//        public void MonitorInLocatorPoint()
+//        {
+//            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 rfid = this._plc.Read(LineRFID.plcpointAddress);
+//                    var isarrive = this._plc.Read(IsArrive.plcpointAddress);
+//                    //获取条码信息
+//                    var palletNo = Convert.ToString(rfid);
+//                    var taskid = 0;
+//                    WcsToWms wcsToWms = new WcsToWms();
+//                    continueTaskDto agvtask = new continueTaskDto();
+//                    //入库:待取料
+//                    if (rfid != null && isarrive != null)
+//                    {
+//                        //正常读到输送线信息 有到位信号,并且有托盘,获取条码信息
+//                        if (Convert.ToInt32(isarrive) == 1)
+//                        {
+//                            var wcsTaskList = dbContext.WcsTask.Where(t => t.taskType == 7).ToList();
+//                            var cmd = dbContext.WcsCmd.Where(t => t.containerNo == rfid && t.cmdStatus == 14).FirstOrDefault();
+//                            if (cmd != null)
+//                            {
+//                                agvtask.reqCode = cmd.taskId.ToString();
+//                                //给ctu下发继续任务指令
+//                                wcsToWms.continueTask(agvtask);
+//                            }
+//                        }
+//                    }
+//                    //出库:取料完成待放料
+//                    if (IsPut != null)
+//                    {
+//                        var cmdList = dbContext.WcsCmd.Where(t => t.cmdStatus == 15).ToList();
+//                        if (cmdList == null) return;
+//                        foreach (var item in cmdList)
+//                        {
+//                            if (item != null)
+//                            {
+//                                agvtask.reqCode = item.taskId.ToString();
+//                                //给ctu下发继续任务指令
+//                                wcsToWms.continueTask(agvtask);
+//                            }
+//                        }
+//                    }
+//                }
+//                catch (Exception ex)
+//                {
+//                    LogManager.Error(ex);
+//                }
+//                finally
+//                {
+//                    Thread.Sleep(1000);
+//                }
+//            }
+//        }
+//    }
+//}

src/Khd.Core.Wcs/Wcs/FiveFloorPoint.cs

@@ -1,6 +1,7 @@
 using Khd.Core.Domain.Dto.webapi;
 using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
+using Khd.Core.Library.Mapper;
 using Khd.Core.Plc;
 using Khd.Core.Wcs.Global;
 using Masuit.Tools.Logging;
@@ -8,6 +9,7 @@ using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
 using Newtonsoft.Json;
 using System.Security.Cryptography;
+using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs.Wcs
 {
@@ -82,10 +84,10 @@ namespace Khd.Core.Wcs.Wcs
                             var palletNo = Convert.ToString(rfid);
                             BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.equipType == 1 && t.floorNo == FloorNo);
                             var wcsTask = dbContext.WcsTask.OrderBy(t => t.createTime)
-                                .FirstOrDefault(t => t.floorNo == FloorNo && t.containerNo == palletNo);
+                                .FirstOrDefault(t => t.containerNo == palletNo && t.nextPointId == baseEquip.objid);
                             if (wcsTask != null)
                             {
-                                if (ITypes.Contains(wcsTask.taskType) && wcsTask.taskStatus == 4)//入库,提升机任务是完成状态
+                                if (wcsTask.taskStatus == 5)//入库,提升机任务是完成状态
                                 {
                                     var wmsBaseLocations = dbContext.WmsBaseLocation.Where(t => t.warehouseFloor == FloorNo)
                                         .Where(t => t.activeFlag == "1")
@@ -96,69 +98,137 @@ namespace Khd.Core.Wcs.Wcs
                                         //.Where(t => t.locationStatus == "1")
                                         //.Where(t => string.IsNullOrEmpty(t.containerCode))
                                         .ToList();
-
-                                    List<string> containerCodes = wmsBaseLocations.Where(t => t.locDeep == 1).Select(t => t.containerCode).ToList();//深库位的托盘
-                                    List<MesBasePalletInfo> mesBasePalletInfos = dbContext.MesBasePalletInfo
-                                        .Where(t => t.materialId == wcsTask.materialId)
-                                        .Where(t => containerCodes.Contains(t.palletInfoCode)).ToList();//深库位的托盘的物料等于当前任务的物料
-
-                                    var bill = from a in mesBasePalletInfos
-                                               join b in wmsBaseLocations.Where(t => t.locDeep == 1) on a.palletInfoCode equals b.containerCode
-                                               select new { b };//等于当前任务的物料的托盘的库位信息
-
-                                    var outBill = from a in bill
-                                                  from b in wmsBaseLocations
-                                                  where a.b.layerNum == b.layerNum
-                                                  && b.locDeep == 2
-                                                  && a.b.locRow == b.locRow
-                                                  && a.b.locColumn == b.locColumn
-                                                  && b.locationStatus == "1"
-                                                  && b.outstockFlag == "0"
-                                                  && b.instockFlag == "0"
-                                                  && string.IsNullOrEmpty(b.containerCode)
-                                                  select new { a.b };//在上面的基础上获取对应托盘的外侧库位的空库位信息
-
-                                    WmsBaseLocation? wmsBaseLocation = null;
-                                    wmsBaseLocation ??= outBill.FirstOrDefault()?.b;//先找相同物料的外侧库位
-                                    wmsBaseLocation ??= wmsBaseLocations.Where(t => string.IsNullOrEmpty(t.containerCode)).FirstOrDefault(t => t.locDeep == 2);//找不到再找深库位
-                                    wmsBaseLocation ??= wmsBaseLocations.Where(t => string.IsNullOrEmpty(t.containerCode)).FirstOrDefault();//找不到再找任意库位
-                                    //深浅库位问题？库位入库优先级等
-
-                                    var AgvEquip = StaticData.BaseEquip.First(t => t.floorNo == 5 && t.equipType == 5);//背负Agv
-                                    if (wmsBaseLocations.Count > 0 && wmsBaseLocation != null)
+                                    if (wmsBaseLocations.Count > 0)
                                     {
-                                        wcsTask.taskStatus = 0;//创建状态
-                                        wcsTask.updateTime = DateTime.Now;
-                                        wcsTask.currPointId = baseEquip.objid;
-                                        wcsTask.currPointNo = baseEquip.equipNo;
-                                        wcsTask.nextPointId = AgvEquip.objid;
-                                        wcsTask.nextPointNo = AgvEquip.equipNo;
-                                        wcsTask.endPointId = wmsBaseLocation.locationId;
-                                        wcsTask.endPointNo = wmsBaseLocation.locationCode;
-                                        wcsTask.useFlag = 0;//什么情况下需要确认
-                                        wmsBaseLocation.instockFlag = "1";
-                                        wmsBaseLocation.locationStatus = "2";
-                                        dbContext.Update(wmsBaseLocation);
-                                        dbContext.Update(wcsTask);
-                                        dbContext.SaveChanges();
+                                        List<string> containerCodes = wmsBaseLocations.Where(t => t.locDeep == 1).Select(t => t.containerCode).ToList();//深库位的托盘
+                                        List<MesBasePalletInfo> mesBasePalletInfos = dbContext.MesBasePalletInfo
+                                            .Where(t => t.materialId == wcsTask.materialId)
+                                            .Where(t => containerCodes.Contains(t.palletInfoCode)).ToList();//深库位的托盘的物料等于当前任务的物料
+
+                                        var bill = from a in mesBasePalletInfos
+                                                   join b in wmsBaseLocations.Where(t => t.locDeep == 1) on a.palletInfoCode equals b.containerCode
+                                                   select new { b };//等于当前任务的物料的托盘的库位信息
+
+                                        var outBill = from a in bill
+                                                      from b in wmsBaseLocations
+                                                      where a.b.layerNum == b.layerNum
+                                                      && b.locDeep == 2
+                                                      && a.b.locRow == b.locRow
+                                                      && a.b.locColumn == b.locColumn
+                                                      && b.locationStatus == "1"
+                                                      && b.outstockFlag == "0"
+                                                      && b.instockFlag == "0"
+                                                      && string.IsNullOrEmpty(b.containerCode)
+                                                      select new { a.b };//在上面的基础上获取对应托盘的外侧库位的空库位信息
+
+                                        WmsBaseLocation? wmsBaseLocation = null;
+                                        wmsBaseLocation ??= outBill.FirstOrDefault()?.b;//先找相同物料的外侧库位
+                                        wmsBaseLocation ??= wmsBaseLocations.Where(t => string.IsNullOrEmpty(t.containerCode)).FirstOrDefault(t => t.locDeep == 2);//找不到再找深库位
+                                        wmsBaseLocation ??= wmsBaseLocations.Where(t => string.IsNullOrEmpty(t.containerCode)).FirstOrDefault();//找不到再找任意库位
+                                                                                                                                                //深浅库位问题？库位入库优先级等
+
+                                        var AgvEquip = StaticData.BaseEquip.First(t => t.floorNo == 5 && t.equipType == 5);//背负Agv
+                                        if (wmsBaseLocations.Count > 0 && wmsBaseLocation != null)
+                                        {
+                                            wcsTask.taskStatus = 0;//创建状态
+                                            wcsTask.updateTime = DateTime.Now;
+                                            wcsTask.currPointId = baseEquip.objid;
+                                            wcsTask.currPointNo = baseEquip.equipNo;
+                                            wcsTask.nextPointId = AgvEquip.objid;
+                                            wcsTask.nextPointNo = AgvEquip.equipNo;
+                                            wcsTask.endPointId = wmsBaseLocation.locationId;
+                                            wcsTask.endPointNo = wmsBaseLocation.locationCode;
+                                            if (wmsBaseLocation.warehouseId == 531)
+                                            {
+                                                wcsTask.taskType = 37;
+                                                wcsTask.useFlag = 1;
+                                            }
+                                            else if (wmsBaseLocation.warehouseId == 511 && wcsTask.fromFloorNo == 4)
+                                            {
+                                                wcsTask.taskType = 47;//?28?
+                                                wcsTask.useFlag = 0;
+                                            }
+                                            else if (wmsBaseLocation.warehouseId == 511)
+                                            {
+                                                wcsTask.taskType = 47;
+                                                wcsTask.useFlag = 1;
+                                            }
+                                            else
+                                            {
+                                                Console.WriteLine($"{DateTime.Now}:5楼接驳位查找入库类型失败");
+                                                Thread.Sleep(1000);
+                                                continue;
+                                            }
+                                            wmsBaseLocation.instockFlag = "1";
+                                            wmsBaseLocation.locationStatus = "2";
+                                            dbContext.Update(wmsBaseLocation);
+                                            dbContext.Update(wcsTask);
+                                            WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
+                                            dbContext.Add(wcsTaskLog);
+                                            dbContext.SaveChanges();
+                                        }
+                                        else
+                                        {
+                                            Console.WriteLine(DateTime.Now + ":五楼接驳位调度入库任务,未找到库位");
+                                            LogManager.Info("五楼接驳位调度入库任务,未找到库位");
+                                        }
+                                    }
+
+                                }
+                                else if (wcsTask.taskStatus == 6) //出库任务,小车任务是完成状态
+                                {
+                                    int? floor = 0;
+                                    var wmsProductOutstock = dbContext.WmsProductOutstock.FirstOrDefault(t => t.saleOrderId == wcsTask.orderId);
+                                    if (wmsProductOutstock != null)
+                                    {
+                                        var endEquip = StaticData.BaseEquip.FirstOrDefault(t => t.equipNo == wmsProductOutstock.endStationCode);
+                                        if (endEquip != null)
+                                        {
+                                            floor = endEquip.floorNo;
+                                        }
                                     }
                                     else
                                     {
-                                        Console.WriteLine(DateTime.Now + ":五楼接驳位调度入库任务,未找到库位");
+                                        var wmsRawOutstock = dbContext.WmsRawOutstock.FirstOrDefault(t => t.orderId == wcsTask.orderId);
+                                        if (wmsRawOutstock != null)
+                                        {
+                                            BaseEquip endEquip = StaticData.BaseEquip.FirstOrDefault(t => t.equipNo == wmsRawOutstock.endStationCode);
+                                            if (endEquip != null)
+                                            {
+                                                floor = endEquip.floorNo;
+                                            }
+                                        }
+                                    }
+                                    if (floor == 0)
+                                    {
+                                        Console.WriteLine($"{DateTime.Now}:5楼接驳位未找到目的地楼层");
+                                        LogManager.Info("5楼接驳位未找到目的地楼层");
+                                        Thread.Sleep(1000);
+                                        continue;
                                     }
-                                }
-                                else//出库
-                                {
                                     BaseEquip nextEquip = StaticData.BaseEquip.First(t => t.equipType == 2);//提升机
                                     wcsTask.nextPointId = nextEquip.objid;
                                     wcsTask.nextPointNo = nextEquip.equipNo;
                                     wcsTask.currPointId = baseEquip.objid;
                                     wcsTask.currPointNo = baseEquip.equipNo;
                                     wcsTask.fromFloorNo = FloorNo;
-                                    wcsTask.floorNo = 1;//出库到一楼
+                                    wcsTask.taskType = 6;//成品出库
+                                    wcsTask.floorNo = floor;//出库到一楼
                                     wcsTask.taskStatus = 0;
                                     wcsTask.updateTime = DateTime.Now;
                                     dbContext.Update(wcsTask);
+                                    dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid)
+                                        .Update(t => new WcsTaskLog
+                                        {
+                                            nextPointId = nextEquip.objid,
+                                            nextPointNo = nextEquip.equipNo,
+                                            currPointId = baseEquip.objid,
+                                            currPointNo = baseEquip.equipNo,
+                                            fromFloorNo = FloorNo,
+                                            floorNo = floor,
+                                            taskStatus = 0,
+                                            updateTime = DateTime.Now,
+                                        });
                                     dbContext.SaveChanges();
                                 }
                             }
@@ -192,7 +262,7 @@ namespace Khd.Core.Wcs.Wcs
                     //查询该条码绑定的物料信息
                     var material = StaticData.WmsWarehouseMaterial.Where(t => t.storageId == palletInfo.materialId).FirstOrDefault();
                     var wareHouse = wareHouseList.Where(t => t.warehouseId == material.warehouseId).FirstOrDefault();
-                    var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.ud1 == "I" && t.dicField == wareHouse.warehouseInstockType).FirstOrDefault();
+                    var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.agvType == "I" && t.dicField == wareHouse.warehouseInstockType).FirstOrDefault();
                     var equip = StaticData.BaseEquip.ToList();
                     var startEquip = equip.Where(t => t.equipNo == equipNo).FirstOrDefault();
                     var endPoint = wareHouseList.Where(t => t.warehouseFloor == floorNo).FirstOrDefault();

src/Khd.Core.Wcs/Wcs/FourthFloorPoint.cs

@@ -1,5 +1,7 @@
 using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
+using Khd.Core.Library.Mapper;
+using Khd.Core.Plc;
 using Khd.Core.Plc.S7;
 using Khd.Core.Wcs.Global;
 using Masuit.Tools.Logging;
@@ -21,7 +23,7 @@ namespace Khd.Core.Wcs.Wcs
     {
         private readonly int Floor;
         private readonly Plc.S7.Plc _plc;
-        private readonly IHost host;
+        private readonly IHost _host;
         private readonly BasePlcpoint LineRFID;
         private readonly BasePlcpoint LineSignal;
         private readonly BasePlcpoint WcsRun;
@@ -29,7 +31,7 @@ namespace Khd.Core.Wcs.Wcs
         {
             Floor = floor;
             _plc = plc;
-            this.host = host;
+            this._host = host;
             this.LineRFID = StaticData.BasePlcpointList.First(t => t.floorNo == 4 && t.plcpointNo.Contains("RFID"));
             this.LineSignal = StaticData.BasePlcpointList.First(t => t.floorNo == 4 && t.plcpointNo.Contains("signal"));
             this.WcsRun = StaticData.BasePlcpointList.First(t => t.floorNo == 4 && t.plcpointNo.Contains("wcsrun"));
@@ -37,103 +39,85 @@ namespace Khd.Core.Wcs.Wcs
 
         public void StartPoint()
         {
-            Thread MonitorInLocatorPointThread=new Thread(MonitorInLocatorPoint);
+            Thread MonitorInLocatorPointThread = new Thread(MonitorInLocatorPoint);
             MonitorInLocatorPointThread.Start();
         }
 
         private void MonitorInLocatorPoint()
         {
-            List<int?> Itpyes = new() { 1, 3, 5, 7 };
-            using var scope = host.Services.CreateScope();
+            List<int> ITypes = new List<int> { 1, 3, 5, 7 };
+            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 RFID004Value = this._plc.Read(this.LineRFID.plcpointAddress);  //一楼RFID 读
-                    var linesignal04Value = this._plc.Read(this.LineSignal.plcpointAddress); //到位信号 读
-                    var wcsrun04Value = this._plc.Read(this.WcsRun.plcpointAddress);   //去向 写
-
-                    //正常读到plc值
-                    if (linesignal04Value != null && RFID004Value != null)
+                    //入库任务
+                    var rfid = this._plc.ReadRFID(LineRFID.plcpointAddress);
+                    var isSignal = this._plc.Read(LineSignal.plcpointAddress);
+                    if (rfid != null && isSignal != null)
                     {
-                        //正常托盘到位
-                        if (Convert.ToInt32(linesignal04Value) == 1)
+
+                        if (Convert.ToInt32(isSignal) == 1)//托盘到位
                         {
-
-                            //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.containerNo == RFID004Value.ToString() && t.taskStatus < 1).FirstOrDefault();
-                            if (task == null)
+                            BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.floorNo == 5 && t.equipType == 1);
+                            var wcsTask = dbContext.WcsTask.FirstOrDefault(t => t.containerNo == rfid && t.nextPointId == baseEquip.objid);
+                            if (wcsTask != null)//如果不是null
                             {
-                                //入库
-
-                                //根据托盘号获取物料码
-                                var material = dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID004Value.ToString()).FirstOrDefault();
-                                if (material != null)
+                                int? floor = 0;
+                                var wmsProductOutstock = dbContext.WmsProductOutstock.FirstOrDefault(t => t.saleOrderId == wcsTask.orderId);
+                                if (wmsProductOutstock != null)
                                 {
-                                    var warehouseId = dbContext.WmsWarehouseMaterial.Where(t => t.storageType == "1" && t.storageId == material.materialId).FirstOrDefault()?.warehouseId;
-                                    if (warehouseId != null)
+                                    var endEquip = StaticData.BaseEquip.FirstOrDefault(t => t.equipNo == wmsProductOutstock.endStationCode);
+                                    if (endEquip != null)
                                     {
-                                        var TargetFloor = dbContext.WmsBaseWarehouse.Where(t => t.warehouseId == warehouseId).FirstOrDefault();
-                                        if (TargetFloor != null)
+                                        floor = endEquip.floorNo;
+                                    }
+                                }
+                                else
+                                {
+                                    var wmsRawOutstock = dbContext.WmsRawOutstock.FirstOrDefault(t => t.orderId == wcsTask.orderId);
+                                    if (wmsRawOutstock != null)
+                                    {
+                                        BaseEquip endEquip = StaticData.BaseEquip.FirstOrDefault(t => t.equipNo == wmsRawOutstock.endStationCode);
+                                        if (endEquip != null)
                                         {
-                                            //插入task表
-
-                                            var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.ud1 == "I" && t.dicField == TargetFloor.warehouseInstockType).FirstOrDefault();
-                                            if (dic != null)
-                                            {
-                                                var newTask = new WcsTask()
-                                                {
-                                                    objid = StaticData.SnowId.NextId(),
-                                                    serialNo = 1235,
-                                                    equipmentNo = "F04",
-                                                    taskType = Convert.ToInt32(dic.dicValue),
-                                                    taskStatus = 0,
-                                                    containerNo = RFID004Value.ToString(),
-                                                    materialNo = material.materialCode,
-                                                    materialId = material.materialId,
-                                                    qty = Convert.ToInt32(material.bindAmount),
-                                                    startPointId = 4,
-                                                    startPointNo = "F04",
-                                                    currPointId = 4,
-                                                    currPointNo = "F04",
-                                                    nextPointId = 6,
-                                                    nextPointNo = "T01",
-                                                    endPointId = warehouseId,
-                                                    fromFloorNo = 4,
-                                                    floorNo = TargetFloor.warehouseFloor,
-                                                    useFlag = 1,
-                                                    createBy = "四楼接驳位",
-                                                    createTime = DateTime.Now,
-                                                    remark = "四楼创建入库任务"
-                                                };
-                                                dbContext.Add(newTask);
-                                            }
+                                            floor = endEquip.floorNo;
                                         }
                                     }
                                 }
-                            }
-                            else if (Itpyes.Contains(task.taskType))
-                            {
-                                if (task.nextPointId != 6)
+                                if (floor == 0)
                                 {
-                                    task.currPointId = 4;
-                                    task.currPointNo = "F04";
-                                    task.nextPointId = 6;
-                                    task.nextPointNo = "T01";
-                                    task.taskStatus = 0;
-                                    task.updateBy = "四楼接驳位线程";
-                                    task.updateTime = DateTime.Now;
-                                    task.remark = "四楼创建入库任务";
-                                    dbContext.WcsTask.Update(task);
-                                    dbContext.SaveChanges();
+                                    Console.WriteLine($"{DateTime.Now}:4楼接驳位未找到目的地楼层");
+                                    LogManager.Info("4楼接驳位未找到目的地楼层");
+                                    Thread.Sleep(1000);
+                                    continue;
                                 }
-                            }
-                            //出库
-                            else
-                            {
-                               
+                                BaseEquip nextEquip = StaticData.BaseEquip.First(t => t.equipType == 2);//提升机
+                                wcsTask.nextPointId = nextEquip.objid;
+                                wcsTask.nextPointNo = nextEquip.equipNo;
+                                wcsTask.currPointId = baseEquip.objid;
+                                wcsTask.currPointNo = baseEquip.equipNo;
+                                wcsTask.fromFloorNo = 4;
+                                wcsTask.taskType = 6;//成品出库
+                                wcsTask.floorNo = floor;//出库到一楼
+                                wcsTask.taskStatus = 0;
+                                wcsTask.updateTime = DateTime.Now;
+                                dbContext.Update(wcsTask);
+                                dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid)
+                                    .Update(t => new WcsTaskLog
+                                    {
+                                        nextPointId = nextEquip.objid,
+                                        nextPointNo = nextEquip.equipNo,
+                                        currPointId = baseEquip.objid,
+                                        currPointNo = baseEquip.equipNo,
+                                        fromFloorNo = 4,
+                                        floorNo = floor,
+                                        taskStatus = 0,
+                                        updateTime = DateTime.Now,
+                                    });
+                                dbContext.SaveChanges();
                             }
                         }
                     }
@@ -142,7 +126,10 @@ namespace Khd.Core.Wcs.Wcs
                 {
                     LogManager.Error(ex);
                 }
-                Thread.Sleep(1000);
+                finally
+                {
+                    Thread.Sleep(1000);
+                }
             }
         }
     }

src/Khd.Core.Wcs/Wcs/SecondFloorAGV.cs

@@ -74,113 +74,7 @@ namespace Khd.Core.Wcs.Wcs
                 {
                     dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
                     //获取条码号,如果该条码任务存在就继续任务,如果条码不存在,创建入库任务并调度agv
-                    var taskList = StaticData.WcsTask.Where(t => t.nextPointId == EquipID && t.currPointId != EquipID && (t.taskType == 11 || t.taskType == 5 || t.taskType == 6)).ToList();
-                    if (taskList.Count == 0)
-                    {
-                        LogManager.Info(FloorNo + "楼AGV无任务");
-                    }
-                    foreach (var item in taskList)
-                    {
-                        if (item.taskType == 5 || item.taskType == 11)//入库
-                        {
-                            var loc = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1").ToList();
-                            var stock = dbContext.WmsProductStock.Where(t => t.activeFlag == "1").ToList();
-                            //获取有物料的库位
-                            var locStock = from l in loc
-                                           join s in stock on l.locationCode equals s.locationCode
-                                           select new
-                                           {
-                                               LocId = l.locationId,
-                                               locCode = l.locationCode,
-                                               LocDeep = l.locDeep,
-                                               productBatch = s.productBatch
-                                           };
-                            //获取空库位
-                            var nullLocList = loc.Where(r => !locStock.Select(t => t.locCode).Contains(r.locationCode) && r.warehouseId == 1).ToList();
-                            var location = nullLocList.OrderBy(t => t.locColumn).FirstOrDefault();
-                            if (location == null) return;
-                            item.currPointId = 8;
-                            item.currPointNo = "AGV01";
-                            item.nextPointId = location.locationId;
-                            item.nextPointNo = location.locationCode;
-                            //锁定库位
-                            dbContext.WmsBaseLocation.Where(t => t.locRow == location.locRow && t.locColumn == location.locColumn && t.layerNum == location.layerNum).Update(t => new WmsBaseLocation()
-                            {
-                                locationStatus = "6",
-                                updateTime = DateTime.Now,
-                                updateBy = "agv出库",
-                            });
-                            //下发agv出库指令
-                            SendAndUpdateTask(item);
-                        }
-                        else if (item.taskType == 6)
-                        {
-                            var locList = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1").ToList();
-                            var outProStock = dbContext.WmsProductOutstock.Where(t => t.productOutstockId == item.orderId).FirstOrDefault();
-                            //获取库存
-                            var proStock = dbContext.WmsProductStock.Where(t => t.activeFlag == "1" && t.stockType == "3" && t.planCode == outProStock.planCode && t.saleorderCode == outProStock.saleorderCode).ToList();
-
-                            var dic = dbContext.BaseDictionary.Where(t => t.dicKey == "OutStockDate").FirstOrDefault();
-                            var DateRange = Convert.ToInt32(dic.dicValue);
-                            var stockList = from t in proStock.Where(r => r.productId == item.materialId)
-                                            join b in locList on t.locationCode equals b.locationCode
-                                            into temp
-                                            from newStock in temp.DefaultIfEmpty()
-                                            select new
-                                            {
-                                                proID = t.productStockId,
-                                                locID = newStock.locationId,
-                                                locCode = t.locationCode,
-                                                layerNum = newStock.layerNum,
-                                                locColumn = newStock.locColumn,
-                                                locRow = newStock.locRow,
-                                                locDeep = newStock.locDeep,
-                                                inStockDate = newStock.createTime,
-                                            };
-                            //先查出最早入库时间
-                            var inStockModel = stockList.OrderBy(t => t.inStockDate).FirstOrDefault();
-                            var inStockDate = inStockModel.inStockDate;
-                            //查出符合条件的成品
-                            var outStockList = stockList.Where(t => t.inStockDate >= inStockDate && t.inStockDate <= inStockDate.GetValueOrDefault().AddDays(DateRange)).ToList();
-                            var outModel = outStockList.OrderBy(t => t.locColumn).ThenByDescending(t => t.locDeep).FirstOrDefault();
-                            if (outModel.locDeep == 1)
-                            {
-                                //自动获取id
-
-                                var objid = StaticData.SnowId.NextId();
-                                var isExiStock = stockList.Where(t => t.locRow == outModel.locRow && t.locColumn == outModel.locColumn && t.locDeep == 2).FirstOrDefault();
-                                if (isExiStock != null)
-                                {
-                                    //创建成品移库任务
-                                    WcsTask newTask = new()
-                                    {
-                                        objid = objid,
-                                        taskType = 11,
-                                        containerNo = "",
-                                        taskStatus = 0,
-                                        materialId = isExiStock.locID,
-                                        qty = 1,
-                                        startPointId = isExiStock.locID,
-                                        currPointId = isExiStock.locID,
-                                        endPointId = 12,
-                                        endPointNo = "WH02",
-                                    };
-                                    dbContext.Add(newTask);
-                                    dbContext.SaveChanges();
-                                    return;
-                                }
-                            }
-                            //锁定库位
-                            dbContext.WmsBaseLocation.Where(t => t.locRow == outModel.locRow && t.locColumn == outModel.locColumn && t.layerNum == outModel.layerNum).Update(t => new WmsBaseLocation()
-                            {
-                                locationStatus = "6",
-                                updateTime = DateTime.Now,
-                                updateBy = "agv出库",
-                            });
-                            //下发agv出库指令
-                            SendAndUpdateTask(item);
-                        }
-                    }
+                    var taskList = dbContext.WcsTask.Where(t => t.nextPointId == EquipID).ToList();
                 }
                 catch (Exception ex)
                 {
@@ -193,117 +87,5 @@ namespace Khd.Core.Wcs.Wcs
             }
         }
 
-        public void SendAndUpdateTask(WcsTask task)
-        {
-            //获取
-            if (task == null) return;
-            using var scope = _host.Services.CreateScope();
-            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
-            WcsToWms wcsToWms = new WcsToWms();
-            //首先判断是否已下发指令
-            var cmd = dbContext.WcsCmd.Where(t => t.taskId == task.objid).FirstOrDefault();
-            var locList = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1").ToList();
-            if (locList.Count == 0) return;
-            //指令表存在说明已下发
-            if (cmd == null)
-            { //获取下发agv指令
-                string ip = ""; int port = 0; string url = "";
-                RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
-                agvtask.reqCode = task.objid.ToString();
-                //var json = JsonConvert.SerializeObject(agvtask);
-                //HttpHelper.SendPostMessage(ip, port, url, json);
-                agvtask.positionCodePath = new List<Position>();
-                Position p = new Position();
-                WmsBaseLocation putPos = new WmsBaseLocation(); //放料点
-                WmsBaseLocation setPos = new WmsBaseLocation(); //取料点
-                if (task.taskType == 5) //入库
-                {
-                    setPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
-                }
-                else
-                {
-                    setPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
-                }
-                putPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
-                p.positionCode = setPos?.agvPositionCode;
-                p.type = "";
-                agvtask.positionCodePath.Add(p);
-                p.positionCode = putPos?.agvPositionCode;
-                p.type = "";
-                //取料点
-                agvtask.positionCodePath.Add(p);
-                agvtask.taskTyp = "";
-                //给agv创建任务
-                wcsToWms.genAgvSchedulingTask(agvtask);
-                //未下发给agv下发指令
-                WcsCmd taskCmd = new WcsCmd()
-                {
-                    taskId = task.objid,
-                    cmdType = task.taskType,
-                    serialNo = task.serialNo,
-                    equipmentNo = task.equipmentNo,
-                    cmdStatus = 1,
-                    createBy = FloorNo + "楼AGV",
-                    createTime = DateTime.Now,
-                };
-                dbContext.Add(taskCmd);
-                dbContext.SaveChanges();
-            }
-            else
-            {
-                //获取接驳位是否有托盘
-                var IsPallet = this._plc.Read(this.LineIsPallet.plcpointAddress);
-                if (cmd.sendFlag == 0)
-                {
-                    if (taskInType.Contains(task.taskType.GetValueOrDefault()))//入库
-                    {
-                        //入库时有托盘继续任务
-                        if (Convert.ToInt32(IsPallet) == 1)
-                        {
-                            continueTaskDto continueTask = new continueTaskDto();
-                            continueTask.taskCode = task.objid.ToString();
-                            wcsToWms.continueTask(continueTask);
-                            //未下发给agv下发指令
-                            WcsCmd taskCmd = new WcsCmd()
-                            {
-                                taskId = task.objid,
-                                sendFlag = 1,
-                                createBy = FloorNo + "楼AGV",
-                                createTime = DateTime.Now,
-                            };
-                            dbContext.Update(taskCmd);
-                            dbContext.SaveChanges();
-                        }
-                    }
-                    else
-                    {
-                        //出库时没有托盘继续任务
-                        if (Convert.ToInt32(IsPallet) == 0)
-                        {
-                            continueTaskDto continueTask = new continueTaskDto();
-                            continueTask.taskCode = task.objid.ToString();
-                            wcsToWms.continueTask(continueTask);
-                            //更新任务
-                            dbContext.WcsCmd.Where(t => t.taskId == task.objid).Update(t => new WcsCmd()
-                            {
-                                sendFlag = 1,
-                                updateTime = DateTime.Now,
-                                updateBy = "agv出库",
-                            });
-                        }
-                    }
-                }
-            }
-            //更新任务表
-            dbContext.WcsTask.Where(t => t.objid == task.objid).Update(t => new WcsTask()
-            {
-                currPointId = task.currPointId,
-                currPointNo = task.currPointNo,
-                nextPointId = task.nextPointId,
-                nextPointNo = task.nextPointNo,
-                updateTime = DateTime.Now,
-                updateBy = "agv出库",
-            });
-        }
     }
 }

src/Khd.Core.Wcs/Wcs/SecondFloorLine.cs

@@ -129,7 +129,7 @@ namespace Khd.Core.Wcs.Wcs
                     //查询该条码绑定的物料信息
                     var material = StaticData.WmsWarehouseMaterial.Where(t => t.storageId == palletInfo.materialId).FirstOrDefault();
                     var wareHouse = wareHouseList.Where(t => t.warehouseId == material.warehouseId).FirstOrDefault();
-                    var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.ud1 == "I" && t.dicField == wareHouse.warehouseInstockType).FirstOrDefault();
+                    var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.agvType == "I" && t.dicField == wareHouse.warehouseInstockType).FirstOrDefault();
                     var equip = StaticData.BaseEquip.ToList();
                     var startEquip = equip.Where(t => t.equipNo == equipNo).FirstOrDefault();
                     var endPoint = wareHouseList.Where(t => t.warehouseFloor == floorNo).FirstOrDefault();

src/Khd.Core.Wcs/Wcs/SecondFloorPoint.cs

@@ -89,7 +89,7 @@ namespace Khd.Core.Wcs.Wcs
                                 var wmsProductOutstock = dbContext.WmsProductOutstock.Where(t => t.saleOrderId == wcsTask.orderId).FirstOrDefault();
                                 if (wmsProductOutstock != null)
                                 {
-                                    long? endStationCode = wmsProductOutstock.endStationCode;
+                                    string endStationCode = wmsProductOutstock.endStationCode;
                                     //找到目的地楼层
                                     int floorNo=0;
                                     //下发去提升机的去向

src/Khd.Core.Wcs/Wcs/SystemTimer.cs

@@ -0,0 +1,377 @@
+using Khd.Core.Domain.Dto.webapi;
+using Khd.Core.Domain.Models;
+using Khd.Core.EntityFramework;
+using Khd.Core.Plc;
+using Khd.Core.Plc.S7;
+using Khd.Core.Wcs.Global;
+using Masuit.Tools;
+using Microsoft.Extensions.DependencyInjection;
+using Microsoft.Extensions.Hosting;
+using Newtonsoft.Json;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Khd.Core.Wcs.Wcs
+{
+    public class SystemTimer
+    {
+        private readonly IHost host;
+        private Plc.S7.Plc Plc30 = StaticData.PlcDic[0];
+        private Plc.S7.Plc Plc31 = StaticData.PlcDic[0];
+        private Plc.S7.Plc Plc220 = StaticData.PlcDic[2];
+        public SystemTimer(IHost host)
+        {
+            this.host = host;
+        }
+
+        public void Start()
+        {
+            Thread messageSynchronousThread = new(MessageSynchronousLogic);
+            messageSynchronousThread.Start();
+
+            Thread baseEquipThread = new Thread(BaseEquipLogic);
+            baseEquipThread.Start();
+        }
+
+        private void BaseEquipLogic(object? obj)
+        {
+            using var scope = host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            while (true)
+            {
+                try
+                {
+                    dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
+                    List<BaseEquip> updateEquips = dbContext.BaseEquip.Where(t => t.remark == "99").ToList();
+                    if (updateEquips.Count > 0)
+                    {
+                        foreach (var equip in updateEquips)
+                        {
+                            equip.remark = "0";
+                            dbContext.BaseEquip.Update(equip);
+                            dbContext.SaveChanges();
+                        }
+                        StaticData.BaseEquip = dbContext.BaseEquip.ToList();
+                    }
+                }
+                catch
+                {
+
+                }
+                Thread.Sleep(5000);
+            }
+        }
+
+        private void MessageSynchronousLogic(object? obj)
+        {
+            try
+            {
+                using var scope = host.Services.CreateScope();
+                using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+                HositerLogic();
+                CtuLineLogic();
+                ThirdAgvLogic(dbContext);
+                SecondAgvLogic(dbContext);
+                FiveAgvLogic(dbContext);
+                FiveBearAgvLogic(dbContext);
+                CtuCmdLogic(dbContext);
+            }
+            catch (Exception ex)
+            {
+                try
+                {
+                    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();
+                            }
+                        }
+                    }
+                }
+                catch
+                {
+
+                }
+            }
+            Thread.Sleep(5000);
+        }
+
+        private void ThirdAgvLogic(DefaultDbContext dbContext)
+        {
+            var baseEquip = StaticData.BaseEquip.First(t => t.objid == 9);
+            dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
+            var basePlcs = StaticData.basePlcs.Where(t => t.Station == "3楼AGV").ToList();
+            var data = new
+            {
+                reqCode = StaticData.SnowId.NextId(),
+                mapCode = "BB"
+            };
+            string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms-dps/rest/queryAgvStatus", data.ToJsonString());
+            var reponse = JsonConvert.DeserializeObject<AgvStatusDto>(result);
+            if (reponse != null && reponse.code == "0")
+            {
+                cardStatus cardStatus = reponse.data.First(t => t.robotCode == "2032");
+                var quantityPlc = basePlcs.First(t => t.Name.Contains("电量"));
+                this.Plc220.WriteToPoint(quantityPlc.Address, cardStatus.battery, quantityPlc.type);
+                var XPlc = basePlcs.First(t => t.Name.Contains('X'));
+                var Ylc = basePlcs.First(t => t.Name.Contains('Y'));
+                this.Plc220.WriteToPoint(XPlc.Address, cardStatus.posX.ToString(), XPlc.type);
+                this.Plc220.WriteToPoint(Ylc.Address, cardStatus.posY.ToString(), Ylc.type);
+            }
+        }
+
+        private void SecondAgvLogic(DefaultDbContext dbContext)
+        {
+            var baseEquip = StaticData.BaseEquip.First(t => t.objid == 8);
+            dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
+            var basePlcs = StaticData.basePlcs.Where(t => t.Station == "2楼AGV").ToList();
+            var data = new
+            {
+                reqCode = StaticData.SnowId.NextId(),
+                mapCode = "CC"
+            };
+            string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms-dps/rest/queryAgvStatus", data.ToJsonString());
+            var reponse = JsonConvert.DeserializeObject<AgvStatusDto>(result);
+            if (reponse != null && reponse.code == "0")
+            {
+                cardStatus cardStatus = reponse.data.First(t => t.robotCode == "2033");
+                var quantityPlc = basePlcs.First(t => t.Name.Contains("电量"));
+                this.Plc220.WriteToPoint(quantityPlc.Address, cardStatus.battery, quantityPlc.type);
+                var XPlc = basePlcs.First(t => t.Name.Contains('X'));
+                var Ylc = basePlcs.First(t => t.Name.Contains('Y'));
+                this.Plc220.WriteToPoint(XPlc.Address, cardStatus.posX.ToString(), XPlc.type);
+                this.Plc220.WriteToPoint(Ylc.Address, cardStatus.posY.ToString(), Ylc.type);
+            }
+        }
+
+        private void FiveAgvLogic(DefaultDbContext dbContext)
+        {
+            var baseEquip = StaticData.BaseEquip.First(t => t.objid == 10);
+            dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
+            var basePlcs = StaticData.basePlcs.Where(t => t.Station == "5楼AGV").ToList();
+            List<int?> type = new List<int?>() { 27, 28, 34, 35, 37, 38, 46, 47 };
+            var wcsCmds = dbContext.WcsCmd.Where(t => type.Contains(t.cmdType)).ToList();
+            if (wcsCmds.Count > 0)
+            {
+                WcsCmd wcsCmd = wcsCmds.First();
+                var endPlc = basePlcs.Where(t => t.Name.Contains("目的地")).First();
+                Plc220.WriteToPoint(endPlc.Address, wcsCmd.nextPointId.ToString(), endPlc.type);
+                var startPlc = basePlcs.First(t => t.Name.Contains("起始点"));
+                Plc220.WriteToPoint(startPlc.Address, wcsCmd.currPointId.ToString(), startPlc.type);
+                var cmdPlc = basePlcs.First(t => t.Name.Contains("任务代号"));
+                string cmdType = StaticData.BaseDictionary.First(t => t.objid == wcsCmd.cmdType).ToPlc;
+                Plc220.WriteToPoint(cmdPlc.Address, cmdType, cmdPlc.type);
+            }
+            else
+            {
+                var endPlc = basePlcs.Where(t => t.Name.Contains("目的地")).First();
+                this.Plc220.WriteToPoint(endPlc.Address, "0", endPlc.type);
+                var startPlc = basePlcs.First(t => t.Name.Contains("起始点"));
+                Plc220.WriteToPoint(startPlc.Address, "0", startPlc.type);
+                var cmdPlc = basePlcs.First(t => t.Name.Contains("任务代号"));
+                Plc220.WriteToPoint(cmdPlc.Address, "0", cmdPlc.type);
+            }
+            var data = new
+            {
+                reqCode = StaticData.SnowId.NextId(),
+                mapCode = "EE"
+            };
+            string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms-dps/rest/queryAgvStatus", data.ToJsonString());
+            var reponse = JsonConvert.DeserializeObject<AgvStatusDto>(result);
+            if (reponse != null && reponse.code == "0")
+            {
+                cardStatus cardStatus = reponse.data.First(t => t.robotCode == "2034");
+                var quantityPlc = basePlcs.First(t => t.Name.Contains("电量"));
+                this.Plc220.WriteToPoint(quantityPlc.Address, cardStatus.battery, quantityPlc.type);
+                var XPlc = basePlcs.First(t => t.Name.Contains('X'));
+                var Ylc = basePlcs.First(t => t.Name.Contains('Y'));
+                this.Plc220.WriteToPoint(XPlc.Address, cardStatus.posX.ToString(), XPlc.type);
+                this.Plc220.WriteToPoint(Ylc.Address, cardStatus.posY.ToString(), Ylc.type);
+
+                cardStatus = reponse.data.First(t => t.robotCode == "6011");
+                quantityPlc = basePlcs.First(t => t.Name.Contains("电量"));
+                this.Plc220.WriteToPoint(quantityPlc.Address, cardStatus.battery, quantityPlc.type);
+                XPlc = basePlcs.First(t => t.Name.Contains('X'));
+                Ylc = basePlcs.First(t => t.Name.Contains('Y'));
+                this.Plc220.WriteToPoint(XPlc.Address, cardStatus.posX.ToString(), XPlc.type);
+                this.Plc220.WriteToPoint(Ylc.Address, cardStatus.posY.ToString(), Ylc.type);
+
+                cardStatus = reponse.data.First(t => t.robotCode == "8161");
+                quantityPlc = basePlcs.First(t => t.Name.Contains("电量"));
+                this.Plc220.WriteToPoint(quantityPlc.Address, cardStatus.battery, quantityPlc.type);
+                XPlc = basePlcs.First(t => t.Name.Contains("X"));
+                Ylc = basePlcs.First(t => t.Name.Contains("Y"));
+                this.Plc220.WriteToPoint(XPlc.Address, cardStatus.posX.ToString(), XPlc.type);
+                this.Plc220.WriteToPoint(Ylc.Address, cardStatus.posY.ToString(), Ylc.type);
+            }
+        }
+
+        private void FiveBearAgvLogic(DefaultDbContext dbContext)
+        {
+            var baseEquip = StaticData.BaseEquip.First(t => t.objid == 10);
+            dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
+            var basePlcs = StaticData.basePlcs.Where(t => t.Station == "5楼背负式").ToList();
+            var wcsCmds = dbContext.WcsCmd.Where(t => t.cmdType == 32 || t.cmdType == 48).ToList();
+            if (wcsCmds.Count > 0)
+            {
+                WcsCmd wcsCmd = wcsCmds.First();
+                var endPlc = basePlcs.Where(t => t.Name.Contains("目的地")).First();
+                Plc220.WriteToPoint(endPlc.Address, wcsCmd.nextPointId.ToString(), endPlc.type);
+                var startPlc = basePlcs.First(t => t.Name.Contains("起始点"));
+                Plc220.WriteToPoint(startPlc.Address, wcsCmd.currPointId.ToString(), startPlc.type);
+                var cmdPlc = basePlcs.First(t => t.Name.Contains("任务代号"));
+                string cmdType = StaticData.BaseDictionary.First(t => t.objid == wcsCmd.cmdType).ToPlc;
+                Plc220.WriteToPoint(cmdPlc.Address, cmdType, cmdPlc.type);
+            }
+            else
+            {
+                var endPlc = basePlcs.Where(t => t.Name.Contains("目的地")).First();
+                this.Plc220.WriteToPoint(endPlc.Address, "0", endPlc.type);
+                var startPlc = basePlcs.First(t => t.Name.Contains("起始点"));
+                Plc220.WriteToPoint(startPlc.Address, "0", startPlc.type);
+                var cmdPlc = basePlcs.First(t => t.Name.Contains("任务代号"));
+                Plc220.WriteToPoint(cmdPlc.Address, "0", cmdPlc.type);
+            }
+        }
+
+        private void CtuCmdLogic(DefaultDbContext dbContext)
+        {
+            var baseEquip = StaticData.BaseEquip.First(t => t.objid == 11);
+            dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
+            var basePlcs = StaticData.basePlcs.Where(t => t.Station == "5楼CTU").ToList();
+            var wcsCmds = dbContext.WcsCmd.Where(t => t.cmdType == 29 || t.cmdType == 30 || t.cmdType == 31).ToList();
+            if (wcsCmds.Count > 0)
+            {
+                var wcsCmd = wcsCmds.First();
+                List<long?> startList = new List<long?>();
+                List<long?> endList = new List<long?>();
+                if (wcsCmd.cmdType != 30)
+                {
+                    startList.Add(wcsCmd.currPointId);
+                    endList.AddRange(wcsCmds.Select(t => t.nextPointId).ToList());
+                }
+                else
+                {
+                    startList.Add(wcsCmd.nextPointId);
+                    endList.AddRange(wcsCmds.Select(t => t.currPointId).ToList());
+                }
+                while (endList.Count < 6)
+                {
+                    endList.Add(0);
+                }
+                var endPlcs = basePlcs.Where(t => t.Name.Contains("目的地")).OrderBy(t => t.Name).ToList();
+                for (int i = 0; i < endPlcs.Count; i++)
+                {
+                    this.Plc220.WriteToPoint(endPlcs[i].Address, endList[i].ToString(), endPlcs[i].type);
+                }
+                var startPlc = basePlcs.First(t => t.Name.Contains("起始点"));
+                Plc220.WriteToPoint(startPlc.Address, wcsCmd.currPointId.ToString(), startPlc.type);
+                var cmdPlc = basePlcs.First(t => t.Name.Contains("任务代号"));
+                string cmdType = StaticData.BaseDictionary.First(t => t.objid == wcsCmd.cmdType).ToPlc;
+                Plc220.WriteToPoint(cmdPlc.Address, cmdType, cmdPlc.type);
+
+            }
+            else
+            {
+                var endPlcs = basePlcs.Where(t => t.Name.Contains("目的地")).OrderBy(t => t.Name).ToList();
+                for (int i = 0; i < endPlcs.Count; i++)
+                {
+                    this.Plc220.WriteToPoint(endPlcs[i].Address, "0", endPlcs[i].type);
+                }
+                var startPlc = basePlcs.First(t => t.Name.Contains("起始点"));
+                Plc220.WriteToPoint(startPlc.Address, "0", startPlc.type);
+                var cmdPlc = basePlcs.First(t => t.Name.Contains("任务代号"));
+                Plc220.WriteToPoint(cmdPlc.Address, "0", cmdPlc.type);
+            }
+        }
+
+        private void CtuLineLogic()
+        {
+            var basePlcpoints = StaticData.BasePlcpointList.ToList();
+            var basePlcs = StaticData.basePlcs.ToList();
+            var bill = from a in basePlcpoints
+                       from b in basePlcs
+                       where a.plcpointNo == b.Name && b.Station == "U型线"
+                       select new { a, b };
+            foreach (var item in bill)
+            {
+                if (item.a.plcpointNo.Contains("RFID"))
+                {
+                    string? rfid = Plc31.ReadRFID(item.a.plcpointAddress);
+                    if (!string.IsNullOrEmpty(rfid))
+                    {
+                        rfid = rfid[(rfid.IndexOf("C") + 1)..];
+                        Plc220.WriteToPoint(item.b.Address, rfid, item.b.type);
+                    }
+                    else
+                    {
+                        Plc220.WriteToPoint(item.b.Address, "0", item.b.type);
+                    }
+                }
+                else
+                {
+                    var value = Plc31.Read(item.a.plcpointAddress);
+                    if (value != null && !string.IsNullOrEmpty(value.ToString()))
+                    {
+                        Plc220.WriteToPoint(item.b.Address, value.ToString(), item.b.type);
+                    }
+                    else
+                    {
+                        Plc220.WriteToPoint(item.b.Address, "0", item.b.type);
+                    }
+                }
+            }
+        }
+
+        /// <summary>
+        /// 提升机和接驳位信息同步
+        /// </summary>
+        private void HositerLogic()
+        {
+
+            var basePlcpoints = StaticData.BasePlcpointList.ToList();
+            var basePlcs = StaticData.basePlcs.ToList();
+            var bill = from a in basePlcpoints
+                       from b in basePlcs
+                       where a.plcpointNo == b.Name && b.Station != "U型线"
+                       select new { a, b };
+            foreach (var item in bill)
+            {
+                if (item.a.plcpointNo.Contains("RFID"))
+                {
+                    string? rfid = Plc30.ReadRFID(item.a.plcpointAddress);
+                    if (!string.IsNullOrEmpty(rfid))
+                    {
+                        rfid = rfid[(rfid.IndexOf("JYHB") + 4)..];
+                        Plc220.WriteToPoint(item.b.Address, rfid, item.b.type);
+                    }
+                    else
+                    {
+                        Plc220.WriteToPoint(item.b.Address, "0", item.b.type);
+                    }
+                }
+                else
+                {
+                    var value = Plc30.Read(item.a.plcpointAddress);
+                    if (value != null && !string.IsNullOrEmpty(value.ToString()))
+                    {
+                        Plc220.WriteToPoint(item.b.Address, value.ToString(), item.b.type);
+                    }
+                    else
+                    {
+                        Plc220.WriteToPoint(item.b.Address, "0", item.b.type);
+                    }
+                }
+            }
+        }
+    }
+
+}
+

src/Khd.Core.Wcs/Wcs/ThirdFloorAGV.cs

@@ -1,10 +1,12 @@
 using Khd.Core.Domain.Dto.webapi;
 using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
+using Khd.Core.Library.Mapper;
 using Khd.Core.Wcs.Global;
 using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
+using Newtonsoft.Json;
 using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs.Wcs
@@ -68,119 +70,456 @@ namespace Khd.Core.Wcs.Wcs
         {
             using var scope = _host.Services.CreateScope();
             using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.objid == 9);
             while (true)
             {
                 try
                 {
                     dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
                     //获取条码号,如果该条码任务存在就继续任务,如果条码不存在,创建入库任务并调度agv
-                    var taskList = dbContext.WcsTask.Where(t => t.nextPointId == EquipID && t.currPointId != EquipID && (t.taskType == 1 || t.taskType == 2 || t.taskType == 9)).ToList();
-                    if (taskList.Count == 0)
-                    {
-                        LogManager.Info(FloorNo + "楼AGV无任务");
-                    }
+                    var taskList = dbContext.WcsTask.Where(t => t.nextPointId == baseEquip.objid).OrderBy(t => t.createTime).ToList();
                     foreach (var item in taskList)
                     {
-                        if (item.taskType == 1 || item.taskType == 9)//入库||移库
+                        if (item.taskStatus == 0)
                         {
-                            var loc = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1").ToList();
-
-                            //3楼原材料
-                            var stock = dbContext.WmsRawStock.Where(t => t.activeFlag == "1").ToList();
-                            //获取有物料的库位
-                            var locStock = from l in loc
-                                           join s in stock on l.locationCode equals s.locationCode
-                                           select new
-                                           {
-                                               LocId = l.locationId,
-                                               locCode = l.locationCode,
-                                               LocDeep = l.locDeep,
-                                               productBatch = s.instockBatch
-                                           };
-                            //获取空库位
-                            var nullLocList = loc.Where(r => !locStock.Select(t => t.locCode).Contains(r.locationCode) && r.warehouseId == 2).ToList();
-                            var location = nullLocList.OrderBy(t => t.locColumn).FirstOrDefault();
-                            item.currPointId = 9;
-                            item.currPointNo = "AGV02";
-                            item.nextPointId = location.locationId;
-                            item.nextPointNo = location.locationCode;
-                            dbContext.Update(item);
-                            //锁定库位
-                            dbContext.WmsBaseLocation.Where(t => t.locRow == location.locRow && t.locColumn == location.locColumn && t.layerNum == location.layerNum).Update(t => new WmsBaseLocation()
+                            if (item.taskType == 39)
                             {
-                                locationStatus = "6",
-                                updateTime = DateTime.Now,
-                                updateBy = "agv出库",
-                            });
-                            //下发agv出库指令
-                            SendAndUpdateTask(item);
-                        }
-                        else if (item.taskType == 2)
-                        {
-                            var locList = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1").ToList();
-                            //获取库存
-                            var rawStock = dbContext.WmsRawStock.Where(t => t.activeFlag == "1" && t.stockType == "1" && t.materialId == item.materialId).ToList();
-
-                            var dic = dbContext.BaseDictionary.Where(t => t.dicKey == "OutStockDate").FirstOrDefault();
-                            var DateRange = Convert.ToInt32(dic.dicValue);
-                            var stockList = from t in rawStock
-                                            join b in locList on t.locationCode equals b.locationCode
-                                            into temp
-                                            from newStock in temp.DefaultIfEmpty()
-                                            select new
-                                            {
-                                                rawID = t.rawStockId,
-                                                locID = newStock.locationId,
-                                                locCode = t.locationCode,
-                                                layerNum = newStock.layerNum,
-                                                locColumn = newStock.locColumn,
-                                                locRow = newStock.locRow,
-                                                locDeep = newStock.locDeep,
-                                                inStockDate = newStock.createTime,
-                                            };
-                            //先查出最早入库时间
-                            var inStockModel = stockList.OrderBy(t => t.inStockDate).FirstOrDefault();
-                            var inStockDate = inStockModel.inStockDate;
-                            //查出符合条件的成品
-                            var outStockList = stockList.Where(t => t.inStockDate >= inStockDate && t.inStockDate <= inStockDate.GetValueOrDefault().AddDays(DateRange)).ToList();
-                            var outModel = outStockList.OrderBy(t => t.locColumn).ThenByDescending(t => t.locDeep).FirstOrDefault();
-                            if (outModel.locDeep == 1)
-                            {
-                                //自动获取id
-
-                                var objid = StaticData.SnowId.NextId();
-                                var isExiStock = stockList.Where(t => t.locRow == outModel.locRow && t.locColumn == outModel.locColumn && t.locDeep == 2).FirstOrDefault();
-                                if (isExiStock != null)
+                                BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == 3);
+                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
+                                WcsCmd wcsCmd = new WcsCmd()
                                 {
-                                    //创建成品移库任务
-                                    WcsTask newTask = new()
+                                    objid = StaticData.SnowId.NextId(),
+                                    cmdStatus = 0,
+                                    taskId = item.objid,
+                                    useFlag = 1,
+                                    cmdType = item.taskType,
+                                    containerNo = item.containerNo,
+                                    createTime = DateTime.Now,
+                                    createBy = FloorNo + "楼AGV",
+                                    currPointId = startEquip.objid,
+                                    currPointNo = startEquip.agvPositionCode,
+                                    nextPointId = item.endPointId,
+                                    nextPointNo = wmsBaseLocation.agvPositionCode,
+                                };
+                                var agvTask = new RequestAGVTaskDto
+                                {
+                                    reqCode = StaticData.SnowId.NextId().ToString(),
+                                    positionCodePath = new List<Position>
                                     {
-                                        objid = objid,
-                                        taskType = 11,
-                                        containerNo = "",
-                                        taskStatus = 0,
-                                        materialId = isExiStock.locID,
-                                        qty = 1,
-                                        startPointId = isExiStock.locID,
-                                        currPointId = isExiStock.locID,
-                                        endPointId = 12,
-                                        endPointNo = "WH02",
-                                    };
-                                    dbContext.Add(newTask);
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.currPointNo,
+                                            type="00"
+                                        },
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.nextPointNo,
+                                            type="00"
+                                        }
+                                    },
+                                    taskTyp = "F300",
+                                    ctnrTyp = "2",
+                                };
+                                string message = JsonConvert.SerializeObject(agvTask);
+                                string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                if (reponseMessage != null && reponseMessage.message == "成功")
+                                {
+                                    wcsCmd.taskCode = reponseMessage.data;
+                                    wcsCmd.cmdStatus = 1;
+                                    item.taskStatus = 1;
+                                    dbContext.Update(item);
+                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
+                                    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                    dbContext.Add(wcsCmdLog);
+                                    dbContext.Add(wcsCmd);
                                     dbContext.SaveChanges();
-                                    return;
+                                }
+                                else
+                                {
+                                    LogManager.Info("三楼Agv下发任务失败" + item.taskType + message);
                                 }
                             }
-                            //锁定库位
-                            dbContext.WmsBaseLocation.Where(t => t.locationCode == outModel.locCode).Update(t => new WmsBaseLocation()
+                            else if (item.taskType == 41)
                             {
-                                locationStatus = "1",
-                                updateTime = DateTime.Now,
-                                updateBy = "agv出库",
-                            });
-                            //下发agv出库指令
-                            SendAndUpdateTask(item);
+                                BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == 31);
+                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
+                                WcsCmd wcsCmd = new WcsCmd()
+                                {
+                                    objid = StaticData.SnowId.NextId(),
+                                    cmdStatus = 0,
+                                    taskId = item.objid,
+                                    useFlag = 1,
+                                    cmdType = item.taskType,
+                                    containerNo = item.containerNo,
+                                    createTime = DateTime.Now,
+                                    createBy = FloorNo + "楼AGV",
+                                    currPointId = item.startPointId,
+                                    currPointNo = wmsBaseLocation.agvPositionCode,
+                                    nextPointId = endEquip.objid,
+                                    nextPointNo = endEquip.agvPositionCode,
+                                };
+                                var agvTask = new RequestAGVTaskDto
+                                {
+                                    reqCode = StaticData.SnowId.NextId().ToString(),
+                                    positionCodePath = new List<Position>
+                                    {
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.currPointNo,
+                                            type="00"
+                                        },
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.nextPointNo,
+                                            type="00"
+                                        }
+                                    },
+                                    taskTyp="F301",
+                                    ctnrTyp = "2",
+                                };
+                                string message = JsonConvert.SerializeObject(agvTask);
+                                string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                if (reponseMessage != null && reponseMessage.message == "成功")
+                                {
+                                    wcsCmd.taskCode = reponseMessage.data;
+                                    wcsCmd.cmdStatus = 1;
+                                    item.taskStatus = 1;
+                                    dbContext.Update(item);
+                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
+                                    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                    dbContext.Add(wcsCmdLog);
+                                    dbContext.Add(wcsCmd);
+                                    dbContext.SaveChanges();
+                                }
+                                else
+                                {
+                                    LogManager.Info("三楼Agv下发任务失败" + item.taskType + message);
+                                }
+                            }
+                            else if (item.taskType == 42)
+                            {
+                                BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == 31);
+                                BaseEquip endEquip = StaticData.BaseEquip.First();
+                                WcsCmd wcsCmd = new WcsCmd()
+                                {
+                                    objid = StaticData.SnowId.NextId(),
+                                    cmdStatus = 0,
+                                    taskId = item.objid,
+                                    useFlag = 1,
+                                    cmdType = item.taskType,
+                                    containerNo = item.containerNo,
+                                    createTime = DateTime.Now,
+                                    createBy = FloorNo + "楼AGV",
+                                    currPointId = startEquip.objid,
+                                    currPointNo = startEquip.agvPositionCode,
+                                    nextPointId = endEquip.objid,
+                                    nextPointNo = endEquip.agvPositionCode,
+                                };
+                                var agvTask = new RequestAGVTaskDto
+                                {
+                                    reqCode = StaticData.SnowId.NextId().ToString(),
+                                    positionCodePath = new List<Position>
+                                    {
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.currPointNo,
+                                            type="00"
+                                        },
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.nextPointNo,
+                                            type="00"
+                                        }
+                                    },
+                                    taskTyp="F302",
+                                    ctnrTyp = "2",
+                                };
+                                string message = JsonConvert.SerializeObject(agvTask);
+                                string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                if (reponseMessage != null && reponseMessage.message == "成功")
+                                {
+                                    wcsCmd.taskCode = reponseMessage.data;
+                                    wcsCmd.cmdStatus = 1;
+                                    item.taskStatus = 1;
+                                    dbContext.Update(item);
+                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
+                                    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                    dbContext.Add(wcsCmdLog);
+                                    dbContext.Add(wcsCmd);
+                                    dbContext.SaveChanges();
+                                }
+                                else
+                                {
+                                    LogManager.Info("三楼Agv下发任务失败" + item.taskType + message);
+                                }
+                            }
+                            else if (item.taskType == 43)
+                            {
+                                BaseEquip emptyEquip = StaticData.BaseEquip.First(t => t.objid == item.startPointId);
+                                BaseEquip endEquip = StaticData.BaseEquip.First(t => t.floorNo == 3 && t.equipType == 1);
+                                WcsCmd wcsCmd = new WcsCmd()
+                                {
+                                    objid = StaticData.SnowId.NextId(),
+                                    cmdStatus = 0,
+                                    taskId = item.objid,
+                                    useFlag = 1,
+                                    cmdType = item.taskType,
+                                    containerNo = item.containerNo,
+                                    createTime = DateTime.Now,
+                                    createBy = FloorNo + "楼AGV",
+                                    currPointId = item.startPointId,
+                                    currPointNo = emptyEquip.agvPositionCode,
+                                    nextPointId = endEquip.objid,
+                                    nextPointNo = endEquip.agvPositionCode,
+                                };
+                                var agvTask = new RequestAGVTaskDto
+                                {
+                                    reqCode = StaticData.SnowId.NextId().ToString(),
+                                    positionCodePath = new List<Position>
+                                    {
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.currPointNo,
+                                            type="00"
+                                        },
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.nextPointNo,
+                                            type="00"
+                                        }
+                                    },
+                                    taskTyp="F303",
+                                    ctnrTyp = "2",
+                                };
+                                string message = JsonConvert.SerializeObject(agvTask);
+                                string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                if (reponseMessage != null && reponseMessage.message == "成功")
+                                {
+                                    wcsCmd.taskCode = reponseMessage.data;
+                                    wcsCmd.cmdStatus = 1;
+                                    item.taskStatus = 1;
+                                    dbContext.Update(item);
+                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
+                                    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                    dbContext.Add(wcsCmdLog);
+                                    dbContext.Add(wcsCmd);
+                                    dbContext.SaveChanges();
+                                }
+                                else
+                                {
+                                    LogManager.Info("三楼Agv下发任务失败" + item.taskType + message);
+                                }
+                            }
+                            else if (item.taskType == 44)
+                            {
+                                BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.startPointId);
+                                BaseEquip lineEquip = StaticData.BaseEquip.First(t => t.objid == 3);
+                                WcsCmd wcsCmd = new WcsCmd()
+                                {
+                                    objid = StaticData.SnowId.NextId(),
+                                    cmdStatus = 0,
+                                    taskId = item.objid,
+                                    useFlag = 1,
+                                    cmdType = item.taskType,
+                                    containerNo = item.containerNo,
+                                    createTime = DateTime.Now,
+                                    createBy = FloorNo + "楼AGV",
+                                    currPointId = startEquip.objid,
+                                    currPointNo = startEquip.agvPositionCode,
+                                    nextPointId = lineEquip.objid,
+                                    nextPointNo = lineEquip.equipNo,
+                                };
+                                var agvTask = new RequestAGVTaskDto
+                                {
+                                    reqCode = StaticData.SnowId.NextId().ToString(),
+                                    positionCodePath = new List<Position>
+                                    {
+                                        new()
+                                        {
+                                            positionCode = wcsCmd.currPointNo,
+                                            type = "00"
+                                        },
+                                        new()
+                                        {
+                                            positionCode = wcsCmd.nextPointNo,
+                                            type = "00"
+                                        }
+                                    },
+                                    taskTyp="F304",
+                                    ctnrTyp="2"
+                                };
+                                string message = JsonConvert.SerializeObject(agvTask);
+                                string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                if (reponseMessage != null && reponseMessage.message == "成功")
+                                {
+                                    wcsCmd.taskCode = reponseMessage.data;
+                                    wcsCmd.cmdStatus = 1;
+                                    item.taskStatus = 1;
+                                    dbContext.Update(item);
+                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
+                                    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                    dbContext.Add(wcsCmdLog);
+                                    dbContext.Add(wcsCmd);
+                                    dbContext.SaveChanges();
+                                }
+                                else
+                                {
+                                    LogManager.Info("三楼Agv下发任务失败" + item.taskType + message);
+                                }
+                            }
                         }
+                        else
+                        {
+                            WcsCmd? wcsCmd = dbContext.WcsCmd.FirstOrDefault(t => t.taskId == item.objid);
+                            if (wcsCmd != null)
+                            {
+                                if (item.taskStatus == 3)
+                                {
+                                    var agvTask = new RequestAGVTaskDto
+                                    {
+                                        reqCode = StaticData.SnowId.NextId().ToString(),
+                                        taskCode = wcsCmd.taskCode
+                                    };
+                                    string message = JsonConvert.SerializeObject(agvTask);
+                                    string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/continueTask", message);
+                                    ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                    if (reponseMessage != null && reponseMessage.message == "成功")
+                                    {
+                                        wcsCmd.cmdStatus = 4;
+                                        dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmd() { cmdStatus = 4 });
+                                        dbContext.Update(wcsCmd);
+                                        dbContext.WcsTask.Where(t => t.objid == item.objid).Update(t => new WcsTask() { taskStatus = 4 });
+                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 4 });
+                                        dbContext.SaveChanges();
+                                    }
+                                }
+                                else if (item.taskStatus == 5)
+                                {
+                                    if (item.taskType == 39)
+                                    {
+                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
+                                             .First(t => t.locationId == item.endPointId && t.warehouseFloor == 3);
+                                        wmsBaseLocation.locationStatus = "1";
+                                        wmsBaseLocation.instockFlag = "0";
+                                        wmsBaseLocation.containerCode = item.containerNo;
+                                        wmsBaseLocation.updateTime = DateTime.Now;
+                                        wmsBaseLocation.updateBy = "WCS";
+                                        var mesBasePalletInfo = dbContext.MesBasePalletInfo.FirstOrDefault(t => t.palletInfoCode == item.containerNo);
+                                        if (mesBasePalletInfo != null)
+                                        {
+                                            var mesBaseBarcodeInfo = dbContext.MesBaseBarcodeInfo.FirstOrDefault(t => t.barcodeInfo == mesBasePalletInfo.materialBarcode);
+                                            if (mesBaseBarcodeInfo != null)
+                                            {
+                                                var wmsRawStock = new WmsRawStock()
+                                                {
+                                                    rawStockId = StaticData.SnowId.NextId(),
+                                                    activeFlag = "1",
+                                                    saleOrderId = item.orderId,
+                                                    stockType = "1",
+                                                    supplierId = mesBaseBarcodeInfo.manufacturerId,
+                                                    qualityStatus = "1",
+                                                    completeFlag = "1",
+                                                    createBy = "WCS",
+                                                    createDate = DateTime.Now,
+                                                    frozenAmount = 0,
+                                                    instockBatch = mesBaseBarcodeInfo.batchCode,
+                                                    instockDate = DateTime.Now,
+                                                    locationCode = wmsBaseLocation.locationCode,
+                                                    materialId = mesBaseBarcodeInfo.materialId,
+                                                    occupyAmount = 0,
+                                                    palletInfoCode = item.containerNo,
+                                                    totalAmount = 1,
+                                                    warehouseFloor = 3,
+                                                    warehouseId = 311
+                                                };
+                                                dbContext.Add(wmsRawStock);
+                                                dbContext.Update(wmsBaseLocation);
+                                                dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
+                                                dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6 });
+                                                dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog { cmdStatus = 6 });
+                                                dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
+                                                dbContext.SaveChanges();
+                                            }
+                                        }
+
+                                    }
+                                    else if (item.taskType == 41)
+                                    {
+                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
+                                          .First(t => t.locationId == item.currPointId);
+                                        wmsBaseLocation.outstockFlag = "0";
+                                        wmsBaseLocation.locationStatus = "1";
+                                        wmsBaseLocation.containerCode = "";
+                                        wmsBaseLocation.updateTime = DateTime.Now;
+                                        wmsBaseLocation.updateBy = "WCS";
+                                        dbContext.WmsRawOutstock.Where(t => t.orderId == item.orderId).Update(t => new WmsRawOutstock
+                                        {
+                                            executeStatus = "2"
+                                        });
+                                        dbContext.Update(wmsBaseLocation);
+                                        dbContext.WmsRawStock.Where(t => t.locationCode == wmsBaseLocation.locationCode).Delete();
+                                        dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
+                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6 });
+                                        dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog { cmdStatus = 6 });
+                                        dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
+                                        dbContext.SaveChanges();
+                                    }
+                                    else if (item.taskType == 42)
+                                    {
+                                        BaseEquip emptyEquip = StaticData.BaseEquip.First(t => t.objid == 35);
+                                        BaseEquip lineEquip = StaticData.BaseEquip.First(t => t.objid == 3);
+                                        emptyEquip.emptyCount += 1;
+                                        emptyEquip.updateTime = DateTime.Now;
+                                        emptyEquip.updateBy = "WCS";
+                                        dbContext.Update(emptyEquip);
+                                        dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
+                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6 });
+                                        dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog { cmdStatus = 6 });
+                                        dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
+                                        dbContext.SaveChanges();
+                                    }
+                                    else if (item.taskType == 43)
+                                    {
+                                        BaseEquip emptyEquip = StaticData.BaseEquip.First(t => t.objid == 35);
+                                        BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
+                                        emptyEquip.emptyCount = 0;
+                                        emptyEquip.updateTime = DateTime.Now;
+                                        emptyEquip.updateBy = "WCS";
+                                        endEquip.emptyCount = emptyEquip.emptyCount;
+                                        endEquip.updateTime = DateTime.Now;
+                                        endEquip.updateBy = "WCS";
+                                        dbContext.Update(endEquip);
+                                        dbContext.Update(emptyEquip);
+                                    }
+                                    else if (item.taskType == 44)
+                                    {
+                                        BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.startPointId);
+                                        BaseEquip lineEquip = StaticData.BaseEquip.First(t => t.objid == 3);
+                                        startEquip.emptyCount = 0;
+                                        startEquip.updateTime = DateTime.Now;
+                                        startEquip.updateBy = "WCS";
+                                        dbContext.Update(startEquip);
+                                        BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
+                                        item.nextPointId = lineEquip.objid;
+                                        item.nextPointNo = lineEquip.equipNo;
+                                        item.fromFloorNo = 3;
+                                        item.floorNo = endEquip.floorNo;
+                                        item.taskStatus = 6;
+                                        dbContext.Update(item);
+                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6, nextPointId = lineEquip.objid, nextPointNo = lineEquip.equipNo, fromFloorNo = 3, floorNo = endEquip.floorNo });
+                                        dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog { cmdStatus = 6 });
+                                        dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
+                                        dbContext.SaveChanges();
+                                    }
+                                }
+                            }
+                        }
+                        break;
                     }
                 }
                 catch (Exception ex)
@@ -194,219 +533,5 @@ namespace Khd.Core.Wcs.Wcs
             }
         }
 
-        public void SendAndUpdateTask(WcsTask task)
-        {
-            //获取
-            if (task == null) return;
-            using var scope = _host.Services.CreateScope();
-            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
-            WcsToWms wcsToWms = new WcsToWms();
-            //首先判断是否已下发指令
-            var cmd = dbContext.WcsCmd.Where(t => t.taskId == task.objid).FirstOrDefault();
-            var locList = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1").ToList();
-            if (locList.Count == 0) return;
-            //指令表存在说明已下发
-            if (cmd == null)
-            { //获取下发agv指令
-                string ip = ""; int port = 0; string url = "";
-                RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
-                agvtask.reqCode = task.objid.ToString();
-                //var json = JsonConvert.SerializeObject(agvtask);
-                //HttpHelper.SendPostMessage(ip, port, url, json);
-                agvtask.positionCodePath = new List<Position>();
-                Position p = new Position();
-                WmsBaseLocation putPos = new WmsBaseLocation(); //放料点
-                WmsBaseLocation setPos = new WmsBaseLocation(); //取料点
-                if (task.taskType == 5) //入库
-                {
-                    setPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
-                }
-                else
-                {
-                    setPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
-                }
-                putPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
-                p.positionCode = setPos?.agvPositionCode;
-                p.type = "";
-                agvtask.positionCodePath.Add(p);
-                p.positionCode = putPos?.agvPositionCode;
-                p.type = "";
-                //取料点
-                agvtask.positionCodePath.Add(p);
-                agvtask.taskTyp = "";
-                //给agv创建任务
-                wcsToWms.genAgvSchedulingTask(agvtask);
-                //未下发给agv下发指令
-                WcsCmd taskCmd = new WcsCmd()
-                {
-                    taskId = task.objid,
-                    cmdType = task.taskType,
-                    serialNo = task.serialNo,
-                    equipmentNo = task.equipmentNo,
-                    cmdStatus = 1,
-                    createBy = FloorNo + "楼AGV",
-                    createTime = DateTime.Now,
-                };
-                dbContext.Add(taskCmd);
-                dbContext.SaveChanges();
-            }
-            else
-            {
-                //获取接驳位是否有托盘
-                var IsPallet = this._plc.Read(this.LineIsPallet.plcpointAddress);
-                if (cmd.sendFlag == 0)
-                {
-                    if (taskInType.Contains(task.taskType.GetValueOrDefault()))//入库
-                    {
-                        //入库时有托盘继续任务
-                        if (Convert.ToInt32(IsPallet) == 1)
-                        {
-                            continueTaskDto continueTask = new continueTaskDto();
-                            continueTask.taskCode = task.objid.ToString();
-                            wcsToWms.continueTask(continueTask);
-                            //未下发给agv下发指令
-                            WcsCmd taskCmd = new WcsCmd()
-                            {
-                                taskId = task.objid,
-                                sendFlag = 1,
-                                createBy = FloorNo + "楼AGV",
-                                createTime = DateTime.Now,
-                            };
-                            dbContext.Update(taskCmd);
-                            dbContext.SaveChanges();
-                        }
-                    }
-                    else
-                    {
-                        //出库时没有托盘继续任务
-                        if (Convert.ToInt32(IsPallet) == 0)
-                        {
-                            continueTaskDto continueTask = new continueTaskDto();
-                            continueTask.taskCode = task.objid.ToString();
-                            wcsToWms.continueTask(continueTask);
-                            //更新任务
-                            dbContext.WcsCmd.Where(t => t.taskId == task.objid).Update(t => new WcsCmd()
-                            {
-                                sendFlag = 1,
-                                updateTime = DateTime.Now,
-                                updateBy = "agv出库",
-                            });
-                        }
-                    }
-                }
-            }
-            //更新任务表
-            dbContext.WcsTask.Where(t => t.objid == task.objid).Update(t => new WcsTask()
-            {
-                currPointId = task.currPointId,
-                currPointNo = task.currPointNo,
-                nextPointId = task.nextPointId,
-                nextPointNo = task.nextPointNo,
-                updateTime = DateTime.Now,
-                updateBy = "agv出库",
-            });
-        }
-        //public List<WcsTask> GetTask(int floorNo)
-        //{
-        //    using var scope = _host.Services.CreateScope();
-        //    using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
-        //    List<WcsTask> wcsTask = new List<WcsTask>();
-        //    var equip = StaticData.BaseEquip.Where(t => t.floorNo == floorNo && t.equipType == 4).FirstOrDefault();
-        //    try
-        //    {
-        //        //获取条码号,如果该条码任务存在就继续任务,如果条码不存在,创建入库任务并调度agv
-        //        var taskList = StaticData.WcsTask.Where(t => t.nextPointId == equip.objid && (t.taskType == 1 || t.taskType == 2 || t.taskType == 5 || t.taskType == 6)).ToList();
-        //        if (taskList.Count() == 0)
-        //        { return null; }
-        //        wcsTask = taskList;
-        //    }
-        //    catch (Exception ex)
-        //    {
-        //        LogManager.Info(floorNo + "楼AGV异常" + ex.Message);
-        //        throw;
-        //    }
-        //    return wcsTask;
-        //}
-        //public void SendTask(WcsTask task)
-        //{
-        //    //获取
-        //    if (task == null) return;
-        //    using var scope = _host.Services.CreateScope();
-        //    using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
-        //    WcsToWms wcsToWms = new WcsToWms();
-        //    //首先判断是否已下发指令
-        //    var cmd = StaticData.WcsCmd.Where(t => t.taskId == task.objid).FirstOrDefault();
-        //    //指令表存在说明已下发
-        //    if (cmd == null)
-        //    { //获取下发agv指令
-        //        string ip = ""; int port = 0; string url = "";
-        //        RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
-        //        agvtask.reqCode = task.serialNo.ToString();
-        //        //var json = JsonConvert.SerializeObject(agvtask);
-        //        //HttpHelper.SendPostMessage(ip, port, url, json);
-        //        wcsToWms.genAgvSchedulingTask(agvtask);
-        //        //未下发给agv下发指令
-        //        WcsCmd taskCmd = new WcsCmd()
-        //        {
-        //            taskId = task.objid,
-        //            cmdType = task.taskType,
-        //            serialNo = task.serialNo,
-        //            equipmentNo = task.equipmentNo,
-        //            cmdStatus = 1,
-        //            createBy = FloorNo + "楼AGV",
-        //            createTime = DateTime.Now,
-        //        };
-        //        dbContext.Add(taskCmd);
-        //        dbContext.SaveChanges();
-        //    }
-        //    else
-        //    {
-        //        //获取接驳位是否有托盘
-        //        var IsPallet = this._plc.Read(this.LineIsPallet.plcpointAddress);
-        //        if (cmd.sendFlag == 0)
-        //        {
-        //            if (taskInType.Contains(task.taskType.GetValueOrDefault()))//入库
-        //            {
-        //                //入库时有托盘继续任务
-        //                if (Convert.ToInt32(IsPallet) == 1)
-        //                {
-
-        //                    continueTaskDto continueTask = new continueTaskDto();
-        //                    continueTask.taskCode = task.objid.ToString();
-        //                    wcsToWms.continueTask(continueTask);
-        //                    //未下发给agv下发指令
-        //                    WcsCmd taskCmd = new WcsCmd()
-        //                    {
-        //                        taskId = task.objid,
-        //                        sendFlag = 1,
-        //                        createBy = FloorNo + "楼AGV",
-        //                        createTime = DateTime.Now,
-        //                    };
-        //                    dbContext.Update(taskCmd);
-        //                    dbContext.SaveChanges();
-        //                }
-        //            }
-        //            else
-        //            {
-        //                //出库时没有托盘继续任务
-        //                if (Convert.ToInt32(IsPallet) == 0)
-        //                {
-        //                    continueTaskDto continueTask = new continueTaskDto();
-        //                    continueTask.taskCode = task.objid.ToString();
-
-        //                    wcsToWms.continueTask(continueTask);
-        //                    //更新任务
-        //                    dbContext.WcsCmd.Where(t => t.taskId == task.objid).Update(t => new WcsCmd()
-        //                    {
-        //                        sendFlag = 1,
-        //                        updateTime = DateTime.Now,
-        //                        updateBy = "agv出库",
-        //                    });
-        //                }
-        //            }
-        //        }
-        //    }
-        //}
-
     }
 }

src/Khd.Core.Wcs/Wcs/ThirdFloorPoint.cs

@@ -1,11 +1,14 @@
 using Khd.Core.Domain.Dto.webapi;
 using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
+using Khd.Core.Library.Mapper;
+using Khd.Core.Plc;
 using Khd.Core.Wcs.Global;
 using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
 using Newtonsoft.Json;
+using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs.Wcs
 {
@@ -64,6 +67,7 @@ namespace Khd.Core.Wcs.Wcs
 
         public void MonitorInLocatorPoint()
         {
+            List<int> ITypes = new List<int> { 1, 3, 5, 7 };
             using var scope = _host.Services.CreateScope();
             using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
             while (true)
@@ -72,26 +76,113 @@ namespace Khd.Core.Wcs.Wcs
                 {
                     dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
                     //入库任务
-                    var rfid = this._plc.Read(LineRFID.plcpointAddress);
+                    var rfid = this._plc.ReadRFID(LineRFID.plcpointAddress);
                     var isSignal = this._plc.Read(LineSignal.plcpointAddress);
-                    var isPallet = this._plc.Read(LineIsPallet.plcpointAddress);
-                    if (rfid != null && isSignal != null && isPallet != null)
+                    if (rfid != null && isSignal != null)
                     {
-                        //正常读到输送线信息 有到位信号,并且有托盘,获取条码信息
-                        if (Convert.ToInt32(isSignal) > 0 && Convert.ToInt32(isPallet) == 1)
+
+                        if (Convert.ToInt32(isSignal) == 1)//托盘到位
                         {
-                            //获取条码信息
-                            var palletNo = Convert.ToString(rfid);
-                            //获取入库任务
-                            var wcsTask = GetTask(palletNo, FloorNo, EquipNo);
-                            var nextEquip = StaticData.BaseEquip.Where(t => t.floorNo == FloorNo && t.equipType == 4).FirstOrDefault();
-                            //更新任务下一点位为AGV
-                            wcsTask.nextPointId = nextEquip.objid;
-                            wcsTask.nextPointNo = nextEquip.equipNo;
-                            wcsTask.updateTime = DateTime.Now;
-                            wcsTask.updateBy = FloorNo + "楼输送线";
-                            dbContext.Update(wcsTask);
-                            dbContext.SaveChanges();
+                            BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.floorNo == 3 && t.equipType == 1);
+                            var wcsTask = dbContext.WcsTask.FirstOrDefault(t => t.containerNo == rfid && t.nextPointId == baseEquip.objid);
+                            if (wcsTask != null)//如果不是null
+                            {
+                                if (wcsTask.taskStatus == 5)//提升机任务是完成状态
+                                {
+                                    var wmsBaseLocations = dbContext.WmsBaseLocation.Where(t => t.warehouseFloor == FloorNo)
+                                      .Where(t => t.activeFlag == "1")
+                                      .Where(t => t.delFlag == "0")
+                                      .Where(t => t.locationScrapType == "1")
+                                      .Where(t => t.instockFlag == "0")
+                                      .Where(t => t.outstockFlag == "0")
+                                      .ToList();
+
+                                    List<string> containerCodes = wmsBaseLocations.Where(t => t.locDeep == 1).Select(t => t.containerCode).ToList();//深库位的托盘
+                                    List<MesBasePalletInfo> mesBasePalletInfos = dbContext.MesBasePalletInfo
+                                        .Where(t => t.materialId == wcsTask.materialId)
+                                        .Where(t => containerCodes.Contains(t.palletInfoCode)).ToList();//深库位的托盘的物料等于当前任务的物料
+
+                                    var bill = from a in mesBasePalletInfos
+                                               join b in wmsBaseLocations.Where(t => t.locDeep == 1) on a.palletInfoCode equals b.containerCode
+                                               select new { b };//等于当前任务的物料的托盘的库位信息
+
+                                    var outBill = from a in bill
+                                                  from b in wmsBaseLocations
+                                                  where a.b.layerNum == b.layerNum
+                                                  && b.locDeep == 2
+                                                  && a.b.locRow == b.locRow
+                                                  && a.b.locColumn == b.locColumn
+                                                  && b.locationStatus == "1"
+                                                  && b.outstockFlag == "0"
+                                                  && b.instockFlag == "0"
+                                                  && string.IsNullOrEmpty(b.containerCode)
+                                                  select new { a.b };//在上面的基础上获取对应托盘的外侧库位的空库位信息
+                                    WmsBaseLocation? wmsBaseLocation = null;
+                                    wmsBaseLocation ??= outBill.FirstOrDefault()?.b;//先找相同物料的外侧库位
+                                    wmsBaseLocation ??= wmsBaseLocations.Where(t => string.IsNullOrEmpty(t.containerCode)).FirstOrDefault(t => t.locDeep == 2);//找不到再找深库位
+                                    wmsBaseLocation ??= wmsBaseLocations.Where(t => string.IsNullOrEmpty(t.containerCode)).FirstOrDefault();//找不到再找任意库位
+                                    //深浅库位问题？库位入库优先级等
+
+                                    var AgvEquip = StaticData.BaseEquip.First(t => t.floorNo == 3 && t.equipType == 4);//背负Agv
+                                    if (wmsBaseLocations.Count > 0 && wmsBaseLocation != null)
+                                    {
+                                        wcsTask.taskStatus = 0;//创建状态
+                                        wcsTask.updateTime = DateTime.Now;
+                                        wcsTask.currPointId = baseEquip.objid;
+                                        wcsTask.currPointNo = baseEquip.equipNo;
+                                        wcsTask.nextPointId = AgvEquip.objid;
+                                        wcsTask.nextPointNo = AgvEquip.equipNo;
+                                        wcsTask.endPointId = wmsBaseLocation.locationId;
+                                        wcsTask.endPointNo = wmsBaseLocation.locationCode;
+                                        if (wmsBaseLocation.warehouseId == 311)
+                                        {
+                                            wcsTask.taskType = 39;
+                                        }
+                                        else
+                                        {
+                                            Console.WriteLine("查找入库库位失败");
+                                            Thread.Sleep(1000);
+                                            continue;
+                                        }
+                                        wcsTask.useFlag = 1;
+                                        wmsBaseLocation.instockFlag = "1";
+                                        wmsBaseLocation.locationStatus = "2";
+                                        dbContext.Update(wmsBaseLocation);
+                                        dbContext.Update(wcsTask);
+                                        WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
+                                        dbContext.Add(wcsTaskLog);
+                                        dbContext.SaveChanges();
+                                    }
+                                    else
+                                    {
+                                        Console.WriteLine(DateTime.Now + ":三楼楼接驳位调度入库任务,未找到库位");
+                                        LogManager.Info("三楼接驳位调度入库任务,未找到库位");
+                                    }
+                                }
+                                else if (wcsTask.taskStatus == 6)//小车任务是完成状态，说明是出库
+                                {
+                                    BaseEquip nextEquip = StaticData.BaseEquip.First(t => t.equipType == 2);//提升机
+                                    wcsTask.nextPointId = nextEquip.objid;
+                                    wcsTask.nextPointNo = nextEquip.equipNo;
+                                    wcsTask.currPointId = baseEquip.objid;
+                                    wcsTask.currPointNo = baseEquip.equipNo;
+                                    wcsTask.fromFloorNo = FloorNo;
+                                    wcsTask.taskStatus = 0;
+                                    wcsTask.updateTime = DateTime.Now;
+                                    dbContext.Update(wcsTask);
+                                    dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid)
+                                        .Update(t => new WcsTaskLog
+                                        {
+                                            nextPointId = nextEquip.objid,
+                                            nextPointNo = nextEquip.equipNo,
+                                            currPointId = baseEquip.objid,
+                                            currPointNo = baseEquip.equipNo,
+                                            taskStatus = 0,
+                                            updateTime = DateTime.Now,
+                                        });
+                                    dbContext.SaveChanges();
+                                }
+                            }
                         }
                     }
                 }
@@ -105,121 +196,5 @@ namespace Khd.Core.Wcs.Wcs
                 }
             }
         }
-        //获取输送线上的任务
-        public WcsTask GetTask(string containerNo, int floorNo, string equipNo)
-        {
-            using var scope = _host.Services.CreateScope();
-            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
-            var wcsTask = new WcsTask();
-            var wareHouseList = StaticData.WmsBaseWarehouse.ToList();
-            try
-            {
-                //获取条码号,如果该条码任务存在就继续任务,如果条码不存在,创建入库任务并调度agv
-                var task = StaticData.WcsTask.Where(t => t.containerNo == containerNo).FirstOrDefault();
-                if (task == null)
-                {
-                    var palletInfo = StaticData.MesBasePalletInfo.Where(t => t.palletInfoCode == containerNo).FirstOrDefault();
-                    //查询该条码绑定的物料信息
-                    var material = StaticData.WmsWarehouseMaterial.Where(t => t.storageId == palletInfo.materialId).FirstOrDefault();
-                    var wareHouse = wareHouseList.Where(t => t.warehouseId == material.warehouseId).FirstOrDefault();
-                    var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.ud1 == "I" && t.dicField == wareHouse.warehouseInstockType).FirstOrDefault();
-                    var equip = StaticData.BaseEquip.ToList();
-                    var startEquip = equip.Where(t => t.equipNo == equipNo).FirstOrDefault();
-                    var endPoint = wareHouseList.Where(t => t.warehouseFloor == floorNo).FirstOrDefault();
-                    //var currEquip=
-                    if (palletInfo != null)
-                    {
-                        //自动获取id
-
-                        var objid = StaticData.SnowId.NextId();
-                        WcsTask newTask = new()
-                        {
-                            objid = objid,
-                            taskType = Convert.ToInt32(dic.dicValue),
-                            containerNo = containerNo,
-                            taskStatus = 0,
-                            materialId = material.storageId,
-                            qty = Convert.ToInt32(palletInfo.bindAmount),
-                            startPointId = startEquip.objid,
-                            startPointNo = equipNo,
-                            currPointId = startEquip.objid,
-                            currPointNo = equipNo,
-                            endPointId = endPoint.warehouseId,
-                            endPointNo = endPoint.warehouseCode,
-                        };
-                        dbContext.Add(newTask);
-                        dbContext.SaveChanges();
-                        wcsTask = newTask;
-                    }
-                    else
-                    {
-                        LogManager.Info(floorNo + "楼接驳位,托盘" + containerNo + "未绑定!");
-                    }
-                }
-                else
-                {
-                    wcsTask = StaticData.WcsTask.Where(t => t.currPointNo == equipNo).FirstOrDefault();
-                }
-            }
-            catch (Exception ex)
-            {
-                LogManager.Info(floorNo + "楼接驳位异常" + ex.Message);
-                throw;
-            }
-            return wcsTask;
-        }
-        /// <summary>
-        /// 下发任务
-        /// </summary>
-        /// <param name="task"></param>
-        public void SendTask(WcsTask task)
-        {
-            using var scope = _host.Services.CreateScope();
-            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
-            //入库类型
-            List<int> taskInType = new List<int> { 1, 3, 5, 7 };
-            List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
-            try
-            {
-                //获取
-                if (task == null) return;
-                if (taskInType.Contains(task.taskType.GetValueOrDefault()))
-                {
-                    //首先判断是否已下发指令
-                    var cmd = StaticData.WcsCmd.Where(t => t.taskId == task.objid).FirstOrDefault();
-                    //指令表存在说明已下发
-                    if (cmd != null) return;
-                    //获取下发agv指令
-                    string ip = ""; int port = 0; string url = "";
-                    RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
-                    agvtask.reqCode = task.serialNo.ToString();
-                    var json = JsonConvert.SerializeObject(agvtask);
-                    HttpHelper.SendPostMessage(ip, port, url, json);
-                    //未下发给agv下发指令
-                    WcsCmd taskCmd = new WcsCmd()
-                    {
-                        taskId = task.objid,
-                        cmdType = task.taskType,
-                        serialNo = task.serialNo,
-                        equipmentNo = task.equipmentNo,
-                        cmdStatus = 1,
-                        createBy = "",
-                        createTime = DateTime.Now,
-                    };
-                    dbContext.Add(taskCmd);
-                    dbContext.SaveChanges();
-                }
-                else
-                {
-
-                }
-
-            }
-            catch (Exception)
-            {
-
-                throw;
-            }
-        }
     }
 }

src/Khd.Core.Wcs/Wcs/WcsToWms.cs

@@ -7,119 +7,6 @@ namespace Khd.Core.Wcs.Wcs
 {
     public class WcsToWms
     {
-        /// <summary>
-        /// 手工出库调用
-        /// </summary>
-        /// <param name="requestManualOutWare"></param>
-        /// <returns></returns>
-        public bool ManualOutWare(RequestManualOutWare requestManualOutWare)
-        {
-            //手工出库调用
-            var url = "/api/Interface/ManualOutWare";
-            var concontentType = "application/json";
-            var result = HttpHelper.HttpPost(url, requestManualOutWare.ToJsonString(), concontentType, 60, null);
-            var model = (ReponseBase)JsonConvert.DeserializeObject(result.ToString(), typeof(ReponseBase));
-            if (model.CODE == "S")
-            {
-                LogManager.Info("调用成功。");
-            }
-            else
-            {
-                LogManager.Info("调用失败。");
-            }
-            return true;
-        }
-        /// <summary>
-        /// 盘盈调用
-        /// </summary>
-        /// <param name="requestCheck"></param>
-        /// <returns></returns>
-        public bool CheckProfit(RequestCheck requestCheck)
-        {
-            //盘盈调用
-            var url = "/api/Interface/CheckProfit";
-            var concontentType = "application/json";
-            var result = HttpHelper.HttpPost(url, requestCheck.ToJsonString(), concontentType, 60, null);
-            var model = (ReponseBase)JsonConvert.DeserializeObject(result.ToString(), typeof(ReponseBase));
-            if (model.CODE == "S")
-            {
-                LogManager.Info("调用成功。");
-            }
-            else
-            {
-                LogManager.Info("调用失败。");
-            }
-            return true;
-        }
-        /// <summary>
-        /// 盘亏调用
-        /// </summary>
-        /// <param name="requestCheck"></param>
-        /// <returns></returns>
-        public bool CheckLoss(RequestCheck requestCheck)
-        {
-            //盘亏调用
-            var url = "/api/Interface/CheckLoss";
-            var concontentType = "application/json";
-            var result = HttpHelper.HttpPost(url, requestCheck.ToJsonString(), concontentType, 60, null);
-            var model = (ReponseBase)JsonConvert.DeserializeObject(result.ToString(), typeof(ReponseBase));
-            if (model.CODE == "S")
-            {
-                LogManager.Info("调用成功。");
-            }
-            else
-            {
-                LogManager.Info("调用失败。");
-            }
-            return true;
-        }
-        /// <summary>
-        /// 生成任务单
-        /// </summary>
-        /// <param name="requestCheck"></param>
-        /// <returns></returns>
-        public ReponseMessage? genAgvSchedulingTask(RequestAGVTaskDto requestAGVTaskDto)
-        {
-            //生成任务单
-            var url = "http://IP:PORT/rcms/services/rest/hikRpcService/genAgvSchedulingTask";
-            var concontentType = "application/json";
-            var result = HttpHelper.HttpPost(url, requestAGVTaskDto.ToJsonString(), concontentType, 60, null);
-            return JsonConvert.DeserializeObject<ReponseMessage>(result.ToString());
-        }
-        /// <summary>
-        /// 继续执行
-        /// </summary>
-        /// <param name="requestCheck"></param>
-        /// <returns></returns>
-        public ReponseMessage? continueTask(continueTaskDto continueTaskDto)
-        {
-            //继续执行
-            var url = "http://IP:PORT/rcms/services/rest/hikRpcService/continueTask";
-            var concontentType = "application/json";
-            var result = HttpHelper.HttpPost(url, continueTaskDto.ToJsonString(), concontentType, 60, null);
-            return JsonConvert.DeserializeObject<ReponseMessage>(result.ToString());
-        }
-        /// <summary>
-        /// 继续执行
-        /// </summary>
-        /// <param name="requestCheck"></param>
-        /// <returns></returns>
-        public bool cancelTask(RequestAGVTaskDto requestAGVTaskDto)
-        {
-            //推送出库数据
-            var url = "http://IP:PORT/rcms/services/rest/hikRpcService/cancelTask";
-            var concontentType = "application/json";
-            var result = HttpHelper.HttpPost(url, requestAGVTaskDto.ToJsonString(), concontentType, 60, null);
-            var model = (ReponseMessage)JsonConvert.DeserializeObject(result.ToString(), typeof(ReponseMessage));
-            if (model.code == "0")
-            {
-                LogManager.Info("调用成功。");
-            }
-            else
-            {
-                LogManager.Info("调用失败。");
-            }
-            return true;
-        }
+
     }
 }

src/Khd.Core.Wcs/appsettings.json

@@ -12,7 +12,23 @@
       "Rack": 0,
       "Slot": 1,
       "Code": 0
-    }
+    },
+    //{
+    //  "IP": "192.168.2.31",
+    //  "Port": 102, //102是默认端口
+    //  "CpuType": 40,
+    //  "Rack": 0,
+    //  "Slot": 1,
+    //  "Code": 1
+    //},
+    //{
+    //  "IP": "192.168.2.220",
+    //  "Port": 102, //102是默认端口
+    //  "CpuType": 40,
+    //  "Rack": 0,
+    //  "Slot": 1,
+    //  "Code": 2
+    //}
   ],
   "PLCSetting": {
     "Mode": "0",

src/Khd.Core.Wpf/App.xaml.cs

@@ -1,6 +1,8 @@
 using Masuit.Tools;
 using Microsoft.Extensions.Configuration;
 using System;
+using System.Collections.Generic;
+using System.Linq;
 using System.Threading.Tasks;
 using System.Windows;
 namespace Khd.Core.Wpf
@@ -25,11 +27,8 @@ namespace Khd.Core.Wpf
             .AddJsonFile("appsettings.json")
             .Build();
 
-            PlcConfig.CpuType = configuration["PlcConfig:CpuType"].ToInt32(40);
-            PlcConfig.IP = configuration["PlcConfig:IP"].ToString();
-            PlcConfig.Port = configuration["PlcConfig:Port"].ToInt32(102);
-            PlcConfig.Rack = (short)(configuration["PlcConfig:Rack"].ToInt32(0));
-            PlcConfig.Slot = (short)(configuration["PlcConfig:Slot"].ToInt32(0));
+            SystemData.PlcConfigs = configuration.GetSection("PlcConfigs").Get<List<PlcConfig>>();
+      
             ConnectionStrings.ConnectionString = configuration["ConnectionStrings:DefaultConnection"].ToString();
             //配置文件 加载 Thrift 推送端口
             ThriftConfig.ThriftIpAddress = configuration["ThriftConfig:ThriftIpAddress"].ToString();

src/Khd.Core.Wpf/Form/FormBoard.xaml

@@ -208,6 +208,7 @@
                 </Setter>
                 <Setter Property="VerticalContentAlignment" Value="Center"></Setter>
                 <Setter Property="HorizontalContentAlignment" Value="Left"></Setter>
+
             </Style>
             <!--Plc信息TextBox样式-->
             <Style x:Key="tbxStyle" TargetType="{x:Type TextBox}">

src/Khd.Core.Wpf/Form/FormBoard.xaml.cs

@@ -66,18 +66,18 @@ namespace Khd.Core.Wpf.Form
                 }
                 //加载dategrid信息
                 LoadMaterial_GetMessage("");
-                //连接PLC判断
-                var plc = new Khd.Core.Plc.S7.Plc((CpuType)PlcConfig.CpuType, PlcConfig.IP, PlcConfig.Port,
-                PlcConfig.Rack, PlcConfig.Slot);
-                // plc.Open();
-                if (!plc.IsConnected)
-                {
-                    MessageBox.Show("PLC连接失败,重新连接");
-                }
-                else
-                {
-                    this._plc = plc;
-                }
+                ////连接PLC判断
+                //var plc = new Khd.Core.Plc.S7.Plc((CpuType)PlcConfig.CpuType, PlcConfig.IP, PlcConfig.Port,
+                //PlcConfig.Rack, PlcConfig.Slot);
+                //// plc.Open();
+                //if (!plc.IsConnected)
+                //{
+                //    MessageBox.Show("PLC连接失败,重新连接");
+                //}
+                //else
+                //{
+                //    this._plc = plc;
+                //}
 
                 //ShowTimer = new System.Windows.Threading.DispatcherTimer();
                 //ShowTimer.Tick += new EventHandler(ShowCurTimer);//起个Timer一直获取当前时间

src/Khd.Core.Wpf/Form/FormBoardT.xaml

@@ -3,24 +3,27 @@
             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
-            xmlns:local="clr-namespace:Khd.Core.Wpf.Form"
+            xmlns:local="clr-namespace:Khd.Core.Wpf.myConverter"
             mc:Ignorable="d"   WindowStyle="None"
             WindowStartupLocation="CenterOwner"
             WindowState="Maximized"
             Title="FormBoardT"
             Loaded="FormBoard_Loaded"
             Width="1920"
-            Height="1080">
+            Height="1080"
+        
+        >
     <Window.Resources>
-
         <ResourceDictionary>
             <ResourceDictionary.MergedDictionaries>
                 <!--<hc:ThemeResources/>
-                    <hc:Theme/>-->
+                 <hc:Theme/>-->
                 <ResourceDictionary Source="/CSS/SearchBtnClass.xaml" />
                 <ResourceDictionary Source="/CSS/SearchTextClass.xaml" />
                 <ResourceDictionary Source="/CSS/DataGridClass.xaml" />
             </ResourceDictionary.MergedDictionaries>
+            <local:TypeDataConverter x:Key="taskTypeConverter"/>
+            <local:EquipConverter x:Key="EquipConverter"/>
             <Style  TargetType="{x:Type ComboBox}">
                 <Setter Property="Width" Value="120"></Setter>
                 <Setter Property="Template">
@@ -67,7 +70,7 @@
                                     <ContentPresenter  IsHitTestVisible="False" Content="{TemplateBinding SelectionBoxItem}" ContentTemplate="{TemplateBinding SelectionBoxItemTemplate}" ContentTemplateSelector="{TemplateBinding ItemTemplateSelector}" VerticalAlignment="Center" Margin="3"  />
                                     <!--下拉显示面板HorizontalOffset:设置下拉面板的相对位置-->
                                     <Popup HorizontalOffset="-1" Width="{TemplateBinding ActualWidth}"
-                                           IsOpen="{TemplateBinding IsDropDownOpen}" Focusable="False"    PopupAnimation="Slide">
+                                        IsOpen="{TemplateBinding IsDropDownOpen}" Focusable="False"    PopupAnimation="Slide">
                                         <Grid  SnapsToDevicePixels="True" HorizontalAlignment="Stretch">
                                             <Border  BorderThickness="1,1,1,1" BorderBrush="Gray"  CornerRadius="5">
                                                 <Border.Background>
@@ -85,6 +88,15 @@
                     </Setter.Value>
                 </Setter>
             </Style>
+            <Style x:Key="CheckBoxStyle" TargetType="{x:Type CheckBox}">
+                <Setter Property="HorizontalAlignment" Value="Center" />
+                <Setter Property="VerticalAlignment" Value="Center" />
+                <Setter Property="LayoutTransform">
+                    <Setter.Value>
+                        <ScaleTransform ScaleX="2.5" ScaleY="2.5" />
+                    </Setter.Value>
+                </Setter>
+            </Style>
             <Style TargetType="TabItem">
                 <Setter Property="Background" Value="#213269"/>
                 <!--设置背景色-->
@@ -108,15 +120,15 @@
                         <ControlTemplate TargetType="{x:Type Button}">
                             <Grid>
                                 <Border
-                                        x:Name="border"
-                                        Background="#213269"
-                                        BorderBrush="#172557"
-                                        BorderThickness="0,0,0,3" />
+                                     x:Name="border"
+                                     Background="#213269"
+                                     BorderBrush="#172557"
+                                     BorderThickness="0,0,0,3" />
                                 <ContentPresenter
-                                        HorizontalAlignment="{TemplateBinding HorizontalContentAlignment}"
-                                        VerticalAlignment="{TemplateBinding VerticalContentAlignment}"
-                                        RecognizesAccessKey="True"
-                                        SnapsToDevicePixels="{TemplateBinding SnapsToDevicePixels}" />
+                                     HorizontalAlignment="{TemplateBinding HorizontalContentAlignment}"
+                                     VerticalAlignment="{TemplateBinding VerticalContentAlignment}"
+                                     RecognizesAccessKey="True"
+                                     SnapsToDevicePixels="{TemplateBinding SnapsToDevicePixels}" />
                                 <VisualStateManager.VisualStateGroups>
                                     <VisualStateGroup x:Name="CommonStates">
                                         <VisualState x:Name="Normal" />
@@ -143,6 +155,13 @@
                     </Setter.Value>
                 </Setter>
             </Style>
+            <Style x:Key="MenuItemStype" TargetType="MenuItem">
+                <Setter Property="Width" Value="150"/>
+                <Setter Property="Header" Value="75"/>
+                <Setter Property="FontSize" Value="16"/>
+                <Setter Property="HorizontalContentAlignment" Value="Center"/>
+                <Setter Property="VerticalContentAlignment" Value="Center"/>
+            </Style>
             <!--  TextBox默认样式  -->
             <Style x:Key="DefaultTextBox" TargetType="{x:Type TextBox}" />
             <Style x:Key="dgCell" TargetType="TextBlock">
@@ -160,9 +179,9 @@
                     <Setter.Value>
                         <ControlTemplate TargetType="Button">
                             <Border
-                                    BorderBrush="{TemplateBinding Control.BorderBrush}"
-                                    BorderThickness="0"
-                                    CornerRadius="30,30,30,30">
+                                 BorderBrush="{TemplateBinding Control.BorderBrush}"
+                                 BorderThickness="0"
+                                 CornerRadius="30,30,30,30">
                                 <Border.Background>
                                     <LinearGradientBrush StartPoint="0,0" EndPoint="0,1">
                                         <GradientStop Offset="0.0" Color="#2c78fa" />
@@ -171,9 +190,9 @@
                                     </LinearGradientBrush>
                                 </Border.Background>
                                 <ContentPresenter
-                                        HorizontalAlignment="Center"
-                                        VerticalAlignment="Center"
-                                        Content="{TemplateBinding ContentControl.Content}" />
+                                     HorizontalAlignment="Center"
+                                     VerticalAlignment="Center"
+                                     Content="{TemplateBinding ContentControl.Content}" />
                             </Border>
                         </ControlTemplate>
                     </Setter.Value>
@@ -189,9 +208,9 @@
                     <Setter.Value>
                         <ControlTemplate TargetType="Button">
                             <Border
-                                    BorderBrush="{TemplateBinding Control.BorderBrush}"
-                                    BorderThickness="0"
-                                    CornerRadius="90,90,90,90">
+                                 BorderBrush="{TemplateBinding Control.BorderBrush}"
+                                 BorderThickness="0"
+                                 CornerRadius="90,90,90,90">
                                 <Border.Background>
                                     <LinearGradientBrush StartPoint="0,0" EndPoint="0,1">
                                         <GradientStop Offset="0.0" Color="#2c78fa" />
@@ -200,9 +219,9 @@
                                     </LinearGradientBrush>
                                 </Border.Background>
                                 <ContentPresenter
-                                        HorizontalAlignment="Center"
-                                        VerticalAlignment="Center"
-                                        Content="{TemplateBinding ContentControl.Content}" />
+                                     HorizontalAlignment="Center"
+                                     VerticalAlignment="Center"
+                                     Content="{TemplateBinding ContentControl.Content}" />
                             </Border>
                         </ControlTemplate>
                     </Setter.Value>
@@ -218,9 +237,9 @@
                     <Setter.Value>
                         <ControlTemplate TargetType="Button">
                             <Border
-                                    BorderBrush="{TemplateBinding Control.BorderBrush}"
-                                    BorderThickness="0"
-                                    CornerRadius="90,90,90,90">
+                                 BorderBrush="{TemplateBinding Control.BorderBrush}"
+                                 BorderThickness="0"
+                                 CornerRadius="90,90,90,90">
                                 <Border.Background>
                                     <LinearGradientBrush StartPoint="0,0" EndPoint="0,1">
                                         <GradientStop Offset="0.0" Color="Gray" />
@@ -229,9 +248,9 @@
                                     </LinearGradientBrush>
                                 </Border.Background>
                                 <ContentPresenter
-                                        HorizontalAlignment="Center"
-                                        VerticalAlignment="Center"
-                                        Content="{TemplateBinding ContentControl.Content}" />
+                                     HorizontalAlignment="Center"
+                                     VerticalAlignment="Center"
+                                     Content="{TemplateBinding ContentControl.Content}" />
                             </Border>
                         </ControlTemplate>
                     </Setter.Value>
@@ -344,6 +363,12 @@
         </ResourceDictionary>
     </Window.Resources>
 
+    <Window.ContextMenu>
+        <ContextMenu>
+            <MenuItem Header="退出" Click="WindowClose_Click" Style="{StaticResource MenuItemStype}"/>
+        </ContextMenu>
+    </Window.ContextMenu>
+
     <Grid Background="#172557">
         <Grid>
             <Grid.RowDefinitions>
@@ -361,8 +386,8 @@
                 <Viewbox Stretch=" fill"  >
                     <Canvas Width="1880" Height="1080" >
                         <Grid   Width="1880" Height="1080">
-                            <TabControl Background="Transparent" BorderThickness="0" HorizontalAlignment="Center" VerticalContentAlignment="Center"  TabStripPlacement="Left"  Width="1890" Margin="-10,0,0,0">
-                                <TabItem Header="任务管理"   Foreground="White"   FontSize="25"   Width="160" Height="125" Margin="0,-23,8,-23" >
+                            <TabControl Background="Transparent" BorderThickness="0" HorizontalAlignment="Center" VerticalContentAlignment="Center" SelectionChanged="TabControl_SelectionChanged"  TabStripPlacement="Left"  Width="1890" Margin="-10,0,0,0">
+                                <TabItem Header="任务管理"   Foreground="White"   FontSize="25"   Width="160" Height="125" VerticalAlignment="Center" HorizontalAlignment="Center" Margin="5" >
                                     <StackPanel
                                                 x:Name="essentialData"
                                                 Canvas.Left="174"
@@ -380,7 +405,7 @@
                               />
                                         <Border
                                                         ></Border>
-                                        <TextBox x:Name="lba_ThrifTtitle1"   Style="{StaticResource XingHaoBianMaYangShi}" IsEnabled="true"
+                                        <TextBox x:Name="lba_ThrifTtitle1"   Style="{StaticResource XingHaoBianMaYangShi}" IsEnabled="true" 
                                   Width="180" Height="50" Margin="-1150,-8,0,-100"></TextBox>
                                         <Label
                                 Width="125"
@@ -405,7 +430,7 @@
                                             </Button.Template>
                                         </Button>
 
-                                        <Button Content="创建任务" Margin="200,-8,0,-100" Foreground="White" Height="50"  Width="132">
+                                        <Button Content="创建任务" Margin="200,-8,0,-100" Foreground="White" Height="50"  Width="132" Click="AddTaskButton_Click">
                                             <Button.Template >
                                                 <ControlTemplate TargetType="{x:Type Button}" >
                                                     <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
@@ -425,7 +450,7 @@
                                                 </ControlTemplate>
                                             </Button.Template>
                                         </Button>
-                                        <Button Content="手动完成" Margin="800,-8,0,-100" Foreground="White" Height="50"  Width="132" Click="btnFinishTask_Click">
+                                        <Button Content="开始任务" Margin="800,-8,0,-100" Foreground="White" Height="50"  Width="132" Click="btnEditTask_Click">
                                             <Button.Template >
                                                 <ControlTemplate TargetType="{x:Type Button}" >
                                                     <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
@@ -435,6 +460,16 @@
                                                 </ControlTemplate>
                                             </Button.Template>
                                         </Button>
+                                        <!--<Button Content="手动完成" Margin="800,-8,0,-100" Foreground="White" Height="50"  Width="132" Click="btnFinishTask_Click">
+                                            <Button.Template >
+                                                <ControlTemplate TargetType="{x:Type Button}" >
+                                                    <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
+                                                        <Border.Background>#346DFF</Border.Background>
+                                                        <ContentPresenter Content="{TemplateBinding ContentControl.Content}" HorizontalAlignment="Center" VerticalAlignment="Center" ></ContentPresenter>
+                                                    </Border>
+                                                </ControlTemplate>
+                                            </Button.Template>
+                                        </Button>-->
 
 
                                         <!--  订单信息  -->
@@ -462,6 +497,17 @@
                             RowHeaderWidth="0"
                             SelectionMode="Single" FontSize="16" HorizontalAlignment="Left" Width="1711" Margin="0,0,0,10">
                                                     <DataGrid.Columns>
+                                                        <DataGridTemplateColumn Width="130*" Header="选择">
+                                                            <DataGridTemplateColumn.CellTemplate>
+                                                                <DataTemplate>
+                                                                    <Grid>
+                                                                        <CheckBox x:Name="SelectBox" Click="CheckBox_Click" 
+                                                                                  Style="{StaticResource CheckBoxStyle}"
+                                                                          />
+                                                                    </Grid>
+                                                                </DataTemplate>
+                                                            </DataGridTemplateColumn.CellTemplate>
+                                                        </DataGridTemplateColumn>
                                                         <DataGridTemplateColumn
                                     x:Name="orderControlData0"
                                     Width="100"
@@ -487,7 +533,7 @@
                                     ElementStyle="{StaticResource dgCell}"
                                     FontSize="20"
                                     Header="流水号"
-                                    IsReadOnly="True" />
+                                    IsReadOnly="True" Visibility="Hidden" />
 
                                                         <DataGridTextColumn
                                     Width="250*"
@@ -496,10 +542,10 @@
                                     ElementStyle="{StaticResource dgCell}"
                                     FontSize="20"
                                     Header="设备编号"
-                                    IsReadOnly="True" />
+                                    IsReadOnly="True" Visibility="Hidden"/>
 
                                                         <DataGridTextColumn
-                                    Width="250*"
+                                    Width="300*"
                                     Binding="{Binding containerNo}"
                                     CanUserSort="False"
                                     ElementStyle="{StaticResource dgCell}"
@@ -507,8 +553,8 @@
                                     Header="容器号"
                                     IsReadOnly="True" />
                                                         <DataGridTextColumn
-                                    Width="200*"
-                                    Binding="{Binding taskType}"
+                                    Width="300*"
+                                    Binding="{Binding taskType,Converter={StaticResource taskTypeConverter}}"
                                     CanUserSort="False"
                                     ElementStyle="{StaticResource dgCell}"
                                     FontSize="20"
@@ -529,18 +575,18 @@
                                     ElementStyle="{StaticResource dgCell}"
                                     FontSize="20"
                                     Header="数量"
-                                    IsReadOnly="True" />
+                                    IsReadOnly="True" Visibility="Hidden"/>
                                                         <DataGridTextColumn
-                                    Width="200*"
-                                    Binding="{Binding startPointNo}"
+                                    Width="300*"
+                                    Binding="{Binding startPointNo,Converter={StaticResource EquipConverter}}"
                                     CanUserSort="False"
                                     ElementStyle="{StaticResource dgCell}"
                                     FontSize="20"
                                     Header="起始站点"
                                     IsReadOnly="True" />
                                                         <DataGridTextColumn
-                                    Width="200*"
-                                    Binding="{Binding currPointNo}"
+                                    Width="300*"
+                                    Binding="{Binding currPointNo,Converter={StaticResource EquipConverter}}"
                                     CanUserSort="False"
                                     ElementStyle="{StaticResource dgCell}"
                                     FontSize="20"
@@ -548,31 +594,39 @@
                                     IsReadOnly="True" />
                                                         <DataGridTextColumn
                                     Width="200*"
-                                    Binding="{Binding nextPointNo}"
+                                    Binding="{Binding nextPointNo,Converter={StaticResource EquipConverter}}"
                                     CanUserSort="False"
                                     ElementStyle="{StaticResource dgCell}"
                                     FontSize="20"
                                     Header="下一站点"
                                     IsReadOnly="True" />
                                                         <DataGridTextColumn
-                                    Width="200*"
-                                    Binding="{Binding endPointNo}"
+                                    Width="300*"
+                                    Binding="{Binding endPointNo,Converter={StaticResource EquipConverter}}"
                                     CanUserSort="False"
                                     ElementStyle="{StaticResource dgCell}"
                                     FontSize="20"
                                     Header="目的站点"
                                     IsReadOnly="True" />
                                                         <DataGridTextColumn
-                                    Width="200*"
+                                            Width="230*"
+                                            Binding="{Binding fromFloorNo}"
+                                            CanUserSort="False"
+                                            ElementStyle="{StaticResource dgCell}"
+                                            FontSize="20"
+                                            Header="起始楼层"
+                                            IsReadOnly="True" />
+                                                        <DataGridTextColumn
+                                    Width="230*"
                                     Binding="{Binding floorNo}"
                                     CanUserSort="False"
                                     ElementStyle="{StaticResource dgCell}"
                                     FontSize="20"
-                                    Header="所属楼层"
+                                    Header="目的楼层"
                                     IsReadOnly="True" />
 
                                                         <DataGridTextColumn
-                                    Width="220*"
+                                    Width="350*"
                                     Binding="{Binding createTime,StringFormat='{}{0:yyyy-MM-dd HH:mm:ss}'}"
                                     CanUserSort="False"
                                     ElementStyle="{StaticResource dgCell}"
@@ -621,7 +675,126 @@
                                         </Grid>
                                     </StackPanel>
                                 </TabItem>
-                                <TabItem Header="设备管理"   Foreground="White"   FontSize="25"   Width="160" Height="125"  Margin="0,23,8,-23">
+                                <!--<TabItem  Header="入库确认" Foreground="White" FontSize="25" Width="160" Height="125" VerticalAlignment="Center" HorizontalAlignment="Center" Margin="5">
+                                    <Grid>
+                                        <Grid.RowDefinitions>
+                                            <RowDefinition Height="auto"/>
+                                            <RowDefinition Height="*"/>
+                                        </Grid.RowDefinitions>
+                                        <StackPanel Orientation="Horizontal" >
+                                            <Button Content="搜素" Background="#346DFF" Foreground="White" Height="50" Width="150" Margin="10" Click="InSearchButton_Click"/>
+                                            <Button Content="确认入库" Background="#346DFF" Foreground="White" Height="50" Width="150" Margin="10" Click="ConfirmTaskButton_Click"/>
+                                        </StackPanel>
+                                        <DataGrid 
+                                                Grid.Row="1"
+                                                x:Name="WcsTaskLogDataGrid"
+                                                AlternationCount="2"
+                                                AutoGenerateColumns="False"
+                                                Background="#172557"
+                                                CanUserAddRows="False"
+                                                CanUserReorderColumns="False"
+                                                CanUserResizeColumns="False"
+                                                CanUserResizeRows="False"
+                                                Focusable="False"
+                                                HeadersVisibility="Column"
+                                                IsReadOnly="True"
+                                                LoadingRow="dgData_LoadingRow"
+                                                RowHeaderWidth="0"
+                                                SelectionMode="Single" FontSize="16" HorizontalAlignment="Left" 
+                                              >
+                                            <DataGrid.Columns>
+                                                <DataGridTemplateColumn Width="130*" Header="选择">
+                                                    <DataGridTemplateColumn.CellTemplate>
+                                                        <DataTemplate>
+                                                            <Grid>
+                                                                <CheckBox x:Name="InSelectBox" Click="InCheckBox_Click" 
+                                                                Style="{StaticResource CheckBoxStyle}"  />
+                                                            </Grid>
+                                                        </DataTemplate>
+                                                    </DataGridTemplateColumn.CellTemplate>
+                                                </DataGridTemplateColumn>
+                                                <DataGridTemplateColumn
+                                                    Width="100"
+                                                    MinWidth="10"
+                                                    Header=" 序号"
+                                                    IsReadOnly="True">
+                                                    <DataGridTemplateColumn.CellTemplate>
+                                                        <DataTemplate>
+                                                            <TextBlock
+                                                            Margin="0"
+                                                            HorizontalAlignment="Center"
+                                                            VerticalAlignment="Center"
+                                                            Focusable="False"
+                                                            FontSize="20"
+                                                            Text="{Binding Header, RelativeSource={RelativeSource AncestorType={x:Type DataGridRow}, Mode=FindAncestor}}" />    
+                                                        </DataTemplate>
+                                                    </DataGridTemplateColumn.CellTemplate>
+                                                </DataGridTemplateColumn>
+                                                <DataGridTextColumn
+                                                    Width="300*"
+                                                    Binding="{Binding containerNo}"
+                                                    CanUserSort="False"
+                                                    ElementStyle="{StaticResource dgCell}"
+                                                    FontSize="20"
+                                                    Header="容器号"
+                                                    IsReadOnly="True" />
+                                                <DataGridTextColumn
+                                                        Width="300*"
+                                                        Binding="{Binding ud2}"
+                                                        CanUserSort="False"
+                                                        ElementStyle="{StaticResource dgCell}"
+                                                        FontSize="20"
+                                                        Header="楼层"
+                                                        IsReadOnly="True" />
+                                                <DataGridTextColumn
+                                                          Width="300*"
+                                                          Binding="{Binding materialId}"
+                                                          CanUserSort="False"
+                                                          ElementStyle="{StaticResource dgCell}"
+                                                          FontSize="20"
+                                                          Header="物料"
+                                                          IsReadOnly="True" />
+                                            </DataGrid.Columns>
+                                            <DataGrid.CellStyle>
+                                                <Style TargetType="{x:Type DataGridCell}">
+                                                    <Setter Property="Background" Value="#213269" />
+                                                    <Setter Property="Foreground" Value="White" />
+                                                    <Setter Property="Height" Value="50" />
+                                                    <Setter Property="HorizontalContentAlignment" Value="Center" />
+                                                </Style>
+
+                                            </DataGrid.CellStyle>
+                                            <DataGrid.RowStyle>
+                                                <Style TargetType="{x:Type DataGridRow}">
+                                                    <Setter Property="Background" Value="#213269" />
+                                                    <Setter Property="Foreground" Value="White" />
+                                                    <Setter Property="Height" Value="50" />
+                                                </Style>
+                                            </DataGrid.RowStyle>
+                                            <DataGrid.RowHeaderStyle>
+                                                <Style TargetType="{x:Type DataGridRowHeader}">
+                                                    <Setter Property="Background" Value="#213269" />
+                                                    <Setter Property="Foreground" Value="White" />
+                                                    <Setter Property="Height" Value="50" />
+                                                    <Setter Property="HorizontalContentAlignment" Value="Center" />
+                                                </Style>
+                                            </DataGrid.RowHeaderStyle>
+                                            <DataGrid.ColumnHeaderStyle>
+                                                <Style TargetType="{x:Type DataGridColumnHeader}">
+                                                    <Setter Property="Background" Value="#172560" />
+                                                    <Setter Property="Foreground" Value="White" />
+                                                    <Setter Property="Height" Value="50" />
+                                                    <Setter Property="HorizontalContentAlignment" Value="Center" />
+                                                    <Setter Property="Margin" Value="0,0,0,0" />
+                                                    <Setter Property="BorderThickness" Value="5" />
+                                                    <Setter Property="BorderBrush" Value="#172540" />
+                                                    <Setter Property="FontSize" Value="30" />
+                                                </Style>
+                                            </DataGrid.ColumnHeaderStyle>
+                                        </DataGrid>
+                                    </Grid>
+                                </TabItem>-->
+                                <TabItem Header="设备管理"   Foreground="White"   FontSize="25"   Width="160" Height="125"  VerticalAlignment="Center" HorizontalAlignment="Center" Margin="5" >
                                     <StackPanel
                                                 x:Name="materialBom"
                                                  Canvas.Left="174"
@@ -784,7 +957,7 @@
                                         <Label Content="Label"/>
                                     </StackPanel>
                                 </TabItem>
-                                <TabItem Header="库存信息"   Foreground="White"   FontSize="25"   Width="160" Height="125" Margin="0,46,8,-46" >
+                                <TabItem Header="库存信息"   Foreground="White"   FontSize="25"   Width="160" Height="125"  VerticalAlignment="Center" HorizontalAlignment="Center" Margin="5" >
                                     <StackPanel
                                                 x:Name="orderControl"
                                                 Canvas.Left="174"
@@ -812,11 +985,13 @@
                                 FontSize="25" 
                                              Foreground="White"
                               />
-                                        <Border
-                                                        ></Border>
+                                        <Border></Border>
                                         <TextBox x:Name="lba_ThrifTtitle6"   Style="{StaticResource XingHaoBianMaYangShi}" IsEnabled="true"
                                   Width="180" Height="50" Margin="-550,-8,0,-100"></TextBox>
-                                        <Button Content="搜索" Margin="-100,-8,0,-100" Foreground="White" Height="50"  Width="132" Click="btnGetStocK_Click">
+                                        <Label  Width="125"  Height="70" Margin="-100,20,0,-100" Content="仓库 :" FontSize="25" Foreground="White"/>
+                                        <Border></Border>
+                                        <ComboBox x:Name="WarehourseId" DisplayMemberPath="warehouseName" Height="50" Margin="140,0,0,-100" Width="200" FontSize="25" />
+                                        <Button Content="搜索" Margin="600,-8,0,-100" Foreground="White" Height="50"  Width="132" Click="btnGetStocK_Click">
                                             <Button.Template >
                                                 <ControlTemplate TargetType="{x:Type Button}" >
                                                     <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
@@ -870,8 +1045,8 @@
                                                             </DataGridTemplateColumn.CellTemplate>
                                                         </DataGridTemplateColumn>
                                                         <DataGridTextColumn
-                                    Width="200"
-                                    Binding="{Binding materialCode}"
+                                    Width="200*"
+                                    Binding="{Binding materialId}"
                                     CanUserSort="False"
                                     ElementStyle="{StaticResource dgCell}"
                                     FontSize="20"
@@ -879,16 +1054,16 @@
                                     IsReadOnly="True" />
 
                                                         <DataGridTextColumn
-                                    Width="200"
-                                    Binding="{Binding materialName}"
+                                    Width="200*"
+                                    Binding="{Binding instockBatch}"
                                     CanUserSort="False"
                                     ElementStyle="{StaticResource dgCell}"
                                     FontSize="20"
-                                    Header="物料名称"
+                                    Header="批次号"
                                     IsReadOnly="True" />
 
                                                         <DataGridTextColumn
-                                    Width="180"
+                                    Width="180*"
                                     Binding="{Binding warehouseId}"
                                     CanUserSort="False"
                                     ElementStyle="{StaticResource dgCell}"
@@ -897,56 +1072,45 @@
                                     IsReadOnly="True" />
 
                                                         <DataGridTextColumn
-                                    Width="150"
+                                    Width="150*"
                                     Binding="{Binding locationCode}"
                                     CanUserSort="False"
                                     ElementStyle="{StaticResource dgCell}"
                                     FontSize="20"
                                     Header="库位"
                                     IsReadOnly="True" />
-                                                        <DataGridTextColumn
-                                    Width="150"
-                                    Binding="{Binding layerNo}"
-                                    CanUserSort="False"
-                                    ElementStyle="{StaticResource dgCell}"
-                                    FontSize="20"
-                                    Header="层"
-                                    IsReadOnly="True" />
-
-                                                        <DataGridTextColumn
-                                    Width="180"
-                                    Binding="{Binding colNo}"
-                                    CanUserSort="False"
-                                    ElementStyle="{StaticResource dgCell}"
-                                    FontSize="20"
-                                    Header="列"
-                                    IsReadOnly="True" />
-
-                                                        <DataGridTextColumn
-                                    Width="180"
-                                    Binding="{Binding rowNo}"
-                                    CanUserSort="False"
-                                    ElementStyle="{StaticResource dgCell}"
-                                    FontSize="20"
-                                    Header="排"
-                                    IsReadOnly="True" />
-                                                        <DataGridTextColumn
-                                    Width="180"
-                                    Binding="{Binding deepNo}"
-                                    CanUserSort="False"
-                                    ElementStyle="{StaticResource dgCell}"
-                                    FontSize="20"
-                                    Header="深位"
-                                    IsReadOnly="True" />
-                                                        <DataGridTextColumn
-                                    Width="180"
+                                              <DataGridTextColumn
+                                    Width="180*"
                                     Binding="{Binding floorNo}"
                                     CanUserSort="False"
                                     ElementStyle="{StaticResource dgCell}"
                                     FontSize="20"
                                     Header="楼层"
                                     IsReadOnly="True" />
-
+                                                        <DataGridTextColumn
+                                        Width="180*"
+                                        Binding="{Binding totalAmount}"
+                                        CanUserSort="False"
+                                        ElementStyle="{StaticResource dgCell}"
+                                        FontSize="20"
+                                        Header="总数"
+                                        IsReadOnly="True" />      
+                                                        <DataGridTextColumn
+                                        Width="180*"
+                                        Binding="{Binding occupyAmount}"
+                                        CanUserSort="False"
+                                        ElementStyle="{StaticResource dgCell}"
+                                        FontSize="20"
+                                        Header="占用数量"
+                                        IsReadOnly="True" />      
+                                                        <DataGridTextColumn
+                                        Width="180*"
+                                        Binding="{Binding frozenAmount}"
+                                        CanUserSort="False"
+                                        ElementStyle="{StaticResource dgCell}"
+                                        FontSize="20"
+                                        Header="冻结数量"
+                                        IsReadOnly="True" />
 
 
 
@@ -993,7 +1157,7 @@
                                         </Grid>
                                     </StackPanel>
                                 </TabItem>
-                                <TabItem Header="指令管理"   Foreground="White"   FontSize="25"   Width="160" Height="125" Margin="0,69,8,-69" >
+                                <!--<TabItem Header="指令管理"   Foreground="White"   FontSize="25"   Width="160" Height="125"  VerticalAlignment="Center" HorizontalAlignment="Center" Margin="5" >
                                     <StackPanel
                     x:Name="UpperStart"
                     Canvas.Left="174"
@@ -1240,9 +1404,9 @@
                                             </DataGrid>
                                         </StackPanel>
                                     </StackPanel>
-                                </TabItem>
-                                <TabItem Header="物料扫描"   FontSize="25" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"   Foreground="White" Width="160" Height="125" Margin="0,92,8,-92" >
-                                    <StackPanel x:Name="splMaterialCode" Height="1060" Width="1920"  Background="#213269" Canvas.Left="175" Canvas.Top="110"  Orientation="Horizontal" Margin="5,-15,0,0">
+                                </TabItem>-->
+                                <TabItem Header="物料扫描"   FontSize="25" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"   Foreground="White" Width="160" Height="125" Margin="5">
+                                    <StackPanel x:Name="splMaterialCode" Height="1060" Width="1703"  Background="#213269" Canvas.Left="175" Canvas.Top="110"  Orientation="Horizontal">
                                         <StackPanel Orientation="Horizontal" Width="1750">
                                             <StackPanel Orientation="Vertical" Margin="20,5,0,0">
                                                 <StackPanel Orientation="Horizontal" Margin="0"   HorizontalAlignment="Left">
@@ -1258,6 +1422,16 @@
 
                                                     <StackPanel Margin="0,10,10,10">
                                                         <Label
+                                                          Width="152"
+                                                          Height="73"
+                                                          Content="物料 :"
+                                                          FontSize="25"  Margin="0,0,750,-60"
+                                                                       Foreground="White" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"
+                                                        />
+                                                        <TextBox x:Name="callMaterialId"  Style="{StaticResource XingHaoBianMaYangShi}" IsEnabled="true"
+                                                                 LostFocus="callMaterialId_LostFocus"
+                                                             Width="180" Height="50" Margin="0,0,400,0"/>
+                                                        <Label
                                 Width="152"
                                 Height="73"
                                 Content="数量 :"
@@ -1267,7 +1441,7 @@
                                                         <TextBox x:Name="txtNum"   Style="{StaticResource XingHaoBianMaYangShi}" IsEnabled="true"
                                   Width="180" Height="50" Margin="0,0,400,0"/>
 
-                                                        <Button Content="呼叫料箱" Margin="0,-50,10,0" Foreground="White" Height="50"  Width="132" Click="btnCallBox_Click">
+                                                        <Button x:Name="btnCallMaterial"  Content="呼叫料箱" Margin="0,-50,10,0" Foreground="White" Height="50"  Width="132" Click="btnCallBox_Click">
                                                             <Button.Template >
                                                                 <ControlTemplate TargetType="{x:Type Button}" >
                                                                     <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
@@ -1299,7 +1473,7 @@
                                              Foreground="White" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"
                               />
                                                         <ComboBox x:Name="cbxType" Margin="0,0,400,0" Width="180" Height="50" >
-                                                            <ComboBoxItem Content="入库" />
+                                                            <ComboBoxItem Content="入库" IsSelected="True"/>
                                                             <ComboBoxItem Content="出库" />
                                                             <ComboBoxItem Content="回库" />
                                                         </ComboBox>
@@ -1321,7 +1495,27 @@
                                              Foreground="White" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"
                               />
                                                         <TextBox x:Name="txtBarCode"   Style="{StaticResource XingHaoBianMaYangShi}" IsEnabled="true"
-                                  Width="180" Height="50" Margin="0,0,400,0" KeyDown="txtBarCode_KeyDown"/>
+                                  Width="180" Height="50" Margin="0,0,400,0" TextChanged="txtBarCode_KeyDown"/>
+                                                        <Button Content="清除料箱条码" Margin="400,-180,10,0" HorizontalAlignment="Left" Foreground="White" Height="50"  Width="170" Click="clearRFID_Click">
+                                                            <Button.Template >
+                                                                <ControlTemplate TargetType="{x:Type Button}" >
+                                                                    <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
+                                                                        <Border.Background>#346DFF</Border.Background>
+                                                                        <ContentPresenter Content="{TemplateBinding ContentControl.Content}" HorizontalAlignment="Center" VerticalAlignment="Center" ></ContentPresenter>
+                                                                    </Border>
+                                                                </ControlTemplate>
+                                                            </Button.Template>
+                                                        </Button>
+                                                        <Button Content="清除条码" Margin="400,-50,10,0" HorizontalAlignment="Left" Foreground="White" Height="50"  Width="170" Click="clearBarCode_Click">
+                                                            <Button.Template >
+                                                                <ControlTemplate TargetType="{x:Type Button}" >
+                                                                    <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
+                                                                        <Border.Background>#346DFF</Border.Background>
+                                                                        <ContentPresenter Content="{TemplateBinding ContentControl.Content}" HorizontalAlignment="Center" VerticalAlignment="Center" ></ContentPresenter>
+                                                                    </Border>
+                                                                </ControlTemplate>
+                                                            </Button.Template>
+                                                        </Button>
                                                         <Label
                                 Width="152"
                                 Height="73"
@@ -1330,9 +1524,20 @@
                                              Foreground="White" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"
                               />
                                                         <TextBox x:Name="txtScan"   Style="{StaticResource XingHaoBianMaYangShi}" IsReadOnly="True"
-                                  Width="180" Height="50" Margin="0,0,400,0" IsEnabled="False"/>
+                                  Width="180" Height="50" Margin="0,0,400,0" IsEnabled="False" />
 
-                                                        <Button Content="确认" Margin="0,-50,10,0" Foreground="White" Height="50"  Width="132" Click="btnConfirmBox_Click">
+                                                        <Button Content="确认" Margin="150,30,10,0" HorizontalAlignment="Left" Foreground="White" Height="50"  Width="132" Click="btnConfirmBox_Click">
+                                                            <Button.Template >
+                                                                <ControlTemplate TargetType="{x:Type Button}" >
+                                                                    <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
+                                                                        <Border.Background>#346DFF</Border.Background>
+                                                                        <ContentPresenter Content="{TemplateBinding ContentControl.Content}" HorizontalAlignment="Center" VerticalAlignment="Center" ></ContentPresenter>
+                                                                    </Border>
+                                                                </ControlTemplate>
+                                                            </Button.Template>
+                                                        </Button>
+
+                                                        <Button Content="背负式小车捡料完成" Margin="50,50,10,0" HorizontalAlignment="Left" Foreground="White" Height="50"  Width="300" Click="btnBearConfirmBox_Click">
                                                             <Button.Template >
                                                                 <ControlTemplate TargetType="{x:Type Button}" >
                                                                     <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
@@ -1348,8 +1553,8 @@
                                         </StackPanel>
                                     </StackPanel>
                                 </TabItem>
-                                <TabItem Header="PLC信息看板"   FontSize="25" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"   Foreground="White" Width="160" Height="125" Margin="0,112,0,-112" >
-                                    <StackPanel x:Name="splPlcMessage" Height="1060" Width="1920"  Background="#213269" Canvas.Left="175" Canvas.Top="110"  Orientation="Horizontal" Margin="5,-15,0,0">
+                                <TabItem Header="PLC信息"   FontSize="25" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"   Foreground="White" Width="160" Height="125"  Margin="5">
+                                    <StackPanel x:Name="splPlcMessage" Height="1060" Width="1729"  Background="#213269" Canvas.Left="175" Canvas.Top="110"  Orientation="Horizontal">
                                         <StackPanel Orientation="Horizontal" Width="1750">
                                             <StackPanel Orientation="Vertical" Margin="20,5,0,0">
                                                 <StackPanel Orientation="Horizontal" Margin="0">
@@ -1360,99 +1565,85 @@
                                 Margin="60,0,0,0"
                                 Source="..\Resources\chanpintiaoma.png" Visibility="Visible"/>
                                                     <Label Content="PLC交互信息" Foreground="White" FontSize="20" Width="150" Height="40" Margin="10,0,80,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
+                                                    <Button  Content="刷新" Foreground="White" Height="50"  Width="132" Click="btnRefreshPlc_Click">
+                                                        <Button.Template >
+                                                            <ControlTemplate TargetType="{x:Type Button}" >
+                                                                <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
+                                                                    <Border.Background>#346DFF</Border.Background>
+                                                                    <ContentPresenter Content="{TemplateBinding ContentControl.Content}" HorizontalAlignment="Center" VerticalAlignment="Center" ></ContentPresenter>
+                                                                </Border>
+                                                            </ControlTemplate>
+                                                        </Button.Template>
+                                                    </Button>
                                                 </StackPanel>
-                                                <Border Background="#213269" BorderBrush="Silver" BorderThickness="2" CornerRadius="10" Width="700" Margin="0,5,0,0">
-                                                    <StackPanel Height="865"  Width="800">
-                                                        <StackPanel Orientation="Horizontal" Height="65">
-                                                            <Label Content="交互点" Foreground="White" FontSize="20" Width="180" Height="60" Margin="40,0,70,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
-                                                            <Label Content="RFID" Foreground="White" FontSize="12" Width="60" Height="60" Margin="-20,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
-                                                            <Label Content="到位信号" Foreground="White" FontSize="12" Width="60" Height="60" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
-                                                            <Label Content="是否有托盘" Foreground="White" FontSize="12" Width="80" Height="60" Margin="-10,0,0,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
-                                                            <Label Content="去向" Foreground="White" FontSize="12" Width="60" Height="60" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
-                                                            <Label Content="流水号" Foreground="White" FontSize="10" Width="80" Height="60" Margin="-10,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
-                                                        </StackPanel>
-                                                        <StackPanel Orientation="Horizontal" Height="65">
-                                                            <Label Content="一楼输送线" Foreground="White"  FontSize="20" Width="200" Height="50" Margin="30,0,60,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
-                                                            <TextBox Text="0" x:Name="carno101"  FontSize="15" Width="60" Height="50" Margin="-20,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="carstate101"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="plcsend101"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="carrun101"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"  MaxLength="3" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="wcsend101"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"   Style="{StaticResource tbxStyle}" MaxLength="1"/>
-                                                        </StackPanel>
-                                                        <StackPanel Orientation="Horizontal" Height="65">
-                                                            <Label Content="一楼提升机前输送线" Foreground="White"  FontSize="20" Width="200" Height="50" Margin="30,0,60,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
-                                                            <TextBox Text="0" x:Name="carno102"   FontSize="15" Width="60" Height="50" Margin="-20,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="carstate102"   FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="plcsend102"   FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="carrun102"   FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"  MaxLength="3" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="wcsend102"   FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"   MaxLength="1" Style="{StaticResource tbxStyle}"/>
-                                                        </StackPanel>
-                                                        <StackPanel Orientation="Horizontal" Height="65">
-                                                            <Label Content="二楼输送线" Foreground="White" FontSize="20" Width="200" Height="50" Margin="30,0,60,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
-                                                            <TextBox Text="0" x:Name="carno103"   FontSize="15" Width="60" Height="50"  Margin="-20,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="carstate103"   FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}" />
-                                                            <TextBox Text="0" x:Name="plcsend103"   FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="carrun103"   FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"  MaxLength="3" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="wcsend103"   FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"   MaxLength="1" Style="{StaticResource tbxStyle}"/>
-                                                        </StackPanel>
-                                                        <StackPanel Orientation="Horizontal" Height="65">
-                                                            <Label Content="二楼提升机前输送线" Foreground="White"  FontSize="20" Width="200" Height="50" Margin="30,0,60,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
-                                                            <TextBox Text="0" x:Name="carno201"  FontSize="15" Width="60" Height="50"  Margin="-20,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="carstate201"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="plcsend201"   FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="carrun201"   FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"   MaxLength="3" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="wcsend201"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center"  MaxLength="1" Style="{StaticResource tbxStyle}"/>
-                                                        </StackPanel>
-                                                        <StackPanel Orientation="Horizontal" Height="65">
-                                                            <Label Content="三楼输送线"  Foreground="White" FontSize="20" Width="200" Height="50" Margin="30,0,60,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
-                                                            <TextBox Text="0" x:Name="carno202"   FontSize="15" Width="60" Height="50" Margin="-20,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True"  Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="carstate202"   FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="plcsend202"   FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="carrun202" FontSize="15" Width="60" Height="50" Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"  MaxLength="3" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="wcsend202"   FontSize="15" Width="60" Height="50"  Margin="0,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"  MaxLength="1" Style="{StaticResource tbxStyle}"/>
-                                                        </StackPanel>
-                                                        <StackPanel Orientation="Horizontal" Height="65">
-                                                            <Label Content="三楼提升机前输送线" Foreground="White" FontSize="20" Width="200" Height="50" Margin="30,0,60,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
-                                                            <TextBox Text="0" x:Name="carno203"  FontSize="15" Width="60" Height="50" Margin="-20,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}" />
-                                                            <TextBox Text="0" x:Name="carstate203"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="plcsend203"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="carrun203"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center"  MaxLength="3"  Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="wcsend203" FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center"  MaxLength="1" Style="{StaticResource tbxStyle}"/>
-                                                        </StackPanel>
-                                                        <StackPanel Orientation="Horizontal" Height="65">
-                                                            <Label Content="四楼输送线" Foreground="White" FontSize="20" Width="200" Height="50" Margin="30,0,60,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
-                                                            <TextBox Text="0" x:Name="carno501"  FontSize="15" Width="60" Height="50" Margin="-20,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}" />
-                                                            <TextBox Text="0" x:Name="carstate501"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="plcsend501"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="carrun501"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center"  MaxLength="3"  Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="wcsend501" FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center"  MaxLength="1" Style="{StaticResource tbxStyle}"/>
-                                                        </StackPanel>
-                                                        <StackPanel Orientation="Horizontal" Height="65">
-                                                            <Label Content="四楼提升机前输送线" Foreground="White" FontSize="20" Width="200" Height="50" Margin="30,0,60,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
-                                                            <TextBox Text="0" x:Name="carno502"  FontSize="15" Width="60" Height="50" Margin="-20,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}" />
-                                                            <TextBox Text="0" x:Name="carstate502"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="plcsend502"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="carrun502"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center"  MaxLength="3"  Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="wcsend502" FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center"  MaxLength="1" Style="{StaticResource tbxStyle}"/>
-                                                        </StackPanel>
-                                                        <StackPanel Orientation="Horizontal" Height="65">
-                                                            <Label Content="五楼输送线" Foreground="White" FontSize="20" Width="200" Height="50" Margin="30,0,60,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
-                                                            <TextBox Text="0" x:Name="carno503"  FontSize="15" Width="60" Height="50" Margin="-20,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}" />
-                                                            <TextBox Text="0" x:Name="carstate503"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="plcsend503"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="carrun503"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center"  MaxLength="3"  Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="wcsend503" FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center"  MaxLength="1" Style="{StaticResource tbxStyle}"/>
-                                                        </StackPanel>
-                                                        <StackPanel Orientation="Horizontal" Height="65">
-                                                            <Label Content="五楼提升机前输送线" Foreground="White" FontSize="20" Width="200" Height="50" Margin="30,0,60,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
-                                                            <TextBox Text="0" x:Name="carno504"  FontSize="15" Width="60" Height="50" Margin="-20,0,10,0" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}" />
-                                                            <TextBox Text="0" x:Name="carstate504"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="plcsend504"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center" IsReadOnly="True" Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="carrun504"  FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center"  MaxLength="3"  Style="{StaticResource tbxStyle}"/>
-                                                            <TextBox Text="0" x:Name="wcsend504" FontSize="15" Width="60" Height="50" Margin="0,0,10,0"  HorizontalContentAlignment="Center" VerticalContentAlignment="Center"  MaxLength="1" Style="{StaticResource tbxStyle}"/>
-                                                        </StackPanel>
-
-                                                    </StackPanel>
+                                                <Border Background="#213269" BorderBrush="Silver" BorderThickness="2" CornerRadius="10" Width="700" Height="500" Margin="0,5,0,0">
+                                                    <Grid>
+                                                        <Grid.ColumnDefinitions>
+                                                            <ColumnDefinition Width="1.5*"/>
+                                                            <ColumnDefinition Width="*"/>
+                                                            <ColumnDefinition Width="*"/>
+                                                            <ColumnDefinition Width="*"/>
+                                                        </Grid.ColumnDefinitions>
+                                                        <Grid.RowDefinitions>
+                                                            <RowDefinition Height="*"/>
+                                                            <RowDefinition Height="*"/>
+                                                            <RowDefinition Height="*"/>
+                                                            <RowDefinition Height="*"/>
+                                                            <RowDefinition Height="*"/>
+                                                            <RowDefinition Height="*"/>
+                                                            <RowDefinition Height="*"/>
+                                                        </Grid.RowDefinitions>
+                                                        <TextBlock Text="接驳位" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.ColumnSpan="6" FontSize="40"/>
+                                                        <TextBlock Text="RFID" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="1" Grid.Row="1" FontSize="25"/>
+                                                        <TextBlock Text="到位" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="2" Grid.Row="1" FontSize="25"/>
+                                                        <TextBlock Text="去向" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="3" Grid.Row="1" FontSize="25"/>
+                                                        <TextBlock Text="一楼接驳位" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="0" Grid.Row="2" FontSize="25"/>
+                                                        <TextBlock x:Name="RFID001" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="1" Grid.Row="2" FontSize="25"/>
+                                                        <TextBlock x:Name="linesignal01" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="2" Grid.Row="2" FontSize="25"/>
+                                                        <TextBlock x:Name="wcsrun01" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="3" Grid.Row="2" FontSize="25"/>
+                                                        
+                                                        <TextBlock Text="二楼接驳位" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="0" Grid.Row="3" FontSize="25"/>
+                                                        <TextBlock x:Name="RFID002" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="1" Grid.Row="3" FontSize="25"/>
+                                                        <TextBlock x:Name="linesignal02" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="2" Grid.Row="3" FontSize="25"/>
+                                                        <TextBlock x:Name="wcsrun02" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="3" Grid.Row="3" FontSize="25"/>
+                                                        
+                                                        <TextBlock Text="三楼接驳位" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="0" Grid.Row="4" FontSize="25"/>
+                                                        <TextBlock x:Name="RFID003" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="1" Grid.Row="4" FontSize="25"/>
+                                                        <TextBlock x:Name="linesignal03" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="2" Grid.Row="4" FontSize="25"/>
+                                                        <TextBlock x:Name="wcsrun03" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="3" Grid.Row="4" FontSize="25"/>
+                                                        
+                                                        <TextBlock Text="四楼接驳位" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="0" Grid.Row="5" FontSize="25"/>
+                                                        <TextBlock x:Name="RFID004" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="1" Grid.Row="5" FontSize="25"/>
+                                                        <TextBlock x:Name="linesignal04" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="2" Grid.Row="5" FontSize="25"/>
+                                                        <TextBlock x:Name="wcsrun04" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="3" Grid.Row="5" FontSize="25"/>
+                                                        
+                                                        <TextBlock Text="五楼接驳位" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="0" Grid.Row="6" FontSize="25"/>
+                                                        <TextBlock x:Name="RFID005" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="1" Grid.Row="6" FontSize="25"/>
+                                                        <TextBlock x:Name="linesignal05" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="2" Grid.Row="6" FontSize="25"/>
+                                                        <TextBlock x:Name="wcsrun05" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="3" Grid.Row="6" FontSize="25"/>
+                                                    </Grid>
+                                                  
+                                                </Border>
+                                                <Border Background="#213269" BorderBrush="Silver" BorderThickness="2" CornerRadius="10" Width="700" Height="300" Margin="0,50,0,0">
+                                                    <Grid>
+                                                        <Grid.ColumnDefinitions>
+                                                            <ColumnDefinition Width="*"/>
+                                                            <ColumnDefinition Width="*"/>
+                                                            <ColumnDefinition Width="*"/>
+                                                        </Grid.ColumnDefinitions>
+                                                        <Grid.RowDefinitions>
+                                                            <RowDefinition Height="*"/>
+                                                            <RowDefinition Height="*"/>
+                                                            <RowDefinition Height="*"/>
+                                                        </Grid.RowDefinitions>
+                                                        <TextBlock Text="五楼U型线" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.ColumnSpan="3" FontSize="40"/>
+                                                        <TextBlock Text="允许放" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="0" Grid.Row="1" FontSize="25"/>
+                                                        <TextBlock Text="允许取" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="2" Grid.Row="1" FontSize="25"/>
+                                                        <TextBlock Text="RFID" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="1" Grid.Row="1" FontSize="25"/>
+                                                        <TextBlock x:Name="isput" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="0" Grid.Row="2" FontSize="25"/>
+                                                        <TextBlock x:Name="isarrive" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="2" Grid.Row="2" FontSize="25"/>
+                                                        <TextBlock x:Name="RFID5001" HorizontalAlignment="Center" VerticalAlignment="Center" Grid.Column="1" Grid.Row="2" FontSize="25"/>
+                                                    </Grid>
                                                 </Border>
                                             </StackPanel>
                                         </StackPanel>

src/Khd.Core.Wpf/Global/PlcConfig.cs

@@ -1,14 +1,16 @@
 using Jc.SnowId;
+using Khd.Core.Plc.S7;
 
 namespace Khd.Core.Wpf
 {
-    public static class PlcConfig
+    public class PlcConfig
     {
-        public static int CpuType { get; set; }
-        public static string IP { get; set; }
-        public static int Port { get; set; }
-        public static short Rack { get; set; }
-        public static short Slot { get; set; }
+        public CpuType CpuType { get; set; }
+        public string IP { get; set; }
+        public int Port { get; set; }
+        public short Rack { get; set; }
+        public short Slot { get; set; }
+        public int Code { get; set; }
     }
     public static class ConnectionStrings
     {

src/Khd.Core.Wpf/SystemData.cs

@@ -1,13 +1,41 @@
-using System;
+using Khd.Core.Domain.Models;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using System.Windows.Media;
 
 namespace Khd.Core.Wpf
 {
-    public class SystemData
+    public static class SystemData
     {
+        public static IEnumerable<Visual> GetChildren(this Visual parent, bool recurse = true)
+        {
+            if (parent != null)
+            {
+                int count = VisualTreeHelper.GetChildrenCount(parent);
+                for (int i = 0; i < count; i++)
+                {
+                    // Retrieve child visual at specified index value.
+                    var child = VisualTreeHelper.GetChild(parent, i) as Visual;
+
+                    if (child != null)
+                    {
+                        yield return child;// 聚集函数，调用到这不会立刻结束方法，而是在集合中添加元素，直到方法结束，将集合返回
+
+                        if (recurse)
+                        {
+                            foreach (var grandChild in child.GetChildren(true))
+                            {
+                                yield return grandChild;
+                            }
+                        }
+                    }
+                }
+            }
+        }
+
         public static string _message { get; set; }
 
         public static object _lock = new object();
@@ -51,5 +79,13 @@ namespace Khd.Core.Wpf
                 }
             }
         }
+
+        public static List<BasePlcpoint> BasePlcpoints { get; set; }
+        public static List<BaseEquip> BaseEquip { get; internal set; }
+        public static List<WmsBaseWarehouse> BaseWareHouse { get; internal set; }
+
+        public static List<BaseDictionary> BaseDictionary =new List<BaseDictionary>();
+        public static List<PlcConfig> PlcConfigs =new List<PlcConfig>();
+        public static Dictionary<int,Plc.S7.Plc> PlcDic=new Dictionary<int, Plc.S7.Plc>();
     }
 }

src/Khd.Core.Wpf/TaskForm/AddTask.xaml

@@ -0,0 +1,50 @@
+<Window x:Class="Khd.Core.Wpf.TaskForm.AddTask"
+        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+        xmlns:local="clr-namespace:Khd.Core.Wpf.TaskForm"
+        mc:Ignorable="d"
+        WindowState="Normal"
+        WindowStartupLocation="CenterScreen"
+        Background="#333333"
+        Loaded="Window_Loaded"
+        Title="" Height="450" Width="800" ResizeMode="NoResize" WindowStyle="None">
+    <Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="*"/>
+            <RowDefinition Height="*"/>
+            <RowDefinition Height="*"/>
+        </Grid.RowDefinitions>
+        <TextBlock Text="人工调度任务下发" Foreground="White" FontSize="50" VerticalAlignment="Center" HorizontalAlignment="Center"/>
+        <!--<StackPanel Grid.Row="1" Orientation="Horizontal" HorizontalAlignment="Center">
+            <TextBlock Text="托盘号：" Foreground="White" FontSize="25" VerticalAlignment="Center" HorizontalAlignment="Center"/>
+            <TextBox x:Name="RFID" FontSize="25" Height="50" Width="400" VerticalAlignment="Center" HorizontalAlignment="Center"/>
+        </StackPanel>-->
+        <StackPanel Grid.Row="1" Orientation="Horizontal" HorizontalAlignment="Center">
+            <TextBlock Text="起始点：" Foreground="White" FontSize="25" VerticalAlignment="Center" HorizontalAlignment="Center"/>
+            <ComboBox x:Name="StartPoint" DisplayMemberPath="equipName" Height="50" Width="160" FontSize="25" SelectionChanged="StartPoint_SelectionChanged">
+                <ComboBox.ItemContainerStyle>
+                    <Style TargetType="{x:Type ComboBoxItem}">
+                        <Setter Property="IsEnabled" Value="{Binding IsEnabled}"/>
+                        <Setter Property="Tag" Value="{Binding objid}"/>
+                    </Style>
+                </ComboBox.ItemContainerStyle>
+            </ComboBox>
+
+            <TextBlock Text="终点：" Foreground="White" FontSize="25" Margin="50,0,0,0" VerticalAlignment="Center" HorizontalAlignment="Center"/>
+            <ComboBox x:Name="EndPoint" DisplayMemberPath="equipName" Height="50" Width="160" FontSize="25" SelectionChanged="EndPoint_SelectionChanged" >
+                <ComboBox.ItemContainerStyle>
+                    <Style TargetType="{x:Type ComboBoxItem}">
+                        <Setter Property="IsEnabled" Value="{Binding IsEnabled}"/>
+                        <Setter Property="Tag" Value="{Binding objid}"/>
+                    </Style>
+                </ComboBox.ItemContainerStyle>
+            </ComboBox>
+        </StackPanel>
+        <StackPanel Orientation="Horizontal" Grid.Row="2" HorizontalAlignment="Center">
+            <Button x:Name="AddTaskBtn" Content="下发任务" FontSize="25" Width="160" Height="50" Foreground="White" Background="#2196F3" VerticalAlignment="Center" HorizontalAlignment="Center" Click="AddTaskBtn_Click"/>
+            <Button x:Name="CancelBtn" Content="取消" FontSize="25" Width="160" Height="50" Foreground="White" Background="#F44336" Click="CancelBtn_Click"  VerticalAlignment="Center" HorizontalAlignment="Center" Margin="100,0,0,0"/>
+        </StackPanel>
+    </Grid>
+</Window>

src/Khd.Core.Wpf/TaskForm/AddTask.xaml.cs

@@ -0,0 +1,270 @@
+using Khd.Core.Domain.Models;
+using Khd.Core.EntityFramework;
+using Khd.Core.Library.Mapper;
+using Khd.Core.Plc;
+using Khd.Core.Plc.S7;
+using Khd.Core.Wpf.Form;
+using Microsoft.Extensions.DependencyInjection;
+using Microsoft.Extensions.Hosting;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Windows;
+using System.Windows.Controls;
+
+namespace Khd.Core.Wpf.TaskForm
+{
+    /// <summary>
+    /// AddTask.xaml 的交互逻辑
+    /// </summary>
+    public partial class AddTask : Window
+    {
+        private List<EquipMessage> startEquips = new List<EquipMessage>();
+        private List<EquipMessage> endEquips = new List<EquipMessage>();
+        private List<BaseEquip> baseEquips = new List<BaseEquip>();
+        private readonly IHost _host;
+        public AddTask(IHost host)
+        {
+            InitializeComponent();
+            _host = host;
+        }
+
+        private void Window_Loaded(object sender, RoutedEventArgs e)
+        {
+            var scope = _host.Services.CreateScope();
+            var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            baseEquips = dbContext.BaseEquip.ToList();
+            foreach (var equip in baseEquips)
+            {
+                if (equip.equipType == 15)//0空闲，1占用，2锁定
+                {
+                    if (equip.ud1 == "1")
+                    {
+                        startEquips.Add(new EquipMessage
+                        {
+                            Id = equip.objid,
+                            equipName = equip.equipName,
+                            equipNo = equip.equipNo,
+                            equipType = equip.equipType,
+                            equipStatus = equip.equipStatus,
+                            floorNo = equip.floorNo,
+                            IsEnabled = equip.ud3 == "1"
+                        });
+                    }
+                    if (equip.ud2 == "1")
+                    {
+                        endEquips.Add(new EquipMessage
+                        {
+                            Id = equip.objid,
+                            equipName = equip.equipName,
+                            equipNo = equip.equipNo,
+                            equipType = equip.equipType,
+                            equipStatus = equip.equipStatus,
+                            floorNo = equip.floorNo,
+                            IsEnabled = equip.ud3 == "0"
+                        });
+                    }
+                }
+                else
+                {
+                    if (equip.ud1 == "1")
+                    {
+                        startEquips.Add(new EquipMessage
+                        {
+                            Id = equip.objid,
+                            equipName = equip.equipName,
+                            equipNo = equip.equipNo,
+                            equipType = equip.equipType,
+                            equipStatus = equip.equipStatus,
+                            floorNo = equip.floorNo,
+                            IsEnabled = true
+                        });
+                    }
+                    if (equip.ud2 == "1")
+                    {
+                        endEquips.Add(new EquipMessage
+                        {
+                            Id = equip.objid,
+                            equipName = equip.equipName,
+                            equipNo = equip.equipNo,
+                            equipType = equip.equipType,
+                            equipStatus = equip.equipStatus,
+                            floorNo = equip.floorNo,
+                            IsEnabled = true
+                        });
+                    }
+                }
+            }
+            this.StartPoint.ItemsSource = startEquips;
+            this.EndPoint.ItemsSource = endEquips;
+        }
+
+        private void AddTaskBtn_Click(object sender, RoutedEventArgs e)
+        {
+            try
+            {
+                using var scope = _host.Services.CreateScope();
+                var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+                if (StartPoint.SelectedItem is EquipMessage startEquip && EndPoint.SelectedItem is EquipMessage endEquip)
+                {
+                    if (startEquip.equipType == 1)
+                    {
+                        BasePlcpoint basePlcpoint = SystemData.BasePlcpoints.First(t => t.plcpointNo == $"RFID00{startEquip.floorNo}");
+                        string? rfid = SystemData.PlcDic[0].ReadRFID(basePlcpoint.plcpointAddress);
+
+                        if (!string.IsNullOrEmpty(rfid))
+                        {
+                            WcsTask? task = dbContext.WcsTask.FirstOrDefault(t => t.containerNo == rfid);
+                            if (task == null)
+                            {
+                                if (endEquip.equipType == 1)//入库
+                                {
+                                    BaseEquip baseEquip = baseEquips.First(t => t.equipType == 2);//提升机
+                                    WcsTask wcsTask = new()
+                                    {
+                                        objid = FormBoardT._jcSnowId.NextId(),
+                                        taskType = 99,
+                                        startPointId = startEquip.Id,
+                                        startPointNo = startEquip.equipNo,
+                                        currPointId = startEquip.Id,
+                                        currPointNo = startEquip.equipNo,
+                                        nextPointId = baseEquip.objid,
+                                        nextPointNo = baseEquip.equipNo,
+                                        endPointId = endEquip.Id,
+                                        endPointNo = endEquip.equipNo,
+                                        fromFloorNo = startEquip.floorNo,
+                                        floorNo = endEquip.floorNo,
+                                        taskStatus = -1,
+                                        createBy = "人工",
+                                        createTime = DateTime.Now,
+                                        equipmentNo = startEquip.equipNo,
+                                        useFlag = 1,
+                                    };
+                                    WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
+                                    dbContext.Add(wcsTask);
+                                    dbContext.Add(wcsTaskLog);
+                                    dbContext.SaveChanges();
+                                }
+                                else if (endEquip.equipType == 15)//空托盘到三楼
+                                {
+                                    BaseEquip baseEquip = baseEquips.First(t => t.equipType == 2);//提升机
+                                    WcsTask wcsTask = new()
+                                    {
+                                        objid = FormBoardT._jcSnowId.NextId(),
+                                        taskType = 97,
+                                        startPointId = startEquip.Id,
+                                        startPointNo = startEquip.equipNo,
+                                        currPointId = startEquip.Id,
+                                        currPointNo = startEquip.equipNo,
+                                        nextPointId = baseEquip.objid,
+                                        nextPointNo = baseEquip.equipNo,
+                                        endPointId = endEquip.Id,
+                                        endPointNo = endEquip.equipNo,
+                                        fromFloorNo = startEquip.floorNo,
+                                        floorNo = endEquip.floorNo,
+                                        taskStatus = -1,
+                                        createBy = "人工",
+                                        createTime = DateTime.Now,
+                                        equipmentNo = startEquip.equipNo,
+                                        useFlag = 1,
+                                    };
+                                    WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
+                                    dbContext.Add(wcsTask);
+                                    dbContext.Add(wcsTaskLog);
+                                    dbContext.SaveChanges();
+                                }
+                            }
+                            else
+                            {
+                                MessageBox.Show("该RFID的任务已经存在！");
+                            }
+                        }
+                        else
+                        {
+                            MessageBox.Show("未读取到RFID");
+                        }
+                    }
+                    this.Close();
+                }
+                else
+                {
+                    MessageBox.Show("请选择起点和终点");
+                }
+            }
+            catch (Exception ex)
+            {
+                if (ex is PlcException)
+                {
+                    try
+                    {
+                        SystemData.PlcDic[0] = new Plc.S7.Plc(SystemData.PlcDic[0].CPU, SystemData.PlcDic[0].IP, SystemData.PlcDic[0].Port, SystemData.PlcDic[0].Rack, SystemData.PlcDic[0].Slot);
+                        SystemData.PlcDic[0].Open();
+                        AddTaskBtn_Click(AddTaskBtn, null);
+                    }
+                    catch
+                    {
+                        MessageBox.Show("PLC连接失败,无法读取任务");
+                    }
+                }
+            }
+
+        }
+
+        private void CancelBtn_Click(object sender, RoutedEventArgs e)
+        {
+            this.Close();
+        }
+
+        private void EndPoint_SelectionChanged(object sender, SelectionChangedEventArgs e)
+        {
+            if (StartPoint.SelectedItem is EquipMessage startEquip)
+            {
+
+            }
+            else
+            {
+                if (EndPoint.SelectedItem != null)
+                {
+                    MessageBox.Show("请先选择起点");
+                    EndPoint.SelectedItem = null;
+                }
+            }
+        }
+
+        private void StartPoint_SelectionChanged(object sender, SelectionChangedEventArgs e)
+        {
+            if (StartPoint.SelectedItem is EquipMessage startEquip)
+            {
+                foreach (var item in endEquips)
+                {
+                    if (item.Id == startEquip.Id)
+                    {
+                        item.IsEnabled = false;
+                    }
+                    else
+                    {
+                        item.IsEnabled = true;
+                    }
+                }
+                EndPoint.ItemsSource = endEquips;
+                EndPoint.Items.Refresh();
+            }
+            else
+            {
+                EndPoint.SelectedItem = null;
+                MessageBox.Show("请先选择起点");
+            }
+        }
+    }
+
+    public class EquipMessage
+    {
+        public long? Id { get; set; }
+        public string equipName { get; set; }
+        public string equipNo { get; set; }
+        public int? equipType { get; set; }
+        public int? equipStatus { get; set; }
+        public int? floorNo { get; set; }
+        public bool IsEnabled { get; set; } = true;
+    }
+}

src/Khd.Core.Wpf/appsettings.json

@@ -3,16 +3,35 @@
     //mysql 本地
     //"DefaultConnection": "server=106.12.13.113;port=3306;database=khd_jyhb;uid=root;pwd=root;charset='utf8';persistsecurityinfo=True;SslMode=none;Allow User Variables=True"
     //khd服务器
-    "DefaultConnection": "server=106.12.13.113;port=3336;database=khd_jyhb;uid=khd;pwd=khd@123;charset='utf8';persistsecurityinfo=True;SslMode=none;Allow User Variables=True"
-   
-  },
-  "PlcConfig": {
-    "IP": "127.0.0.1",
-    "Port": "102",
-    "CpuType": 30,
-    "Rack": "0",
-    "Slot": "0"
+    //"DefaultConnection": "server=106.12.13.113;port=3336;database=khd_jyhb;uid=khd;pwd=khd@123;charset='utf8';persistsecurityinfo=True;SslMode=none;Allow User Variables=True"
+    "DefaultConnection": "server=localhost;port=3306;database=jyhb;uid=root;pwd=root;charset='utf8';persistsecurityinfo=True;SslMode=None;Allow User Variables=True"
   },
+  "PlcConfigs": [
+    {
+      "IP": "192.168.2.30",
+      "Port": 102, //102是默认端口
+      "CpuType": 40,
+      "Rack": 0,
+      "Slot": 1,
+      "Code": 0
+    },
+    //{
+    //  "IP": "192.168.2.31",
+    //  "Port": 102, //102是默认端口
+    //  "CpuType": 40,
+    //  "Rack": 0,
+    //  "Slot": 1,
+    //  "Code": 1
+    //},
+    //{
+    //  "IP": "192.168.2.220",
+    //  "Port": 102, //102是默认端口
+    //  "CpuType": 40,
+    //  "Rack": 0,
+    //  "Slot": 1,
+    //  "Code": 2
+    //}
+  ],
   "PLCSetting": {
     "Mode": "0",
     "EquipCode": "H61,H62,H63",

src/Khd.Core.Wpf/myConverter/AgvTaskStatusConverter.cs

@@ -0,0 +1,43 @@
+using System;
+using System.Collections.Generic;
+using System.Globalization;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Data;
+
+namespace Khd.Core.Wpf.myConverter
+{
+    [ValueConversion(typeof(int), typeof(string))]
+    public class AgvTaskStatusConverter : IValueConverter
+    {
+        Dictionary<int,string> dic=new Dictionary<int, string>()
+        {
+            {-1,"人工创建" },
+            {0,"未下发" },
+            {1,"已下发" },
+            {2,"任务开始" },
+            {3,"已到起始地" },
+            {4,"起始地继续任务" },
+            {5,"已到目的地" },
+            {6,"任务结束" },
+        };
+        public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            int val = System.Convert.ToInt32(value);
+            if(dic.TryGetValue(val, out string result))
+            {
+                return result;
+            }
+            else
+            {
+                return value;
+            }
+        }
+
+        public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            return value;
+        }
+    }
+}

src/Khd.Core.Wpf/myConverter/CtuTaskStatusConverter.cs

@@ -0,0 +1,23 @@
+using System;
+using System.Collections.Generic;
+using System.Globalization;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Data;
+
+namespace Khd.Core.Wpf.myConverter
+{
+    //public class CtuTaskStatusConverter : IValueConverter
+    //{
+    //    public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
+    //    {
+
+    //    }
+
+    //    public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
+    //    {
+    //        return value;
+    //    }
+    //}
+}

src/Khd.Core.Wpf/myConverter/EquipConverter.cs

@@ -0,0 +1,32 @@
+using System;
+using System.Collections.Generic;
+using System.Globalization;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Data;
+
+namespace Khd.Core.Wpf.myConverter
+{
+    public class EquipConverter : IValueConverter
+    {
+        public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            string? val = System.Convert.ToString(value);
+            var baseEquip = SystemData.BaseEquip.FirstOrDefault(t => t.equipNo == val);
+            if (baseEquip == null)
+            {
+                return val;
+            }
+            else
+            {
+                return baseEquip.equipName;
+            }
+        }
+
+        public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            return value;
+        }
+    }
+}

src/Khd.Core.Wpf/myConverter/HoisterTaskStatusConverter.cs

@@ -0,0 +1,32 @@
+using System;
+using System.Collections.Generic;
+using System.Globalization;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Data;
+
+namespace Khd.Core.Wpf.myConverter
+{
+    public class HoisterTaskStatusConverter : IValueConverter
+    {
+        Dictionary<int, string> dic = new Dictionary<int, string>()
+        {
+            {-1,"人工任务，未开始" },
+            {0,"未下发" },
+            {1,"前往起始地" },
+            {2,"入库中" },
+            {3,"前往目的地" },
+            {4,"出库中" },
+        };
+        public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            throw new NotImplementedException();
+        }
+
+        public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            throw new NotImplementedException();
+        }
+    }
+}

src/Khd.Core.Wpf/myConverter/TypeDataConverter.cs

@@ -0,0 +1,34 @@
+using System;
+using System.Collections.Generic;
+using System.Globalization;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Data;
+
+namespace Khd.Core.Wpf.myConverter
+{
+    [ValueConversion(typeof(int), typeof(string))]
+    public class TypeDataConverter : IValueConverter
+    {
+
+        public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            int val = System.Convert.ToInt32(value);
+            var baseDictionary = SystemData.BaseDictionary.FirstOrDefault(t => t.objid == val);
+            if (baseDictionary == null)
+            {
+                return "未知";
+            }
+            else
+            {
+                return baseDictionary.dicName;
+            }
+        }
+
+        public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            return value;
+        }
+    }
+}