20240618

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

@@ -25,10 +25,24 @@ namespace Khd.Core.Api.Controllers
         public ReponseagvCallbackDto agvCallback(agvCallbackDto agvCallbackDto)
         {
             LogManager.Info($"RecieveRcsController接口信息：{agvCallbackDto.ToJsonString()}");
-
+            agvCallbackDto.method = "outbin";
             return _application.AgvCallback(agvCallbackDto);
 
         }
 
+
+        /// <summary>
+        /// 接收agv接收任务通知接口
+        /// </summary>
+        /// <param name="model"></param>
+        /// <returns></returns>
+        [HttpPost("agvContinue")]
+        public ReponseagvCallbackDto agvContinue(agvCallbackDto agvCallbackDto)
+        {
+            LogManager.Info($"RecieveRcsController接口信息：{agvCallbackDto.ToJsonString()}");
+            agvCallbackDto.method = "continue";
+            return _application.AgvCallback(agvCallbackDto);
+
+        }
     }
 }

src/Khd.Core.Api/appsettings.json

@@ -11,8 +11,8 @@
   },
   "AllowedHosts": "*",
   "ConnectionStrings": {
-    "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": "Data Source=localhost;Initial Catalog=lanju_op_xiaolan_ds;Persist Security Info=True;User ID=sa;Password=root;MultipleActiveResultSets=True;TrustServerCertificate=True",
+    //"DefaultConnection": "server=175.27.215.92;port=3306;database=hwjy-cloud;uid=kehaida;pwd=khd2024;charset='utf8';persistsecurityinfo=True;SslMode=None;Allow User Variables=True",
+    "DefaultConnection": "server=175.27.215.92;port=3306;database=hwjy-cloud;uid=kehaida;pwd=khd2024;charset='utf8';persistsecurityinfo=True;SslMode=None;Allow User Variables=True"
     //"DefaultConnection": "Data Source=121.36.58.109;Initial Catalog=lanju_op_xiaolan_ds;Persist Security Info=True;User ID=sa;Password=haiwei@123;MultipleActiveResultSets=True;TrustServerCertificate=True"
   },
   "JwtSecurityOption": {

src/Khd.Core.Application/WcsTaskApplication.cs

@@ -52,7 +52,7 @@ namespace Khd.Core.Application
                 if (wcscmd != null)
                 {
                     //待取货
-                    if (agvCallbackDto.method == "")
+                    if (agvCallbackDto.method == "continue")
                     {
                         wcscmd.cmdStatus = 2;
                         wcscmd.sendFlag = 1;
@@ -60,7 +60,7 @@ namespace Khd.Core.Application
                         _dbContext.SaveChanges();
                     }
                     //已取货待放货
-                    if (agvCallbackDto.method == "")
+                    if (agvCallbackDto.method == "compeleted")
                     {
                         wcscmd.cmdStatus = 3;
                         wcscmd.sendFlag = 1;

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

@@ -55,7 +55,15 @@ namespace Khd.Core.Domain.Dto.webapi
         /// <summary>
         /// “180”,”0”,”90”,”-90” 分别对应地图的”左”,”右”,”上”,”下” ，不指定方向可以为空
         /// </summary>
-        public string podDir { get; set; }
+        public string podDir { get; set; }      
+        /// <summary>
+        /// “180”,”0”,”90”,”-90” 分别对应地图的”左”,”右”,”上”,”下” ，不指定方向可以为空
+        /// </summary>
+        public string podTyp { get; set; }
+        /// <summary>
+        /// “180”,”0”,”90”,”-90” 分别对应地图的”左”,”右”,”上”,”下” ，不指定方向可以为空
+        /// </summary>
+        public string podCode { get; set; }
         /// <summary>
         /// 物料批次或货架上的物料唯一编码,
         /// </summary>
@@ -95,11 +103,11 @@ namespace Khd.Core.Domain.Dto.webapi
         /// <summary>
         /// 货架编号，不指定货架可以为空
         /// </summary>
-        public string podCode { get; set; }
+        public string positionCode { get; set; }
         /// <summary>
         /// 货架类型, 传空时表示随机找个货架
         /// </summary>
-        public string podTyp { get; set; }
+        public string type { get; set; }
 
     }
 
@@ -110,7 +118,7 @@ namespace Khd.Core.Domain.Dto.webapi
         /// </summary>
         public string code { get; set; }
         /// <summary>
-        /// 返回消息
+        /// 返回消息,成功或其他
         /// </summary>
         public string message { get; set; }
         /// <summary>

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

@@ -14,7 +14,7 @@ using System.ComponentModel.DataAnnotations.Schema;
 namespace Khd.Core.Domain.Models
 {
 
-    [Table("base_dictionary")]
+    [Table("wcs_base_dictionary")]
     public class BaseDictionary
     {
 

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

@@ -14,7 +14,7 @@ using System.ComponentModel.DataAnnotations.Schema;
 namespace Khd.Core.Domain.Models
 {
 
-    [Table("base_equip")]
+    [Table("wcs_base_equip")]
     public class BaseEquip
     {
 

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

@@ -14,7 +14,7 @@ using System.ComponentModel.DataAnnotations.Schema;
 namespace Khd.Core.Domain.Models
 {
 
-    [Table("base_plcpoint")]
+    [Table("wcs_base_plcpoint")]
     public class BasePlcpoint
     {
 
@@ -38,7 +38,7 @@ namespace Khd.Core.Domain.Models
         /// 点位长度
         /// </summary>
         [Column("plcpoint_length")]
-        public int? plcpointLength { get; set; }
+        public string plcpointLength { get; set; }
 
         /// <summary>
         /// 点位地址

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

@@ -7,7 +7,7 @@ using System.Threading.Tasks;
 
 namespace Khd.Core.Domain.Models
 {
-    [Table("Plc_Point")]
+    [Table("wcs_Plc_Point")]
     public class PlcPoint
     {
         [Column("id")]

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

@@ -17,6 +17,11 @@ namespace Khd.Core.Domain.Models
     [Table("wcs_cmd")]
     public class WcsCmd
     {
+        /// <summary>
+        /// 任务代码
+        /// </summary>
+        [Column("task_code")]
+        public string taskCode;
 
         [Key]
         [Column("objid")]

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

@@ -17,6 +17,8 @@ namespace Khd.Core.Domain.Models
     [Table("wcs_task")]
     public class WcsTask
     {
+        [Column("from_floor_no")]
+        public int? fromFloorNo;
 
         [Key]
         [Column("objid")]

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

@@ -22,6 +22,11 @@ namespace Khd.Core.Domain.Models
         [Column("location_id")]
         public long locationId { get; set; }
 
+        /// <summary>
+        /// 料箱号
+        /// </summary>
+        [Column("container_code")]
+        public string containerCode { get; set; }
         /// <summary>
         /// 仓库ID，关联wms_base_warehouse的warehouse_id
         /// </summary>
@@ -34,6 +39,9 @@ namespace Khd.Core.Domain.Models
         [Column("agv_position_code")]
         public string agvPositionCode { get; set; }
 
+        [Column("warehouse_floor")]
+        public int warehouseFloor { get; set; }
+
         /// <summary>
         /// 库位编码
         /// </summary>

src/Khd.Core.EntityFramework/DefaultDbContext.cs

@@ -10,89 +10,60 @@ namespace Khd.Core.EntityFramework
         }
         public DbSet<BaseDictionary> BaseDictionary { get; set; }
 
-
         public DbSet<BaseEquip> BaseEquip { get; set; }
 
-
-
-
         public DbSet<BasePlcpoint> BasePlcpoint { get; set; }
 
-
-
-
         public DbSet<MesBasePalletInfo> MesBasePalletInfo { get; set; }
 
-
-
-
         public DbSet<WcsCmd> WcsCmd { get; set; }
 
-
         public DbSet<WcsCmdLog> WcsCmdLog { get; set; }
 
-
         public DbSet<WcsStock> WcsStock { get; set; }
 
-
         public DbSet<WcsTask> WcsTask { get; set; }
 
-
         public DbSet<WcsTaskLog> WcsTaskLog { get; set; }
 
-
-
         public DbSet<WcsWarehouseOrder> WcsWarehouseOrder { get; set; }
 
-
         public DbSet<WcsWarehouseOrderDetaile> WcsWarehouseOrderDetaile { get; set; }
 
-
         public DbSet<WmsBaseLocation> WmsBaseLocation { get; set; }
 
-
         public DbSet<WmsBaseWarehouse> WmsBaseWarehouse { get; set; }
 
-
         public DbSet<WmsProductInstock> WmsProductInstock { get; set; }
 
-
         public DbSet<WmsProductInstockDetail> WmsProductInstockDetail { get; set; }
 
-
         public DbSet<WmsProductOutstock> WmsProductOutstock { get; set; }
 
-
         public DbSet<WmsProductOutstockDetail> WmsProductOutstockDetail { get; set; }
 
-
         public DbSet<WmsProductStock> WmsProductStock { get; set; }
 
-
         public DbSet<WmsProductStockSaleorder> WmsProductStockSaleorder { get; set; }
 
-
         public DbSet<WmsRawInstock> WmsRawInstock { get; set; }
 
-
         public DbSet<WmsRawInstockDetail> WmsRawInstockDetail { get; set; }
 
-
         public DbSet<WmsRawOutstock> WmsRawOutstock { get; set; }
 
-
         public DbSet<WmsRawOutstockDetail> WmsRawOutstockDetail { get; set; }
 
-
         public DbSet<WmsRawStock> WmsRawStock { get; set; }
 
-
         public DbSet<WmsRawStockOccupy> WmsRawStockOccupy { get; set; }
 
-
         public DbSet<WmsWarehouseMaterial> WmsWarehouseMaterial { get; set; }
+
         public DbSet<WcsOutstockLock> WcsOutstockLock { get; set; }
+
         public DbSet<MesBaseBarcodeInfo> MesBaseBarcodeInfo { get; set; }
+
         public DbSet<PlcPoint> PlcPoint { get; set; }
     }
 }

src/Khd.Core.Plc/StaticPlcHelper.cs

@@ -0,0 +1,46 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Khd.Core.Plc
+{
+    /// <summary>
+    /// Plc帮助类
+    /// </summary>
+    public static class StaticPlcHelper
+    {
+        /// <summary>
+        /// 进行高低位转换后，写入Plc地址
+        /// </summary>
+        /// <param name="plc"> plc </param>
+        /// <param name="address"> 写入地址 </param>
+        /// <param name="valueString"> 值 </param>
+        /// <param name="len"> 长度 </param>
+        public static void WriteToPoint(this Plc.S7.Plc plc,string address,string valueString,string len)
+        {
+            var value = GetValue(len, valueString);
+            plc.Write(address, value);
+        }
+
+        /// <summary>
+        /// 电气写入点位高低位转换
+        /// </summary>
+        /// <param name="len">点位地址位长度</param>
+        /// <param name="value">写入数值</param>
+        /// <returns></returns>
+        private static object GetValue(string len, string value)
+        {
+            if (len == "2")
+            {
+                return Convert.ToInt16(value);
+            }
+            if (len == "4")
+            {
+                return Convert.ToInt32(value);
+            }
+            return 0;
+        }
+    }
+}

src/Khd.Core.Wcs/MainCentralControl.cs

@@ -1,7 +1,7 @@
 using Khd.Core.EntityFramework;
 using Khd.Core.Plc.S7;
 using Khd.Core.Wcs.Global;
-using Khd.Core.Wcs.MyWcs;
+using Khd.Core.Wcs.Wcs;
 using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
@@ -31,10 +31,20 @@ namespace Khd.Core.Wcs
         public void Start()
         {
             try
-            {
+            { //加载配置项
+                foreach (var plcConfig in StaticData.PlcConfigs)
+                {
+                    if (!StaticData.PlcDic.Any(t => t.Key == plcConfig.Code))
+                    {
+                        Plc.S7.Plc plc;
+                        plc = new Plc.S7.Plc((CpuType)plcConfig.CpuType, plcConfig.IP, plcConfig.Port, plcConfig.Rack, plcConfig.Slot);
+                        plc.Open();
+                        StaticData.PlcDic.TryAdd(plcConfig.Code, plc);
+                    }
+                }
                 using var scope = _host.Services.CreateScope();
                 using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
-                StaticData.PlcPoints = dbContext.PlcPoint.GroupBy(t => t.Floor_No).ToDictionary(t => t.Key, t => t.ToDictionary(t => t.PlcPoint_No, t => t));
+
                 //设置程序启动时清空点位的数据=>0为 Int16位
                 QingKongDianWei = GetValue("2", "0");
                 //设置默认处理完成=>1为 Int16位
@@ -43,39 +53,60 @@ namespace Khd.Core.Wcs
                 WcsMoRenQuXiang = GetValue("2", "1");
 
                 StaticData.BasePlcpointList = dbContext.BasePlcpoint.Where(t => t.isDelete == 0).ToList();
-                var baseEquips = dbContext.BaseEquip.ToList();
-                //加载配置项
-                foreach (var plcConfig in StaticData.PlcConfigs)
-                {
-                    if (!StaticData.PlcDic.Any(t => t.Key == plcConfig.Code))
-                    {
-                        var plc = new Plc.S7.Plc((CpuType)plcConfig.CpuType, plcConfig.IP, plcConfig.Port, plcConfig.Rack, plcConfig.Slot);
-                        plc.Open();
-                        StaticData.PlcDic.TryAdd(plcConfig.Code, plc);
-                    }
-                }
-                //连接PLC判断
-                foreach (var item in baseEquips)
-                {
-                    if (item.floorNo != null)
-                    {
-                        if (item.equipType == 1)
-                        {
-                            DockingPositionLogic dockingPositionLogic = new(item.floorNo.Value, item, _host, StaticData.PlcDic[0]);
-                            dockingPositionLogic.Start();
-                        }
-                        else if (item.equipType == 2)
-                        {
-                            ElevatorLogic elevatorLogic = new(item.floorNo.Value, item, _host, StaticData.PlcDic[0]);
-                            elevatorLogic.Start();
-                        }
-                        else if (item.equipType == 4 || item.equipType == 5)
-                        {
-                            AgvTaskLogic agvTaskLogic = new(item.floorNo.Value, item, baseEquips.First(t => t.equipType == 1 && t.floorNo == item.floorNo), _host, StaticData.PlcDic[0]);
-                            agvTaskLogic.Start();
-                        }
-                    }
-                }
+                StaticData.BaseEquip = dbContext.BaseEquip.ToList();
+
+                ////创建任务
+                //CreateTaskByRecord createTaskByRecord = new(_host, StaticData.PlcDic[0], "");
+                //createTaskByRecord.StartPoint();
+
+                //一楼提升机以及接驳位
+                FirstFloor firstFloor = new(_host, StaticData.PlcDic[0]);
+                firstFloor.StartPoint();
+
+                ////二层接驳位
+                //var SecondBaseFloorEquip = StaticData.BaseEquip.Where(t => t.floorNo == 2 && t.equipType == 1).First();
+                //SecondFloorPoint secondFloorPoint = new(_host, StaticData.PlcDic[0], SecondBaseFloorEquip.floorNo.Value, SecondBaseFloorEquip.equipNo);
+                //secondFloorPoint.StartPoint();
+
+                ////二层AGV
+                //var SecondFloorAgvEquip = StaticData.BaseEquip.Where(t => t.floorNo == 2 && t.equipType == 4).First();
+                //SecondFloorAGV secondFloorAGV = new(_host, StaticData.PlcDic[0], SecondFloorAgvEquip.floorNo.Value, SecondFloorAgvEquip.equipNo);
+                //secondFloorAGV.StartPoint();
+
+                ////二楼线体
+                //var SecondFloorLineEquip = StaticData.BaseEquip.Where(t => t.floorNo == 2 && t.equipType == 3).First();
+                //SecondFloorLine secondFloorLine = new(_host, StaticData.PlcDic[0], SecondFloorLineEquip.floorNo.Value, SecondFloorLineEquip.equipNo);
+                //secondFloorLine.StartPoint();
+
+                ////三层接驳位
+                //var ThirdBaseFloorEquip = StaticData.BaseEquip.Where(t => t.floorNo == 3 && t.equipType == 1).First();
+                //ThirdFloorPoint thirdFloorPoint = new(_host, StaticData.PlcDic[0], ThirdBaseFloorEquip.floorNo.Value, ThirdBaseFloorEquip.equipNo);
+                //thirdFloorPoint.StartPoint();
+
+                ////三层AGV
+                //var ThirdFloorAgvEquip = StaticData.BaseEquip.Where(t => t.floorNo == 3 && t.equipType == 4).First();
+                //ThirdFloorAGV thirdFloorAGV = new(_host, StaticData.PlcDic[0], ThirdFloorAgvEquip.floorNo.Value, ThirdFloorAgvEquip.equipNo);
+                //thirdFloorAGV.StartPoint();
+
+                //五层接驳位
+                var FifthBaseFloorEquip = StaticData.BaseEquip.Where(t => t.floorNo == 5 && t.equipType == 1).First();
+                FiveFloorPoint fifthFloorPoint = new(_host, StaticData.PlcDic[0], FifthBaseFloorEquip.floorNo.Value, FifthBaseFloorEquip.equipNo);
+                fifthFloorPoint.StartPoint();
+
+                ////五层线体
+                //var FiveFloorLineEquip = StaticData.BaseEquip.Where(t => t.floorNo == 4 && t.equipType == 3).First();
+                //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AGV
+                //var FifthFloorAgvEquip = StaticData.BaseEquip.Where(t => t.floorNo == 5 && t.equipType == 5).First();
+                //FiveFloorAGV fifthFloorAGV = new(_host, StaticData.PlcDic[0], FifthFloorAgvEquip.floorNo.Value, FifthFloorAgvEquip.equipNo);
+                //fifthFloorAGV.StartPoint();
             }
             catch (Exception ex)
             {

src/Khd.Core.Wcs/MyWcs/AgvTaskLogic.cs

@@ -1,282 +0,0 @@
-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 Newtonsoft.Json;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace Khd.Core.Wcs.MyWcs
-{
-    /// <summary>
-    /// AGV任务逻辑
-    /// </summary>
-    public class AgvTaskLogic
-    {
-        private readonly Dictionary<string, PlcPoint> _plcPoints;
-        private readonly Plc.S7.Plc _plc;
-        private readonly int _floorNo;
-        private readonly BaseEquip _baseEquip;
-        private readonly IHost _host;
-        private readonly BaseEquip _lineEquip;
-
-        /// <summary>
-        /// 构造函数
-        /// </summary>
-        /// <param name="FloorNo"> 楼层号 </param>
-        /// <param name="baseEquip"> 基站设备 </param>
-        /// <param name="lineEquip"> 线路设备 </param>
-        /// <param name="host"> IHost </param>
-        /// <param name="plc"> Plc </param>
-        public AgvTaskLogic(int FloorNo, BaseEquip baseEquip, BaseEquip lineEquip, IHost host, Plc.S7.Plc plc)
-        {
-            _plc = plc;
-            _floorNo = FloorNo;
-            _baseEquip = baseEquip;
-            _lineEquip = lineEquip;
-            _host = host;
-            _plcPoints = StaticData.PlcPoints[FloorNo];
-        }
-
-        /// <summary>
-        /// 启动AGV任务逻辑
-        /// </summary>
-        public void Start()
-        {
-            Thread ExecuteLogicThread = new(ExecuteTaskLogic)
-            {
-                IsBackground = true
-            };
-            ExecuteLogicThread.Start();
-
-            Thread ContinueLogicThread = new(ContinueTaskLogic)
-            {
-                IsBackground = true
-            };
-            ContinueLogicThread.Start();
-            Console.WriteLine($"{DateTime.Now}:{this._floorNo}楼Agv任务逻辑启动成功");
-            LogManager.Info($"{this._floorNo}楼Agv任务逻辑启动成功");
-        }
-
-        /// <summary>
-        /// 执行AGV任务逻辑
-        /// </summary>
-        private void ExecuteTaskLogic()
-        {
-            while (true)
-            {
-                try
-                {
-                    using var scope = _host.Services.CreateScope();
-                    using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
-                    var wcsTask = dbContext.WcsTask
-                        .Where(t => t.floorNo == _floorNo)
-                        .Where(t => t.nextPointId == _baseEquip.objid)
-                        .OrderBy(t => t.createTime)
-                        .FirstOrDefault();
-                    if (wcsTask != null && wcsTask.taskStatus == 0)//未执行的任务
-                    {
-                        if (wcsTask.taskType % 2 == 1)//入库
-                        {
-                            var wmsBaseLocations = dbContext.WmsBaseLocation
-                                .Where(t => t.activeFlag == "1")
-                                .Where(t => t.delFlag == "0")
-                                .Where(t => t.instockFlag == "0")
-                                .Where(t => t.locationScrapType == "1")
-                                .Where(t => t.locationStatus == "1")
-                                .Where(t => t.outstockFlag == "0")
-                                .Where(t => t.warehouseId == wcsTask.endPointId).ToList();
-                            if (wmsBaseLocations.Count > 0)
-                            {
-                                var wmsBaseLocation = wmsBaseLocations.First();
-                                wcsTask.endPointId = wmsBaseLocation.locationId;
-                                wcsTask.endPointNo = wmsBaseLocation.locationCode;
-                                var request = new RequestAGVTaskDto()
-                                {
-                                    reqCode = wcsTask.objid.ToString(),
-                                    taskMode = "2",
-                                    positionCodePath = new List<Position>
-                                    {
-                                        new Position
-                                        {
-                                            podCode=_lineEquip.equipNo
-                                        },
-                                        new Position
-                                        {
-                                            podCode=wmsBaseLocation.agvPositionCode
-                                        }
-                                    }
-                                };
-                                var reponse = SendTask(request);
-                                if (reponse != null)
-                                {
-                                    if (reponse.message == "成功")
-                                    {
-                                        LogManager.Info("AGV任务执行成功，任务ID：" + wcsTask.objid);
-                                        wcsTask.taskStatus = 1;
-                                        wcsTask.updateTime = DateTime.Now;
-                                        wmsBaseLocation.instockFlag = "1";
-                                        wmsBaseLocation.locationStatus = "2";
-                                        dbContext.Update(wmsBaseLocation);
-                                        dbContext.Update(wcsTask);
-                                        dbContext.SaveChanges();
-                                    }
-                                    else
-                                    {
-                                        LogManager.Debug("AGV任务执行失败，任务ID：" + wcsTask.objid + "，失败原因：" + reponse.message);
-                                    }
-                                }
-                            }
-                        }
-                        else//出库
-                        {
-                            var request = new RequestAGVTaskDto()
-                            {
-                                reqCode = wcsTask.objid.ToString(),
-                                taskMode = "2",
-                                positionCodePath = new List<Position>
-                                    {
-                                        new Position
-                                        {
-                                            podCode=wcsTask.startPointNo
-                                        },
-                                        new Position
-                                        {
-                                            podCode=wcsTask.nextPointNo
-                                        }
-                                    }
-                            };
-                            var reponse = SendTask(request);
-                            if (reponse != null)
-                            {
-                                if (reponse.message == "成功")
-                                {
-                                    LogManager.Info("AGV任务执行成功，任务ID：" + wcsTask.objid);
-                                    var wmsBaseLocations = dbContext.WmsBaseLocation.Where(t => t.agvPositionCode == wcsTask.startPointNo).ToList();
-                                    foreach (var item in wmsBaseLocations)
-                                    {
-                                        var wmsBaseWarehouse = dbContext.WmsBaseWarehouse.FirstOrDefault(t => t.warehouseId == item.warehouseId);
-                                        if (wmsBaseWarehouse != null && wmsBaseWarehouse.warehouseFloor == _floorNo)
-                                        {
-                                            item.outstockFlag = "1";
-                                            item.locationStatus = "6";
-                                            dbContext.Update(item);
-                                            break;
-                                        }
-                                    }
-                                    wcsTask.taskStatus = 1;
-                                    wcsTask.updateTime = DateTime.Now;
-                                    dbContext.Update(wcsTask);
-                                    dbContext.SaveChanges();
-                                }
-                                else
-                                {
-                                    LogManager.Debug("AGV任务执行失败，任务ID：" + wcsTask.objid + "，失败原因：" + reponse.message);
-                                }
-                            }
-                        }
-                    }
-                }
-                catch (Exception ex)
-                {
-                    LogManager.Error(ex);
-                }
-                Thread.Sleep(1000);
-            }
-        }
-
-        /// <summary>
-        /// 继续执行AGV任务逻辑
-        /// </summary>
-        private void ContinueTaskLogic()
-        {
-            while (true)
-            {
-                try
-                {
-                    using var scope = _host.Services.CreateScope();
-                    using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
-                    var wcsTask = dbContext.WcsTask
-                        .Where(t => t.floorNo == _floorNo)
-                        .Where(t => t.nextPointId == _baseEquip.objid)
-                        .Where(t=>t.taskStatus==2)
-                        .OrderBy(t => t.createTime)
-                        .FirstOrDefault();
-                    if (wcsTask != null)
-                    {
-                        var request = new RequestAGVTaskDto();
-                        request.reqCode = wcsTask.objid.ToString();
-                        var reponse = ContinueTask(request);
-                        if (reponse != null)
-                        {
-                            if (reponse.message == "成功")
-                            {
-                                LogManager.Info("AGV任务继续执行成功，任务ID：" + wcsTask.objid);
-                                wcsTask.taskStatus = 3;
-                                wcsTask.updateTime = DateTime.Now;
-                                var wmsBaseLocation = dbContext.WmsBaseLocation.FirstOrDefault(t => t.locationId == wcsTask.endPointId);
-                                if (wmsBaseLocation != null)
-                                {
-                                    wmsBaseLocation.instockFlag = "0";
-                                    wmsBaseLocation.outstockFlag = "0";
-                                    wmsBaseLocation.locationStatus = "1";
-                                    dbContext.Update(wmsBaseLocation);
-                                }
-                                dbContext.Update(wcsTask);
-                                dbContext.SaveChanges();
-                            }
-                            else
-                            {
-                                LogManager.Debug("AGV任务继续执行失败，任务ID：" + wcsTask.objid + "，失败原因：" + reponse.message);
-                            }
-                        }
-                    }
-                }
-                catch(Exception ex)
-                {
-                    LogManager.Error(ex);
-                }
-            }
-        }
-
-        /// <summary>
-        /// 发送任务
-        /// </summary>
-        private ReponseagvCallbackDto? SendTask(RequestAGVTaskDto request)
-        {
-            if (_baseEquip.serverPort == null)
-            {
-                throw new Exception("服务器端口不能为空");
-            }
-            string ip = _baseEquip.serverIp;
-            int port = _baseEquip.serverPort.Value;
-            string url = "";
-            string message = JsonConvert.SerializeObject(request);
-            string result = HttpHelper.SendPostMessage(ip, port, url, message);
-            return JsonConvert.DeserializeObject<ReponseagvCallbackDto>(result);
-        }
-
-        /// <summary>
-        /// 继续执行任务
-        /// </summary>
-        private ReponseagvcontinueTaskDto? ContinueTask(RequestAGVTaskDto request)
-        {
-            if (_baseEquip.serverPort == null)
-            {
-                throw new Exception("服务器端口不能为空");
-            }
-            string ip = _baseEquip.serverIp;
-            int port = _baseEquip.serverPort.Value;
-            string url = "";
-            string message = JsonConvert.SerializeObject(request);
-            string result = HttpHelper.SendPostMessage(ip, port, url, message);
-            return JsonConvert.DeserializeObject<ReponseagvcontinueTaskDto>(result);
-        }
-    }
-}

src/Khd.Core.Wcs/MyWcs/DockingPositionLogic.cs

@@ -1,194 +0,0 @@
-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 System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace Khd.Core.Wcs.MyWcs
-{
-    /// <summary>
-    /// 接驳位逻辑
-    /// </summary>
-    public class DockingPositionLogic
-    {
-        private readonly int _floorNo;
-        private readonly Dictionary<string, PlcPoint> _dockingPosition;
-        private readonly Plc.S7.Plc _plc;
-        private readonly IHost _host;
-        private readonly BaseEquip _currentEquip;
-
-        /// <summary>
-        /// 构造函数
-        /// </summary>
-        /// <param name="floorNo"> 楼层号 </param>
-        /// <param name="currentEquip"> 当前设备 </param>
-        /// <param name="host"> IHost </param>
-        /// <param name="plc"> Plc </param>
-        public DockingPositionLogic(int floorNo, BaseEquip currentEquip, IHost host, Plc.S7.Plc plc)
-        {
-            _floorNo = floorNo;
-            _host = host;
-            _plc = plc;
-            _currentEquip = currentEquip;
-            _dockingPosition = StaticData.PlcPoints[floorNo];
-        }
-
-        /// <summary>
-        /// 启动线程
-        /// </summary>
-        public void Start()
-        {
-            var ExecuteLogicThread = new Thread(ExecuteLogic);
-            ExecuteLogicThread.IsBackground = true;
-            ExecuteLogicThread.Start();
-            Console.WriteLine($"{DateTime.Now}:{this._floorNo}楼接驳位线程启动成功");
-            LogManager.Info($"{this._floorNo}楼接驳位线程启动成功");
-        }
-
-        /// <summary>
-        /// 执行任务
-        /// </summary>
-        public void ExecuteLogic()
-        {
-            while (true)
-            {
-                try
-                {
-                    var rfid = _plc.Read(_dockingPosition[$"RFID00{_floorNo}"].PlcPoint_Address);
-                    var serialNo = _plc.Read(_dockingPosition[$"SerialNo00{_floorNo}"].PlcPoint_Address);
-                    var isPallet = _plc.Read(_dockingPosition[$"IsPallet00{_floorNo}"].PlcPoint_Address);
-                    var lineSignal = _plc.Read(_dockingPosition[$"LineSignal00{_floorNo}"].PlcPoint_Address);
-                    var wcsRun = _plc.Read(_dockingPosition[$"WcsRun00{_floorNo}"].PlcPoint_Address);
-                    if (rfid != null && serialNo != null && isPallet != null && lineSignal != null && wcsRun != null)
-                    {
-                        if (!string.IsNullOrEmpty(rfid.ToString()) && Convert.ToInt32(isPallet) == 1)
-                        {
-                            using var scope = _host.Services.CreateScope();
-                            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
-                            var wcsTask = dbContext.WcsTask
-                                .Where(t => t.floorNo == _floorNo)
-                                .Where(t => t.containerNo == rfid.ToString())
-                                .OrderBy(t => t.createTime)
-                                .FirstOrDefault();
-
-                            if (wcsTask == null)
-                            {
-                                var PalletInfo = dbContext.MesBasePalletInfo.FirstOrDefault(t => t.palletInfoCode == rfid.ToString());
-                                if (PalletInfo != null)
-                                {
-                                    var WarehouseMaterial = dbContext.WmsWarehouseMaterial.FirstOrDefault(t => t.storageId == PalletInfo.materialId);
-                                    if (WarehouseMaterial != null)
-                                    {
-                                        var BaseWarehouse = dbContext.WmsBaseWarehouse.FirstOrDefault(t => t.warehouseId == WarehouseMaterial.warehouseId);
-                                        if (BaseWarehouse != null)
-                                        {
-                                            if (BaseWarehouse.warehouseFloor == _floorNo)
-                                            {
-                                                var agvEquip = dbContext.BaseEquip.FirstOrDefault(t => t.floorNo == _floorNo && (t.equipType == 4 || t.equipType == 5));
-                                                if (agvEquip != null)
-                                                {
-                                                    wcsTask = new WcsTask()
-                                                    {
-                                                        objid = StaticData.SnowId.NextId(),
-                                                        floorNo = _floorNo,
-                                                        containerNo = rfid.ToString(),
-                                                        createBy = "WCS",
-                                                        createTime = DateTime.Now,
-                                                        startPointId = _currentEquip.objid,
-                                                        startPointNo = _currentEquip.equipNo,
-                                                        currPointId = _currentEquip.objid,
-                                                        currPointNo = _currentEquip.equipNo,
-                                                        taskStatus = 0,
-                                                        endPointId = BaseWarehouse.warehouseId,
-                                                        endPointNo = BaseWarehouse.warehouseCode,
-                                                        equipmentNo = _currentEquip.equipNo,
-                                                        masterId = null,
-                                                        materialId = PalletInfo.materialId,
-                                                        materialNo = PalletInfo.materialCode,
-                                                        nextPointId = agvEquip.objid,
-                                                        nextPointNo = agvEquip.equipNo,
-                                                        taskType = 0,
-                                                        useFlag = 1
-                                                    };
-                                                }
-                                            }
-                                            else
-                                            {
-                                                var elevatorEquip = dbContext.BaseEquip.FirstOrDefault(t => t.floorNo == 1 && t.equipType == 2);
-                                                if (elevatorEquip != null)
-                                                {
-                                                    wcsTask = new WcsTask()
-                                                    {
-                                                        objid = StaticData.SnowId.NextId(),
-                                                        floorNo = _floorNo,
-                                                        containerNo = rfid.ToString(),
-                                                        createBy = "WCS",
-                                                        createTime = DateTime.Now,
-                                                        startPointId = _currentEquip.objid,
-                                                        startPointNo = _currentEquip.equipNo,
-                                                        currPointId = _currentEquip.objid,
-                                                        currPointNo = _currentEquip.equipNo,
-                                                        taskStatus = 0,
-                                                        endPointId = BaseWarehouse.warehouseId,
-                                                        endPointNo = BaseWarehouse.warehouseCode,
-                                                        equipmentNo = _currentEquip.equipNo,
-                                                        masterId = null,
-                                                        materialId = PalletInfo.materialId,
-                                                        materialNo = PalletInfo.materialCode,
-                                                        nextPointId = elevatorEquip.objid,
-                                                        nextPointNo = elevatorEquip.equipNo,
-                                                        taskType = 0,
-                                                        useFlag = 1
-                                                    };
-                                                }
-                                            }
-                                        }
-                                    }
-                                }
-                            }//没有任务，默认入库
-
-                            if (wcsTask != null && wcsTask.taskStatus == 0)
-                            {
-                                var ElevatorEquip = dbContext.BaseEquip.First(t => t.equipType == 2);
-                                var AgvEquip = dbContext.BaseEquip.FirstOrDefault(t => t.floorNo == _floorNo && (t.equipType == 4 || t.equipType == 5));
-                                if (wcsTask.nextPointId == ElevatorEquip.objid)//下一个为提升机
-                                {
-                                    wcsTask.taskStatus = 1;
-                                    wcsTask.currPointId = _currentEquip.objid;
-                                    wcsTask.currPointNo = _currentEquip.equipNo;
-                                    wcsTask.nextPointId = ElevatorEquip.objid;
-                                    wcsTask.nextPointNo = ElevatorEquip.equipNo;
-                                    dbContext.Update(wcsTask);
-                                    dbContext.SaveChanges();
-                                    _plc.Write(_dockingPosition[$"WcsRun00{_floorNo}"].PlcPoint_Address, 1);
-                                }
-                                else if (AgvEquip != null && wcsTask.nextPointId == AgvEquip.objid)//下一个为AGV，即入库
-                                {
-                                    wcsTask.taskStatus = 0;
-                                    wcsTask.currPointId = _currentEquip.objid;
-                                    wcsTask.currPointNo = _currentEquip.equipNo;
-                                    wcsTask.nextPointId = AgvEquip.objid;
-                                    wcsTask.nextPointNo = AgvEquip.equipNo;
-                                    dbContext.Update(wcsTask);
-                                    dbContext.SaveChanges();
-                                    _plc.Write(_dockingPosition[$"WcsRun00{_floorNo}"].PlcPoint_Address, 2);
-                                }
-                            }
-                        }
-                    }
-                }
-                catch (Exception ex)
-                {
-                    LogManager.Error(ex);
-                }
-                Thread.Sleep(1000);
-            }
-        }
-    }
-}

src/Khd.Core.Wcs/MyWcs/ElevatorLogic.cs

@@ -1,122 +0,0 @@
-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 System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace Khd.Core.Wcs.MyWcs
-{
-    /// <summary>
-    /// 提升机逻辑
-    /// </summary>
-    public class ElevatorLogic
-    {
-        private readonly Plc.S7.Plc _plc;
-        private readonly int _floorNo;
-        private readonly Dictionary<string, PlcPoint> ElevatorPoints;
-        private readonly IHost _host;
-        private readonly BaseEquip _baseEquip;
-
-        /// <summary>
-        /// 构造函数
-        /// </summary>
-        /// <param name="FloorNo"> 楼层号 </param>
-        /// <param name="baseEquip"> 基础设备 </param>
-        /// <param name="host"> IHost </param>
-        /// <param name="plc"> Plc </param>
-        public ElevatorLogic(int FloorNo, BaseEquip baseEquip, IHost host, Plc.S7.Plc plc)
-        {
-            _plc = plc;
-            _floorNo = FloorNo;
-            _host = host;
-            _baseEquip = baseEquip;
-            ElevatorPoints = StaticData.PlcPoints[_floorNo];
-        }
-
-        /// <summary>
-        /// 启动提升机逻辑
-        /// </summary>
-        public void Start()
-        {
-            Thread executeThread = new(ExecuteLogic)
-            {
-                IsBackground = true
-            };
-            executeThread.Start();
-            Console.WriteLine($"{DateTime.Now}:提升机逻辑启动");
-            LogManager.Info("提升机逻辑启动");
-        }
-
-        /// <summary>
-        /// 执行逻辑
-        /// </summary>
-        public void ExecuteLogic()
-        {
-            while (true)
-            {
-                try
-                {
-                    var targetFloor = _plc.Read(ElevatorPoints["ElevatorTargetFloor"].PlcPoint_Address);//目标楼层
-                    var signal = _plc.Read(ElevatorPoints["ElevatorSignal"].PlcPoint_Address);//到位信号
-                    var state = _plc.Read(ElevatorPoints["ElevatorState"].PlcPoint_Address);//提升机状态
-                    var currentFloor = _plc.Read(ElevatorPoints["ElevatorCurrentFloor"].PlcPoint_Address);//提升机当前楼层
-                    var serialNo = _plc.Read(ElevatorPoints["ElevatorSerialNo"].PlcPoint_Address);//提升机流水号
-                    var taskState = _plc.Read(ElevatorPoints["ElevatorTaskState"].PlcPoint_Address);//任务状态
-                    if (targetFloor != null && signal != null && state != null && currentFloor != null && serialNo != null && taskState != null)
-                    {
-                        if (Convert.ToInt32(state) == 0 && Convert.ToInt32(taskState) == 2)
-                        {
-                            using var scope = _host.Services.CreateScope();
-                            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
-                            for (int i = 1; i <= 5; i++)
-                            {
-                                try
-                                {
-                                    var elevatorSerialNo = _plc.Read(StaticData.PlcPoints[i][$"ElevatorSerialNo00{i}"].PlcPoint_Address);
-                                    var elevatorTake = _plc.Read(StaticData.PlcPoints[i][$"ElevatorTake00{i}"].PlcPoint_Address);
-                                    if (elevatorSerialNo != null && elevatorTake != null && Convert.ToInt32(elevatorTake) == 1 && Convert.ToInt64(elevatorSerialNo) > 0)
-                                    {
-                                        var baseEquip = dbContext.BaseEquip.First(t => t.floorNo == i && t.equipType == 2);
-                                        var wcsTask = dbContext.WcsTask.OrderBy(t => t.createTime).FirstOrDefault(t => t.nextPointId == baseEquip.objid && t.taskStatus == 1);
-                                        if (wcsTask != null)
-                                        {
-                                            var endEquip = dbContext.BaseEquip.First(t => t.objid == wcsTask.endPointId);
-                                            if (endEquip.floorNo != null)
-                                            {
-                                                wcsTask.taskStatus = 2;
-                                                wcsTask.nextPointId = _baseEquip.objid;
-                                                wcsTask.nextPointNo = _baseEquip.equipNo;
-                                                _plc.Write(ElevatorPoints["ElevatorCurrentFloor"].PlcPoint_Address, i);
-                                                _plc.Write(ElevatorPoints["ElevatorTargetFloor"].PlcPoint_Address, endEquip.floorNo);//写入目的地楼层
-                                                dbContext.Update(wcsTask);
-                                                dbContext.SaveChanges();
-                                                LogManager.Info($"提升机下发任务{i}=>{wcsTask.nextPointId}");
-                                                Console.WriteLine($"{DateTime.Now}:提升机下发任务{i}=>{wcsTask.nextPointId}");
-                                                break;
-                                            }
-                                        }
-                                    }
-                                }
-                                catch (Exception e)
-                                {
-                                    LogManager.Error($"{i}楼提升机异常", e);
-                                }
-                            }
-                        }
-                    }
-                }
-                catch (Exception ex)
-                {
-                    LogManager.Error(ex);
-                }
-                Thread.Sleep(1000);
-            }
-        }
-    }
-}

src/Khd.Core.Wcs/Program.cs

@@ -12,6 +12,7 @@ internal class Program
 
     private static void Main(string[] args)
     {
+        Console.ForegroundColor = ConsoleColor.Yellow;
         Init(); //初始化加载配置文件
         AppDomain.CurrentDomain.UnhandledException += GlobalExceptionHandler; //全局异常捕获
         try
@@ -45,6 +46,7 @@ internal class Program
         catch (Exception ex)
         {
             Console.Write("系统启动异常:" + ex.Message + "\n" + ex.StackTrace);
+            LogManager.Error(ex);
         }
 
     }
@@ -78,7 +80,7 @@ internal class Program
         StaticData.PlcConfigs = configuration.GetSection("PlcConfigs").Get<List<PlcConfig>>();
         ConnectionStrings.ConnectionString = configuration["ConnectionStrings:DefaultConnection"];
     }
-    static IHostBuilder CreateHostBuilder(string[] args) =>
+    private static IHostBuilder CreateHostBuilder(string[] args) =>
        Host.CreateDefaultBuilder(args)
            .ConfigureServices((_, services) =>
            {

src/Khd.Core.Wcs/Wcs/CreateTaskByRecord.cs

@@ -61,6 +61,8 @@ namespace Khd.Core.Wcs.Wcs
 
             var FlowPointThread = new Thread(MonitorInLocatorPoint);
             FlowPointThread.Start();
+            Console.WriteLine(DateTime.Now+":出库任务监听启动成功");
+            LogManager.Info("出库任务监听启动成功");
         }
         public void MonitorInLocatorPoint()
         {
@@ -83,6 +85,7 @@ namespace Khd.Core.Wcs.Wcs
                 }
             }
         }
+
         /// <summary>
         /// 成品出库
         /// </summary>

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

@@ -2,6 +2,7 @@
 using Khd.Core.Application.Interface;
 using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
+using Khd.Core.Plc;
 using Khd.Core.Wcs.Global;
 using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
@@ -26,85 +27,38 @@ namespace Khd.Core.Wcs.Wcs
         /// <summary>
         /// 到位信号 读
         /// </summary>
-        private readonly BasePlcpoint linesignal01 ;
-        /// <summary>
-        /// 是否有托盘 读
-        /// </summary>
-        private readonly BasePlcpoint ispallet01 ;
+        private readonly BasePlcpoint linesignal01;
         /// <summary>
         /// 去向 写
         /// </summary>
-        private readonly BasePlcpoint wcsrun01 ;
-        /// <summary>
-        /// 流水号 读
-        /// </summary>
-        private readonly BasePlcpoint serialno01 ;
+        private readonly BasePlcpoint wcsrun01;
         /// <summary>
         /// 提升机流水号 读
         /// </summary>
-        private readonly BasePlcpoint serialno06 ;
+        private readonly BasePlcpoint serialno06;
         /// <summary>
         /// 提升机状态 读
         /// </summary>
-        private readonly BasePlcpoint equipstate06 ;
+        private readonly BasePlcpoint equipstate06;
         /// <summary>
         /// 提升机任务状态 读
         /// </summary>
-        private readonly BasePlcpoint taskstate06 ;
+        private readonly BasePlcpoint hoistertrayin06;
         /// <summary>
         /// 提升机当前楼层 写
         /// </summary>
-        private readonly BasePlcpoint currentfloor06 ;
+        private readonly BasePlcpoint currentfloor06;
         /// <summary>
         /// 提升机目的楼层 写
         /// </summary>
-        private readonly BasePlcpoint targetfloor06 ;
+        private readonly BasePlcpoint targetfloor06;
         /// <summary>
-        /// 提升机到位信号 读
+        /// 提升机反馈流水号
         /// </summary>
-        private readonly BasePlcpoint linesignal06 ;
-        /// <summary>
-        /// 一楼提升机前允许取 读
-        /// </summary>
-        private readonly BasePlcpoint hoisterallowedtake01 ;
-        /// <summary>
-        /// 一楼提升机前反馈流水号 读
-        /// </summary>
-        private readonly BasePlcpoint feedserialno01 ;
-        /// <summary>
-        /// 二楼提升机前允许取 读
-        /// </summary>
-        private readonly BasePlcpoint hoisterallowedtake02 ;
-        /// <summary>
-        /// 二楼提升机前反馈流水号 读
-        /// </summary>
-        private readonly BasePlcpoint feedserialno02 ;
-        /// <summary>
-        /// 三楼提升机前允许取 读
-        /// </summary>
-        private readonly BasePlcpoint hoisterallowedtake03 ;
-        /// <summary>
-        /// 三楼提升机前反馈流水号 读
-        /// </summary>
-        private readonly BasePlcpoint feedserialno03 ;
-        /// <summary>
-        /// 四楼提升机前允许取 读
-        /// </summary>
-        private readonly BasePlcpoint hoisterallowedtake04 ;
-        /// <summary>
-        /// 四楼提升机前反馈流水号 读
-        /// </summary>
-        private readonly BasePlcpoint feedserialno04 ;
-        /// <summary>
-        /// 五楼提升机前允许取 读
-        /// </summary>
-        private readonly BasePlcpoint hoisterallowedtake05 ;
-        /// <summary>
-        /// 五楼提升机前反馈流水号 读
-        /// </summary>
-        private readonly BasePlcpoint feedserialno05 ;
+        private readonly BasePlcpoint reserialno06;
 
-        public FirstFloor(IHost host, Plc.S7.Plc plc, string siteNo)
+
+        public FirstFloor(IHost host, Plc.S7.Plc plc)
         {
             this._host = host;
             this._plc = plc;
@@ -113,53 +67,41 @@ namespace Khd.Core.Wcs.Wcs
             this.RFID001 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FirstFloorLine") && t.plcpointNo.Contains("RFID001"));
             //到位信号 读
             this.linesignal01 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FirstFloorLine") && t.plcpointNo.Contains("linesignal01"));
-            //是否有托盘 读
-            this.ispallet01 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FirstFloorLine") && t.plcpointNo.Contains("ispallet01"));
             //去向 写
             this.wcsrun01 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FirstFloorLine") && t.plcpointNo.Contains("wcsrun01"));
-            //流水号 读
-            this.serialno01 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FirstFloorLine") && t.plcpointNo.Contains("serialno01"));
+
+
             //一楼提升机流水号 读
-            this.serialno06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FirstFloorHoister") && t.plcpointNo.Contains("serialno06"));
+            this.serialno06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("serialno06"));
             //一楼提升机状态 读
-            this.equipstate06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FirstFloorHoister") && t.plcpointNo.Contains("equipstate06"));
+            this.equipstate06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("equipstate06"));
             //一楼提升机任务状态 读
-            this.taskstate06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FirstFloorHoister") && t.plcpointNo.Contains("taskstate06"));
+            this.hoistertrayin06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("hoistertrayin06"));
             //一楼提升机当前楼层 写
-            this.currentfloor06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FirstFloorHoister") && t.plcpointNo.Contains("currentfloor06"));
+            this.currentfloor06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("currentfloor06"));
             //一楼提升机目的楼层 写
-            this.targetfloor06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FirstFloorHoister") && t.plcpointNo.Contains("targetfloor06"));
+            this.targetfloor06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("targetfloor06"));
             //一楼提升机到位信号 读
-            this.linesignal06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FirstFloorHoister") && t.plcpointNo.Contains("linesignal06"));
-            //一楼提升机前允许取
-            this.hoisterallowedtake01 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FirstFloorBeforeHoister") && t.plcpointNo.Contains("hoisterallowedtake01"));
-            //一楼提升机前反馈流水号
-            this.feedserialno01 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FirstFloorBeforeHoister") && t.plcpointNo.Contains("feedserialno01"));
-            this.hoisterallowedtake02 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("SecondFloorBeforeHoister") && t.plcpointNo.Contains("hoisterallowedtake02"));
-            this.feedserialno02 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("SecondFloorBeforeHoister") && t.plcpointNo.Contains("feedserialno02"));
-            this.hoisterallowedtake03 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("ThirdFloorBeforeHoister") && t.plcpointNo.Contains("hoisterallowedtake03"));
-            this.feedserialno03 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("ThirdFloorBeforeHoister") && t.plcpointNo.Contains("feedserialno03"));
-            this.hoisterallowedtake04 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FourthlyFloorBeforeHoister") && t.plcpointNo.Contains("hoisterallowedtake04"));
-            this.feedserialno04 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FourthlyFloorBeforeHoister") && t.plcpointNo.Contains("feedserialno04"));
-            this.hoisterallowedtake05 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FifthFloorBeforeHoister") && t.plcpointNo.Contains("hoisterallowedtake05"));
-            this.feedserialno05 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FifthFloorBeforeHoister") && t.plcpointNo.Contains("feedserialno05"));
+            this.reserialno06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("reserialno06"));
 
         }
 
         /// <summary>
-        /// 启动线程
+        /// 启动上件扫描监听
         /// </summary>
         public void StartPoint()
         {
             Thread firstFloorLine = new Thread(FirstFloorLine);
             firstFloorLine.IsBackground = true;
             firstFloorLine.Start();
-            Console.WriteLine("启动一楼接驳位线程");
+            Console.WriteLine(DateTime.Now + ":一楼接驳位线程启动成功");
+            LogManager.Info("一楼接驳位线程启动成功");
 
             Thread firstFloorHoister = new Thread(FirstFloorHoister);
             firstFloorHoister.IsBackground = true;
             firstFloorHoister.Start();
-            Console.WriteLine("启动一楼提升机线程");
+            Console.WriteLine(DateTime.Now + ":一楼提升机线程启动成功");
+            LogManager.Info("一楼提升机线程启动成功");
         }
 
         /// <summary>
@@ -167,112 +109,100 @@ namespace Khd.Core.Wcs.Wcs
         /// </summary>
         private void FirstFloorLine()
         {
-            List<int?> Itpyes = new List<int?>() { 1, 3, 5, 7 };
+            List<int?> Itpyes = new() { 1, 3, 5, 7 };
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
             while (true)
             {
                 try
                 {
                     var RFID001Value = this._plc.Read(this.RFID001.plcpointAddress);  //一楼RFID 读
                     var linesignal01Value = this._plc.Read(this.linesignal01.plcpointAddress); //到位信号 读
-                    var ispallet01Value = this._plc.Read(this.ispallet01.plcpointAddress);      //是否有托盘 读
                     var wcsrun01Value = this._plc.Read(this.wcsrun01.plcpointAddress);   //去向 写
-                    var serialno01Value = this._plc.Read(this.serialno01.plcpointAddress);  //流水号 读
 
-                    using (var scope = _host.Services.CreateScope())
+                    //正常读到plc值
+                    if (linesignal01Value != null && RFID001Value != null)
                     {
-                        using (var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>())
+                        //正常托盘到位
+                        if (Convert.ToInt32(linesignal01Value) == 1)
                         {
-                            //正常读到plc值
-                            if (linesignal01Value != null && RFID001Value != null || ispallet01Value != null || serialno01Value != null)
+
+                            //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 == RFID001Value.ToString() && t.taskStatus < 1).FirstOrDefault();
+                            if (task == null)
                             {
-                                //正常托盘到位
-                                if (Convert.ToInt32(linesignal01Value) != 0 && Convert.ToInt32(serialno01Value) != 0 && Convert.ToInt32(ispallet01Value) == 1 && Convert.ToInt32(ispallet01Value) != 0)
+                                //入库
+
+                                //根据托盘号获取物料码
+                                var material = dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value.ToString()).FirstOrDefault();
+                                if (material != null)
                                 {
-
-                                    //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 == RFID001Value.ToString() && t.taskStatus < 1).FirstOrDefault();
-                                    if (task == null || Itpyes.Contains(task.taskType))
+                                    var warehouseId = dbContext.WmsWarehouseMaterial.Where(t => t.storageType == "1" && t.storageId == material.materialId).FirstOrDefault()?.warehouseId;
+                                    if (warehouseId != null)
                                     {
-                                        //入库
-                                        if (task == null || Itpyes.Contains(task.taskType))
+                                        var TargetFloor = dbContext.WmsBaseWarehouse.Where(t => t.warehouseId == warehouseId).FirstOrDefault();
+                                        if (TargetFloor != null)
                                         {
-                                            //根据托盘号获取物料码
-                                            var material = dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value.ToString()).FirstOrDefault();
-                                            if (material != 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 warehouseId = dbContext.WmsWarehouseMaterial.Where(t => t.storageType == "1" && t.storageId == material.materialId).FirstOrDefault()?.warehouseId;
-                                                if (warehouseId != null)
+                                                var newTask = new WcsTask()
                                                 {
-                                                    var TargetFloor = dbContext.WmsBaseWarehouse.Where(t => t.warehouseId == warehouseId).FirstOrDefault();
-                                                    if (TargetFloor != null)
-                                                    {
-                                                        //插入task表
-
-                                                        var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.ud1 == "I" && t.dicField == TargetFloor.warehouseInstockType).FirstOrDefault();
-                                                        if (dic != null)
-                                                        {
-                                                            if (task == null)
-                                                            {
-                                                                var newTask = new WcsTask()
-                                                                {
-                                                                    objid = StaticData.SnowId.NextId(),
-                                                                    serialNo = Convert.ToInt32(serialno01Value),
-                                                                    equipmentNo = "F01",
-                                                                    taskType = Convert.ToInt32(dic.dicValue),
-                                                                    taskStatus = 0,
-                                                                    containerNo = RFID001Value.ToString(),
-                                                                    materialNo = material.materialCode,
-                                                                    materialId = material.materialId,
-                                                                    qty = Convert.ToInt32(material.bindAmount),
-                                                                    startPointId = F01,
-                                                                    startPointNo = "F01",
-                                                                    currPointId = F01,
-                                                                    currPointNo = "F01",
-                                                                    nextPointId = T01,
-                                                                    nextPointNo = "T01",
-                                                                    endPointId = warehouseId,
-                                                                    floorNo = TargetFloor.warehouseFloor,
-                                                                    useFlag = 1,
-                                                                    createBy = "一楼接驳位",
-                                                                    createTime = DateTime.Now,
-                                                                    remark = "一楼创建入库任务"
-                                                                };
-                                                                dbContext.Add(newTask);
-                                                            }
-                                                            else
-                                                            {
-                                                                task.currPointId = F01;
-                                                                task.currPointNo = "F01";
-                                                                task.nextPointId = T01;
-                                                                task.nextPointNo = "T01";
-                                                                task.taskStatus = 0;
-                                                                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);
-                                                                dbContext.SaveChanges();
-                                                            }
-
-                                                            //下发去向
-                                                            this._plc.Write(this.wcsrun01.plcpointAddress, 1);
-                                                        }
-                                                    }
-                                                }
-                                            }
-                                        }
-                                        //出库
-                                        {
-                                            //清空托盘绑定
-                                            var material = dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value.ToString()).FirstOrDefault();
-                                            if (material != null)
-                                            {
-                                                dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value.ToString()).Delete();
-                                                dbContext.SaveChanges();
+                                                    objid = StaticData.SnowId.NextId(),
+                                                    serialNo = 1235,
+                                                    equipmentNo = "F01",
+                                                    taskType = Convert.ToInt32(dic.dicValue),
+                                                    taskStatus = 0,
+                                                    containerNo = RFID001Value.ToString(),
+                                                    materialNo = material.materialCode,
+                                                    materialId = material.materialId,
+                                                    qty = Convert.ToInt32(material.bindAmount),
+                                                    startPointId = F01,
+                                                    startPointNo = "F01",
+                                                    currPointId = F01,
+                                                    currPointNo = "F01",
+                                                    nextPointId = T01,
+                                                    nextPointNo = "T01",
+                                                    endPointId = warehouseId,
+                                                    fromFloorNo = 1,
+                                                    floorNo = TargetFloor.warehouseFloor,
+                                                    useFlag = 1,
+                                                    createBy = "一楼接驳位",
+                                                    createTime = DateTime.Now,
+                                                    remark = "一楼创建入库任务"
+                                                };
+                                                dbContext.Add(newTask);
                                             }
                                         }
                                     }
                                 }
                             }
+                            else if (Itpyes.Contains(task.taskType))
+                            {
+                                task.currPointId = F01;
+                                task.currPointNo = "F01";
+                                task.nextPointId = T01;
+                                task.nextPointNo = "T01";
+                                task.taskStatus = 0;
+                                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);
+                                dbContext.SaveChanges();
+                            }
+                            //出库
+                            else
+                            {
+                                //清空托盘绑定
+                                //var material = dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value.ToString()).FirstOrDefault();
+                                //if (material != null)
+                                //{
+                                //    dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value.ToString()).Delete();
+                                //    dbContext.SaveChanges();
+                                //}
+                            }
                         }
                     }
                 }
@@ -289,203 +219,90 @@ namespace Khd.Core.Wcs.Wcs
         /// </summary>
         private void FirstFloorHoister()
         {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
             while (true)
             {
                 try
                 {
                     var serialno06Value = this._plc.Read(this.serialno06.plcpointAddress);  //提升机流水号 读
                     var equipstate06Value = this._plc.Read(this.equipstate06.plcpointAddress); //提升机状态 读
-                    var taskstate06Value = this._plc.Read(this.taskstate06.plcpointAddress);      //提升机任务状态 读
+                    var hoisterTrayIn06Value = this._plc.Read(this.hoistertrayin06.plcpointAddress);      //提升机货物到位状态 读
                     var currentfloor06Value = this._plc.Read(this.currentfloor06.plcpointAddress);   //提升机当前楼层 写
                     var targetfloor06Value = this._plc.Read(this.targetfloor06.plcpointAddress);  //提升机目的楼层 写
-                    var linesignal06Value = this._plc.Read(this.linesignal06.plcpointAddress);  //提升机到位信号 读
+                    var reserialno06 = this._plc.Read(this.reserialno06.plcpointAddress);  //反馈流水号
 
-                    var hoisterallowedtake01Value = this._plc.Read(this.hoisterallowedtake01.plcpointAddress);  //一楼提升机前允许取
-                    var feedserialno01Value = this._plc.Read(this.feedserialno01.plcpointAddress);  //一楼提升机前反馈流水号
-                    var hoisterallowedtake02Value = this._plc.Read(this.hoisterallowedtake02.plcpointAddress);  //二楼提升机前允许取
-                    var feedserialno02Value = this._plc.Read(this.feedserialno02.plcpointAddress);  //二楼提升机前反馈流水号
-                    var hoisterallowedtake03Value = this._plc.Read(this.hoisterallowedtake03.plcpointAddress);  //三楼提升机前允许取
-                    var feedserialno03Value = this._plc.Read(this.feedserialno03.plcpointAddress);  //三楼提升机前反馈流水号
-                    var hoisterallowedtake04Value = this._plc.Read(this.hoisterallowedtake04.plcpointAddress);  //四楼提升机前允许取
-                    var feedserialno04Value = this._plc.Read(this.feedserialno04.plcpointAddress);  //四楼提升机前反馈流水号
-                    var hoisterallowedtake05Value = this._plc.Read(this.hoisterallowedtake05.plcpointAddress);  //五楼提升机前允许取
-                    var feedserialno05Value = this._plc.Read(this.feedserialno05.plcpointAddress);  //五楼提升机前反馈流水号
-                    using var scope = _host.Services.CreateScope();
-                    using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
                     //正常读到plc值
-                    if (targetfloor06Value != null && serialno06Value != null && equipstate06Value != null && taskstate06Value != null && currentfloor06Value != null && linesignal06Value != null)
+                    if (targetfloor06Value != null && serialno06Value != null && equipstate06Value != null && currentfloor06Value != null && reserialno06 != null && hoisterTrayIn06Value != null)
                     {
                         //提升机空闲
                         if (Convert.ToInt32(equipstate06Value) == 0)
                         {
-                            var wcsTask = dbContext.WcsTask.Where(t => t.nextPointId == T01).Where(t => t.taskStatus > 1).FirstOrDefault();
-                            if (wcsTask == null)
+                            var wcsTask = dbContext.WcsTask.Where(t => t.nextPointId == T01).OrderBy(t => t.createTime).FirstOrDefault();
+                            if (wcsTask != null)
                             {
-                                //一楼到位
-                                if (hoisterallowedtake01Value != null && feedserialno01Value != null && Convert.ToInt32(hoisterallowedtake01Value) == 1 && Convert.ToInt32(feedserialno01Value) > 0)
+                                if (wcsTask.taskStatus == 0)//创建
                                 {
-                                    var task = dbContext.WcsTask.Where(t => t.serialNo == Convert.ToInt32(feedserialno01Value)).FirstOrDefault();
-                                    if (task != null)
+                                    if (Convert.ToInt32(currentfloor06Value) == wcsTask.fromFloorNo)
                                     {
-                                        if (task.nextPointId == T01)
-                                        {
-                                            var nextPoint = dbContext.BaseEquip
-                                                .Where(t => t.equipType == 1)
-                                                .Where(t => t.floorNo == task.floorNo).FirstOrDefault();
-                                            if (nextPoint != null)
-                                            {
-                                                //给提升机下发去向
-                                                this._plc.Write(this.currentfloor06.plcpointAddress, 1);
-                                                this._plc.Write(this.targetfloor06.plcpointAddress, task.floorNo);
-                                                //修改task状态
-                                                task.currPointId = T01;
-                                                task.currPointNo = "T01";
-                                                task.nextPointId = nextPoint.objid;
-                                                task.nextPointNo = nextPoint.equipNo;
-                                                task.taskStatus = 1;
-                                                task.updateBy = "提升机线程";
-                                                task.updateTime = DateTime.Now;
-                                                task.remark = "一楼到位提升机线程";
-                                                dbContext.WcsTask.Update(task);
-                                                dbContext.SaveChanges();
-                                                continue;
-                                            }
-                                        }
+                                        wcsTask.taskStatus = 2;
+                                        wcsTask.updateBy = "提升机线程";
+                                        wcsTask.updateTime = DateTime.Now;
+                                        wcsTask.remark = "提升机任务执行中";
+                                        BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.fromFloorNo && t.plcpointNo.Contains("wcsrun"));
+                                        this._plc.WriteToPoint(basePlcpoint.plcpointAddress, "1", basePlcpoint.plcpointLength);
+                                        dbContext.Update(wcsTask);
+                                        dbContext.SaveChanges();
+                                    }
+                                    else
+                                    {
+                                        wcsTask.taskStatus = 1;
+                                        wcsTask.updateBy = "提升机线程";
+                                        wcsTask.updateTime = DateTime.Now;
+                                        wcsTask.remark = "提升机任务执行中";
+                                        this._plc.WriteToPoint(this.targetfloor06.plcpointAddress, wcsTask.fromFloorNo.ToString(),this.targetfloor06.plcpointLength);//目的地楼层
+                                        dbContext.Update(wcsTask);
+                                        dbContext.SaveChanges();
                                     }
                                 }
-                                //二楼到位
-                                if (hoisterallowedtake02Value != null && feedserialno02Value != null && Convert.ToInt32(hoisterallowedtake02Value) == 1 && Convert.ToInt32(feedserialno02Value) > 0)
+                                if (wcsTask.taskStatus == 1)
                                 {
-                                    var task = dbContext.WcsTask.Where(t => t.serialNo == Convert.ToInt32(feedserialno01Value)).FirstOrDefault();
-                                    if (task != null)
+                                    if (Convert.ToInt32(currentfloor06Value) == wcsTask.fromFloorNo)//提升机当前楼层为初始地楼层
                                     {
-                                        if (task.nextPointId == T01)
-                                        {
-                                            var nextPoint = dbContext.BaseEquip
-                                                .Where(t => t.equipType == 1)
-                                                .Where(t => t.floorNo == task.floorNo).FirstOrDefault();
-                                            if (nextPoint != null)
-                                            {
-                                                //给提升机下发去向
-                                                this._plc.Write(this.currentfloor06.plcpointAddress, 2);
-                                                this._plc.Write(this.targetfloor06.plcpointAddress, task.floorNo);
-                                                //修改task状态
-                                                task.currPointId = T01;
-                                                task.currPointNo = "T01";
-                                                task.nextPointId = nextPoint.objid;
-                                                task.nextPointNo = nextPoint.equipNo;
-                                                task.taskStatus = 1;
-                                                task.updateBy = "提升机线程";
-                                                task.updateTime = DateTime.Now;
-                                                task.remark = "二楼到位提升机线程";
-                                                dbContext.WcsTask.Update(task);
-                                                dbContext.SaveChanges();
-                                                continue;
-                                            }
-                                        }
+                                        wcsTask.taskStatus = 2;
+                                        wcsTask.updateBy = "提升机线程";
+                                        wcsTask.updateTime = DateTime.Now;
+                                        wcsTask.remark = "提升机任务执行中";
+                                        BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.fromFloorNo && t.plcpointNo.Contains("wcsrun"));
+                                        this._plc.WriteToPoint(basePlcpoint.plcpointAddress, "1", basePlcpoint.plcpointLength);
+                                        dbContext.Update(wcsTask);
+                                        dbContext.SaveChanges();
                                     }
                                 }
-                                //三楼到位
-                                if (hoisterallowedtake03Value != null && feedserialno03Value != null && Convert.ToInt32(hoisterallowedtake03Value) == 1 && Convert.ToInt32(feedserialno03Value) > 0)
+                                if (wcsTask.taskStatus == 2)
                                 {
-                                    var task = dbContext.WcsTask.Where(t => t.serialNo == Convert.ToInt32(feedserialno01Value)).FirstOrDefault();
-                                    if (task != null)
+                                    if (Convert.ToInt32(hoisterTrayIn06Value) == 1)//托盘已经进提升机
                                     {
-                                        if (task.nextPointId == T01)
-                                        {
-                                            var nextPoint = dbContext.BaseEquip
-                                                .Where(t => t.equipType == 1)
-                                                .Where(t => t.floorNo == task.floorNo).FirstOrDefault();
-                                            if (nextPoint != null)
-                                            {
-                                                //给提升机下发去向
-                                                this._plc.Write(this.currentfloor06.plcpointAddress, 3);
-                                                this._plc.Write(this.targetfloor06.plcpointAddress, task.floorNo);
-                                                //修改task状态
-                                                task.currPointId = T01;
-                                                task.currPointNo = "T01";
-                                                task.nextPointId = nextPoint.objid;
-                                                task.nextPointNo = nextPoint.equipNo;
-                                                task.taskStatus = 1;
-                                                task.updateBy = "提升机线程";
-                                                task.updateTime = DateTime.Now;
-                                                task.remark = "三楼到位提升机线程";
-                                                dbContext.WcsTask.Update(task);
-                                                dbContext.SaveChanges();
-                                                continue;
-                                            }
-                                        }
+                                        wcsTask.taskStatus = 3;
+                                        wcsTask.updateBy = "提升机线程";
+                                        wcsTask.updateTime = DateTime.Now;
+                                        wcsTask.remark = "提升机任务执行完成";
+                                        this._plc.WriteToPoint(this.targetfloor06.plcpointAddress, wcsTask.floorNo.ToString(),this.targetfloor06.plcpointLength);//目的地楼层
+                                        dbContext.Update(wcsTask);
+                                        dbContext.SaveChanges();
                                     }
                                 }
-                                //四楼到位
-                                if (hoisterallowedtake04Value != null && feedserialno04Value != null && Convert.ToInt32(hoisterallowedtake04Value) == 1 && Convert.ToInt32(feedserialno04Value) > 0)
+                                if (wcsTask.taskStatus == 3 && Convert.ToInt32(currentfloor06Value) == wcsTask.floorNo)//任务状态为3，且当前楼层为任务的目的楼层
                                 {
-                                    var task = dbContext.WcsTask.Where(t => t.serialNo == Convert.ToInt32(feedserialno01Value)).FirstOrDefault();
-                                    if (task != null)
-                                    {
-                                        if (task.nextPointId == T01)
-                                        {
-                                            var nextPoint = dbContext.BaseEquip
-                                                .Where(t => t.equipType == 1)
-                                                .Where(t => t.floorNo == task.floorNo).FirstOrDefault();
-                                            if (nextPoint != null)
-                                            {
-                                                //给提升机下发去向
-                                                this._plc.Write(this.currentfloor06.plcpointAddress, 4);
-                                                this._plc.Write(this.targetfloor06.plcpointAddress, task.floorNo);
-                                                //修改task状态
-                                                task.currPointId = T01;
-                                                task.currPointNo = "T01";
-                                                task.nextPointId = nextPoint.objid;
-                                                task.nextPointNo = nextPoint.equipNo;
-                                                task.taskStatus = 1;
-                                                task.updateBy = "提升机线程";
-                                                task.updateTime = DateTime.Now;
-                                                task.remark = "四楼到位提升机线程";
-                                                dbContext.WcsTask.Update(task);
-                                                dbContext.SaveChanges();
-                                                continue;
-                                            }
-                                        }
-                                    }
+                                    wcsTask.taskStatus = 4;
+                                    wcsTask.updateBy = "提升机线程";
+                                    wcsTask.updateTime = DateTime.Now;
+                                    wcsTask.remark = "提升机任务执行完成";
+                                    BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.fromFloorNo && t.plcpointNo.Contains("wcsrun"));
+                                    this._plc.WriteToPoint(basePlcpoint.plcpointAddress, "2", basePlcpoint.plcpointLength);//去向为2，表示提升机已到达目的地，让货出去
+                                    dbContext.Update(wcsTask);
+                                    dbContext.SaveChanges();
                                 }
-                                //五楼到位
-                                if (hoisterallowedtake05Value != null && feedserialno05Value != null && Convert.ToInt32(hoisterallowedtake05Value) == 1 && Convert.ToInt32(feedserialno05Value) > 0)
-                                {
-                                    var task = dbContext.WcsTask.Where(t => t.serialNo == Convert.ToInt32(feedserialno01Value)).FirstOrDefault();
-                                    if (task != null)
-                                    {
-                                        if (task.nextPointId == T01)
-                                        {
-                                            var nextPoint = dbContext.BaseEquip
-                                                .Where(t => t.equipType == 1)
-                                                .Where(t => t.floorNo == task.floorNo).FirstOrDefault();
-                                            if (nextPoint != null)
-                                            {
-                                                //给提升机下发去向
-                                                this._plc.Write(this.currentfloor06.plcpointAddress, 5);
-                                                this._plc.Write(this.targetfloor06.plcpointAddress, task.floorNo);
-                                                //修改task状态
-                                                task.currPointId = T01;
-                                                task.currPointNo = "T01";
-                                                task.nextPointId = nextPoint.objid;
-                                                task.nextPointNo = nextPoint.equipNo;
-                                                task.taskStatus = 1;
-                                                task.updateBy = "提升机线程";
-                                                task.updateTime = DateTime.Now;
-                                                task.remark = "五楼到位提升机线程";
-                                                dbContext.WcsTask.Update(task);
-                                                dbContext.SaveChanges();
-                                                continue;
-                                            }
-                                        }
-                                    }
-                                }
-                            }
-                            else
-                            {
-                                Console.WriteLine($"{DateTime.Now}:提升机有任务未反,流水号为{wcsTask.serialNo}······");
-                                LogManager.Info($"提升机有任务未反,流水号为{wcsTask.serialNo}······");
                             }
                         }
                     }

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

@@ -5,6 +5,7 @@ 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
@@ -22,7 +23,6 @@ namespace Khd.Core.Wcs.Wcs
         private readonly BasePlcpoint LineSignal;
         private readonly BasePlcpoint LineIsPallet;
         private readonly BasePlcpoint LineSerialNO;
-        private readonly BasePlcpoint LineFeedSeriaNo;
         int FloorNo { get; set; }
         string EquipNo = "";
         int agvID = 10;
@@ -38,12 +38,11 @@ namespace Khd.Core.Wcs.Wcs
             this.LineSignal = this.ScanPoint.First(t => t.plcpointNo.Contains("linesignal"));
             this.LineIsPallet = this.ScanPoint.First(t => t.plcpointNo.Contains("ispallet"));
             this.LineSerialNO = this.ScanPoint.First(t => t.plcpointNo.Contains("serialno"));
-            this.LineFeedSeriaNo = this.ScanPoint.First(t => t.plcpointNo.Contains("feedserialno"));
             //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);
+                //this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
             }
             catch (Exception ex)
             {
@@ -59,26 +58,136 @@ namespace Khd.Core.Wcs.Wcs
 
             Thread FlowPointThread = new Thread(MonitorInLocatorPoint);
             FlowPointThread.Start();
+            Console.WriteLine(DateTime.Now + ":五楼AGV上件扫描监听启动成功");
+            LogManager.Info("五楼AGV上件扫描监听启动成功");
         }
 
         public void MonitorInLocatorPoint()
         {
             using var scope = _host.Services.CreateScope();
             using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
-            List<int?> taskType = new() { 1, 2, 3, 7, 8 };
+            List<int?> taskType = new() { 1, 3, 5, 7 };
             while (true)
             {
                 try
                 {
-                    var taskList = dbContext.WcsTask.Where(t => t.nextPointId == agvID && taskType.Contains(t.taskType)).ToList();
+                    var taskList = dbContext.WcsTask.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)
                     {
-                        SendAndUpdateTask(item);
+                        if (item.taskStatus == 0)//下发任务
+                        {
+                            BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.floorNo == 5 && t.equipType == 1);
+                            WcsCmd wcsCmd = new WcsCmd()
+                            {
+                                objid = item.objid,
+                                cmdStatus = 0,
+                                taskId = item.orderId,
+                                useFlag = 1,
+                                cmdType = item.taskType,
+                                containerNo = item.containerNo,
+                                createTime = DateTime.Now,
+                                createBy = FloorNo + "楼AGV",
+                                currPointId = baseEquip.objid,
+                                currPointNo = baseEquip.equipNo,
+                                nextPointId = item.endPointId,
+                                nextPointNo = item.endPointNo,
+                            };
+                            RequestAGVTaskDto agvTask = new RequestAGVTaskDto();
+                            agvTask.reqCode = item.objid.ToString();
+                            agvTask.positionCodePath = new List<Position>
+                            {
+                                new Position
+                                {
+                                    positionCode=wcsCmd.currPointNo,
+                                    type="1"
+                                },
+                                new Position
+                                {
+                                    positionCode=wcsCmd.nextPointNo,
+                                    type="2"
+                                }
+                            };
+                            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(item);
+                                dbContext.Add(wcsCmd);
+                                dbContext.SaveChanges();
+                            }
+                        }
+                        else
+                        {
+                            WcsCmd? wcsCmd = dbContext.WcsCmd.FirstOrDefault(t => t.objid == item.objid);
+                            if (wcsCmd != null)
+                            {
+                                if (wcsCmd.cmdStatus == 2)
+                                {
+                                    RequestAGVTaskDto agvTask = new RequestAGVTaskDto();
+                                    agvTask.reqCode = item.objid.ToString();
+                                    agvTask.taskCode = wcsCmd.taskCode;
+                                    string message = JsonConvert.SerializeObject(agvTask);
+                                    string result = HttpHelper.HttpPost("http://172.16.12.24:8182/rcms/services/rest/hikRpcService/continueTask", message);
+                                    ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                    if (reponseMessage != null && reponseMessage.message == "成功")
+                                    {
+                                        wcsCmd.cmdStatus = 3;
+                                        dbContext.Update(wcsCmd);
+                                        dbContext.SaveChanges();
+                                    }
+                                }
+                                else if (wcsCmd.cmdStatus == 4)
+                                {
+                                    //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))
+                                    {
+                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
+                                           .First(t => t.locationId == item.startPointId && t.warehouseFloor == 5);
+                                        wmsBaseLocation.outstockFlag = "0";
+                                        wmsBaseLocation.locationStatus = "1";
+                                        dbContext.Update(wmsBaseLocation);
+
+
+                                        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
+                                    {
+                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
+                                            .First(t => t.locationId == item.startPointId && t.warehouseFloor == 5);
+                                        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);
+                                        dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
+                                        dbContext.SaveChanges();
+                                    }
+                                }
+                            }
+                        }
                     }
+                    //foreach (var item in taskList)
+                    //{
+                    //    SendAndUpdateTask(item);
+                    //}
                 }
                 catch (Exception ex)
                 {
@@ -91,6 +200,7 @@ namespace Khd.Core.Wcs.Wcs
             }
         }
 
+
         public List<WcsTask> GetTask(int floorNo, string equipNo)
         {
             using var scope = _host.Services.CreateScope();
@@ -149,16 +259,20 @@ namespace Khd.Core.Wcs.Wcs
                     setPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
                 }
                 putPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
-                p.podCode = setPos?.agvPositionCode;
-                p.podTyp = "";
+                p.positionCode = setPos?.agvPositionCode;
+                p.type = "";
                 agvtask.positionCodePath.Add(p);
-                p.podCode = putPos?.agvPositionCode;
-                p.podTyp = "";
+                p.positionCode = putPos?.agvPositionCode;
+                p.type = "";
                 //取料点
                 agvtask.positionCodePath.Add(p);
                 agvtask.taskTyp = "";
                 //给agv创建任务
-                wcsToWms.genAgvSchedulingTask(agvtask);
+                var reponseMessage = wcsToWms.genAgvSchedulingTask(agvtask);
+                if (reponseMessage != null)
+                {
+
+                }
                 //未下发给agv下发指令
                 WcsCmd taskCmd = new WcsCmd()
                 {

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

@@ -6,6 +6,7 @@ using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
 using Newtonsoft.Json;
+using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs.Wcs
 {
@@ -22,7 +23,6 @@ namespace Khd.Core.Wcs.Wcs
         private readonly BasePlcpoint LineSignal;
         private readonly BasePlcpoint LineIsPallet;
         private readonly BasePlcpoint LineSerialNO;
-        private readonly BasePlcpoint LineFeedSeriaNo;
         int FloorNo { get; set; }
         string EquipNo = "";
         int CTUID = 11;
@@ -38,13 +38,12 @@ namespace Khd.Core.Wcs.Wcs
             this.LineSignal = this.ScanPoint.First(t => t.plcpointNo.Contains("linesignal"));
             this.LineIsPallet = this.ScanPoint.First(t => t.plcpointNo.Contains("ispallet"));
             this.LineSerialNO = this.ScanPoint.First(t => t.plcpointNo.Contains("serialno"));
-            this.LineFeedSeriaNo = this.ScanPoint.First(t => t.plcpointNo.Contains("feedserialno"));
 
             //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);
+                //this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
             }
             catch (Exception ex)
             {
@@ -61,25 +60,131 @@ namespace Khd.Core.Wcs.Wcs
 
             Thread FlowPointThread = new Thread(MonitorInLocatorPoint);
             FlowPointThread.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");
         }
 
         public void MonitorInLocatorPoint()
         {
+            List<int?> taskType = new() { 1, 3, 5, 7 };
             using var scope = _host.Services.CreateScope();
             using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
             while (true)
             {
                 try
                 {
-                    var taskList = dbContext.WcsTask.Where(t => t.nextPointId == CTUID && (t.taskType == 7 || t.taskType == 8)).GroupBy(t => t.orderId).ToList();
+                    var taskList = dbContext.WcsTask.Where(t => t.nextPointId == CTUID && (t.taskType == 7 || t.taskType == 8)).ToList();
                     if (taskList.Count == 0)
                     {
                         LogManager.Info(FloorNo + "楼CTU无任务");
                     }
                     foreach (var item in taskList)
                     {
+                        if (item.taskStatus == 0)//下发任务
+                        {
+                            BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.floorNo == 5 && t.equipType == 1);
+                            WcsCmd wcsCmd = new WcsCmd()
+                            {
+                                objid = item.objid,
+                                cmdStatus = 0,
+                                taskId = item.orderId,
+                                useFlag = 1,
+                                cmdType = item.taskType,
+                                containerNo = item.containerNo,
+                                createTime = DateTime.Now,
+                                createBy = FloorNo + "楼AGV",
+                                currPointId = baseEquip.objid,
+                                currPointNo = baseEquip.equipNo,
+                                nextPointId = item.endPointId,
+                                nextPointNo = item.endPointNo,
+                            };
+                            RequestAGVTaskDto agvTask = new RequestAGVTaskDto();
+                            agvTask.reqCode = item.objid.ToString();
+                            agvTask.positionCodePath = new List<Position>
+                            {
+                                new Position
+                                {
+                                    positionCode=wcsCmd.currPointNo,
+                                    type="1"
+                                },
+                                new Position
+                                {
+                                    positionCode=wcsCmd.nextPointNo,
+                                    type="2"
+                                }
+                            };
+                            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(item);
+                                dbContext.Add(wcsCmd);
+                                dbContext.SaveChanges();
+                            }
+                        }
+                        else
+                        {
+                            WcsCmd? wcsCmd = dbContext.WcsCmd.FirstOrDefault(t => t.objid == item.objid);
+                            if (wcsCmd != null)
+                            {
+                                if (wcsCmd.cmdStatus == 2)
+                                {
+                                    RequestAGVTaskDto agvTask = new RequestAGVTaskDto();
+                                    agvTask.reqCode = item.objid.ToString();
+                                    agvTask.taskCode = wcsCmd.taskCode;
+                                    string message = JsonConvert.SerializeObject(agvTask);
+                                    string result = HttpHelper.HttpPost("http://172.16.12.24:8182/rcms/services/rest/hikRpcService/continueTask", message);
+                                    ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                    if (reponseMessage != null && reponseMessage.message == "成功")
+                                    {
+                                        wcsCmd.cmdStatus = 3;
+                                        dbContext.Update(wcsCmd);
+                                        dbContext.SaveChanges();
+                                    }
+                                }
+                                else if (wcsCmd.cmdStatus == 4)
+                                {
+                                    //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))
+                                    {
+                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
+                                           .First(t => t.locationId == item.startPointId && t.warehouseFloor == 5);
+                                        wmsBaseLocation.outstockFlag = "0";
+                                        wmsBaseLocation.locationStatus = "1";
+                                        dbContext.Update(wmsBaseLocation);
 
-                        SendTask(item.FirstOrDefault().orderId);
+
+                                        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
+                                    {
+                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
+                                            .First(t => t.locationId == item.startPointId && t.warehouseFloor == 5);
+                                        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);
+                                        dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
+                                        dbContext.SaveChanges();
+                                    }
+                                }
+                            }
+                        }
                     }
                 }
                 catch (Exception ex)

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

@@ -54,6 +54,8 @@ namespace Khd.Core.Wcs.Wcs
 
             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()

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

@@ -22,7 +22,6 @@ namespace Khd.Core.Wcs.Wcs
         private readonly BasePlcpoint LineSignal;
         private readonly BasePlcpoint LineIsPallet;
         private readonly BasePlcpoint LineSerialNO;
-        private readonly BasePlcpoint LineFeedSeriaNo;
         int FloorNo { get; set; }
         string EquipNo = "";
         public FiveFloorPoint(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
@@ -37,12 +36,11 @@ namespace Khd.Core.Wcs.Wcs
             this.LineSignal = this.ScanPoint.First(t => t.plcpointNo.Contains("linesignal"));
             this.LineIsPallet = this.ScanPoint.First(t => t.plcpointNo.Contains("ispallet"));
             this.LineSerialNO = this.ScanPoint.First(t => t.plcpointNo.Contains("serialno"));
-            this.LineFeedSeriaNo = this.ScanPoint.First(t => t.plcpointNo.Contains("feedserialno"));
 
             try
             {
                 //默认启动,清理plc的上位机写入点位值
-                this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
+                //this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
             }
             catch (Exception ex)
             {
@@ -59,10 +57,13 @@ namespace Khd.Core.Wcs.Wcs
             var FlowPointThread = new Thread(MonitorInLocatorPoint);
             FlowPointThread.IsBackground = true;
             FlowPointThread.Start();
+            Console.WriteLine(DateTime.Now + ":五楼接驳位调度启动成功");
+            LogManager.Info("五楼接驳位调度启动成功");
         }
 
         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)
@@ -80,32 +81,61 @@ namespace Khd.Core.Wcs.Wcs
                         {
                             //获取条码信息
                             var palletNo = Convert.ToString(rfid);
-                            if (!string.IsNullOrEmpty(palletNo))
+                            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);
+                            if (wcsTask != null)
                             {
-                                //获取入库任务
-                                var wcsTask = GetTask(palletNo, FloorNo, EquipNo);
-                                //判断是否为出库任务
-                                if (wcsTask != null && (wcsTask.taskType == 2 || wcsTask.taskType == 3))
+                                if (ITypes.Contains(wcsTask.taskType) && wcsTask.taskStatus == 4)//入库,提升机任务是完成状态
                                 {
-                                    this._plc.Write(LineWcsrun.plcpointAddress, 1);
-                                    //更新任务下一点位为提升机
-                                    wcsTask.nextPointId = 6;
-                                    wcsTask.nextPointNo = "T01";
-                                    wcsTask.floorNo = 0;
+                                    var wmsBaseLocations = dbContext.WmsBaseLocation.Where(t => t.warehouseFloor == FloorNo)
+                                        .Where(t => t.activeFlag == "1")
+                                        .Where(t => t.delFlag == "0")
+                                        .Where(t => t.instockFlag == "0")
+                                        .Where(t => t.locationScrapType == "1")
+                                        .Where(t => t.locationStatus == "1")
+                                        .Where(t => t.outstockFlag == "0")
+                                        .Where(t=>string.IsNullOrEmpty(t.containerCode))
+                                        .ToList();
+
+                                    //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 wmsBaseLocation = wmsBaseLocations.First();
+                                        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;
+                                        wmsBaseLocation.instockFlag = "1";
+                                        wmsBaseLocation.locationStatus = "2";
+                                        dbContext.Update(wmsBaseLocation);
+                                        dbContext.Update(wcsTask);
+                                        dbContext.SaveChanges();
+                                    }
+                                }
+                                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.taskStatus = 0;
                                     wcsTask.updateTime = DateTime.Now;
                                     dbContext.Update(wcsTask);
                                     dbContext.SaveChanges();
                                 }
-                                else if (wcsTask != null)
-                                {
-                                    //入库任务
-                                    //下发agv任务
-                                    SendTask(wcsTask);
-                                }
                             }
                         }
                     }
-
                 }
                 catch (Exception ex)
                 {

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

@@ -22,7 +22,6 @@ namespace Khd.Core.Wcs.Wcs
         private readonly BasePlcpoint LineSignal;
         private readonly BasePlcpoint LineIsPallet;
         private readonly BasePlcpoint LineSerialNO;
-        private readonly BasePlcpoint LineFeedSeriaNo;
         int FloorNo { get; set; }
         string EquipNo = "";
         int EquipID = 8; //2楼AGV
@@ -40,13 +39,12 @@ namespace Khd.Core.Wcs.Wcs
             this.LineSignal = this.ScanPoint.First(t => t.plcpointNo.Contains("linesignal"));
             this.LineIsPallet = this.ScanPoint.First(t => t.plcpointNo.Contains("ispallet"));
             this.LineSerialNO = this.ScanPoint.First(t => t.plcpointNo.Contains("serialno"));
-            this.LineFeedSeriaNo = this.ScanPoint.First(t => t.plcpointNo.Contains("feedserialno"));
 
             //var IsPallet = this._plc.Read(LineIsPallet.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);
+                //this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
             }
             catch (Exception ex)
             {
@@ -62,6 +60,8 @@ namespace Khd.Core.Wcs.Wcs
 
             Thread FlowPointThread = new Thread(MonitorInLocatorPoint);
             FlowPointThread.Start();
+            Console.WriteLine(DateTime.Now + ":二楼AGV上件扫描监听启动成功");
+            LogManager.Info("二楼AGV上件扫描监听启动成功");
         }
 
         public void MonitorInLocatorPoint()
@@ -224,11 +224,11 @@ namespace Khd.Core.Wcs.Wcs
                     setPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
                 }
                 putPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
-                p.podCode = setPos?.agvPositionCode;
-                p.podTyp = "";
+                p.positionCode = setPos?.agvPositionCode;
+                p.type = "";
                 agvtask.positionCodePath.Add(p);
-                p.podCode = putPos?.agvPositionCode;
-                p.podTyp = "";
+                p.positionCode = putPos?.agvPositionCode;
+                p.type = "";
                 //取料点
                 agvtask.positionCodePath.Add(p);
                 agvtask.taskTyp = "";

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

@@ -23,7 +23,6 @@ namespace Khd.Core.Wcs.Wcs
         private readonly BasePlcpoint LineSignal;
         private readonly BasePlcpoint LineIsPallet;
         private readonly BasePlcpoint LineSerialNO;
-        private readonly BasePlcpoint LineFeedSeriaNo;
         int FloorNo { get; set; }
         string EquipNo = "";
         public SecondFloorPoint(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
@@ -38,13 +37,12 @@ namespace Khd.Core.Wcs.Wcs
             this.LineSignal = this.ScanPoint.First(t => t.plcpointNo.Contains("linesignal"));
             this.LineIsPallet = this.ScanPoint.First(t => t.plcpointNo.Contains("ispallet"));
             this.LineSerialNO = this.ScanPoint.First(t => t.plcpointNo.Contains("serialno"));
-            this.LineFeedSeriaNo = this.ScanPoint.First(t => t.plcpointNo.Contains("feedserialno"));
 
             //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);
+                //this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
             }
             catch (Exception ex)
             {
@@ -60,6 +58,8 @@ namespace Khd.Core.Wcs.Wcs
 
             Thread FlowPointThread = new Thread(MonitorInLocatorPoint);
             FlowPointThread.Start();
+            Console.WriteLine(DateTime.Now + ":二楼码垛输送线调度启动成功");
+            LogManager.Info("二楼码垛输送线调度启动成功");
         }
 
         public void MonitorInLocatorPoint()

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

@@ -21,7 +21,6 @@ namespace Khd.Core.Wcs.Wcs
         private readonly BasePlcpoint LineSignal;
         private readonly BasePlcpoint LineIsPallet;
         private readonly BasePlcpoint LineSerialNO;
-        private readonly BasePlcpoint LineFeedSeriaNo;
         int FloorNo { get; set; }
         string EquipNo = "";
         int EquipID = 2;
@@ -37,7 +36,6 @@ namespace Khd.Core.Wcs.Wcs
             this.LineSignal = this.ScanPoint.First(t => t.plcpointNo.Contains("linesignal"));
             this.LineIsPallet = this.ScanPoint.First(t => t.plcpointNo.Contains("ispallet"));
             this.LineSerialNO = this.ScanPoint.First(t => t.plcpointNo.Contains("serialno"));
-            this.LineFeedSeriaNo = this.ScanPoint.First(t => t.plcpointNo.Contains("feedserialno"));
 
             //var lineRFID = this._plc.Read(NodeSettingCarNo.plcpointAddress);
             try
@@ -59,6 +57,8 @@ namespace Khd.Core.Wcs.Wcs
 
             Thread FlowPointThread = new Thread(MonitorInLocatorPoint);
             FlowPointThread.Start();
+            Console.WriteLine(DateTime.Now + ":二楼接驳位扫描线程启动");
+            LogManager.Info("二楼接驳位扫描线程启动");
         }
 
         public void MonitorInLocatorPoint()
@@ -85,19 +85,26 @@ namespace Khd.Core.Wcs.Wcs
                             //判断是否为出库任务
                             if (wcsTask != null)
                             {
-                                //下发去提升机的去向
-                                this._plc.Write(LineWcsrun.plcpointAddress, 1);
-                                //更新任务
-                                dbContext.WcsTask.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTask()
+                                var wmsProductOutstock = dbContext.WmsProductOutstock.Where(t => t.saleOrderId == wcsTask.orderId).FirstOrDefault();
+                                if (wmsProductOutstock != null)
                                 {
-                                    currPointId = 2,
-                                    currPointNo = "F02",
-                                    //提升机
-                                    nextPointId = 6,
-                                    nextPointNo = "T01",
-                                    updateTime = DateTime.Now,
-                                    updateBy = "二楼接驳位",
-                                });
+                                    long? endStationCode = wmsProductOutstock.endStationCode;
+                                    //找到目的地楼层
+                                    int floorNo=0;
+                                    //下发去提升机的去向
+                                    this._plc.Write(LineWcsrun.plcpointAddress, 1);
+                                    //更新任务
+                                    dbContext.WcsTask.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTask()
+                                    {
+                                        currPointId = 2,
+                                        currPointNo = "F02",
+                                        floorNo = floorNo,
+                                        nextPointId = 6,
+                                        nextPointNo = "T01",
+                                        updateTime = DateTime.Now,
+                                        updateBy = "二楼接驳位",
+                                    });
+                                }
                             }
                         }
                     }

src/Khd.Core.Wcs/Wcs/SystemData.cs

@@ -0,0 +1,34 @@
+using Khd.Core.EntityFramework;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Khd.Core.Wcs.Wcs
+{
+    public class SystemData
+    {
+        public static long _serialNo { get; set; } = 1;
+
+        public static object serialLock = new object();
+
+        public static long GetSerialNo(DefaultDbContext dbContext)
+        {
+            lock (serialLock)
+            {
+                List<long?> list = dbContext.WcsTask.Select(t => t.serialNo).ToList();
+                while (list.Contains(_serialNo))
+                {
+                    _serialNo++;
+                    if(_serialNo > 9999)
+                    {
+                        _serialNo = 1;
+                    }
+                }
+                return _serialNo;
+            }
+        }
+        
+    }
+}

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

@@ -22,7 +22,6 @@ namespace Khd.Core.Wcs.Wcs
         private readonly BasePlcpoint LineSignal;
         private readonly BasePlcpoint LineIsPallet;
         private readonly BasePlcpoint LineSerialNO;
-        private readonly BasePlcpoint LineFeedSeriaNo;
         int FloorNo { get; set; }
         string EquipNo = "";
         int EquipID = 9; //3楼AGV
@@ -40,13 +39,12 @@ namespace Khd.Core.Wcs.Wcs
             this.LineSignal = this.ScanPoint.First(t => t.plcpointNo.Contains("linesignal"));
             this.LineIsPallet = this.ScanPoint.First(t => t.plcpointNo.Contains("ispallet"));
             this.LineSerialNO = this.ScanPoint.First(t => t.plcpointNo.Contains("serialno"));
-            this.LineFeedSeriaNo = this.ScanPoint.First(t => t.plcpointNo.Contains("feedserialno"));
 
             //var IsPallet = this._plc.Read(LineIsPallet.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);
+                //this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
             }
             catch (Exception ex)
             {
@@ -62,6 +60,8 @@ namespace Khd.Core.Wcs.Wcs
 
             Thread FlowPointThread = new Thread(MonitorInLocatorPoint);
             FlowPointThread.Start();
+            Console.WriteLine(DateTime.Now + ":三楼AGV 启动上件扫描监听");
+            LogManager.Info("三楼AGV 启动上件扫描监听");
         }
 
         public void MonitorInLocatorPoint()
@@ -73,7 +73,7 @@ namespace Khd.Core.Wcs.Wcs
                 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 == EquipID && t.currPointId != EquipID && (t.taskType == 1 || t.taskType == 2 || t.taskType == 9)).ToList();
+                    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");
@@ -225,11 +225,11 @@ namespace Khd.Core.Wcs.Wcs
                     setPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
                 }
                 putPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
-                p.podCode = setPos?.agvPositionCode;
-                p.podTyp = "";
+                p.positionCode = setPos?.agvPositionCode;
+                p.type = "";
                 agvtask.positionCodePath.Add(p);
-                p.podCode = putPos?.agvPositionCode;
-                p.podTyp = "";
+                p.positionCode = putPos?.agvPositionCode;
+                p.type = "";
                 //取料点
                 agvtask.positionCodePath.Add(p);
                 agvtask.taskTyp = "";

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

@@ -22,7 +22,6 @@ namespace Khd.Core.Wcs.Wcs
         private readonly BasePlcpoint LineSignal;
         private readonly BasePlcpoint LineIsPallet;
         private readonly BasePlcpoint LineSerialNO;
-        private readonly BasePlcpoint LineFeedSeriaNo;
         int FloorNo { get; set; }
         int EquipID = 3;
         string EquipNo = "";
@@ -38,13 +37,12 @@ namespace Khd.Core.Wcs.Wcs
             this.LineSignal = this.ScanPoint.First(t => t.plcpointNo.Contains("linesignal"));
             this.LineIsPallet = this.ScanPoint.First(t => t.plcpointNo.Contains("ispallet"));
             this.LineSerialNO = this.ScanPoint.First(t => t.plcpointNo.Contains("serialno"));
-            this.LineFeedSeriaNo = this.ScanPoint.First(t => t.plcpointNo.Contains("feedserialno"));
 
             //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);
+                //this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
             }
             catch (Exception ex)
             {
@@ -60,6 +58,8 @@ namespace Khd.Core.Wcs.Wcs
 
             Thread FlowPointThread = new Thread(MonitorInLocatorPoint);
             FlowPointThread.Start();
+            Console.WriteLine(DateTime.Now + ":三楼接驳位调度启动成功");
+            LogManager.Info("三楼接驳位调度启动成功");
         }
 
         public void MonitorInLocatorPoint()

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

@@ -78,22 +78,13 @@ namespace Khd.Core.Wcs.Wcs
         /// </summary>
         /// <param name="requestCheck"></param>
         /// <returns></returns>
-        public bool genAgvSchedulingTask(RequestAGVTaskDto requestAGVTaskDto)
+        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);
-            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;
+            return JsonConvert.DeserializeObject<ReponseMessage>(result.ToString());
         }
         /// <summary>
         /// 继续执行

src/Khd.Core.Wcs/appsettings.json

@@ -1,19 +1,15 @@
 {
   "ConnectionStrings": {
-    //雅迪工控机数据库
-    //"DefaultConnection": "server=192.168.0.81;port=3306;database=khd_suspension_chain;uid=root;pwd=123456;charset='utf8';persistsecurityinfo=True;SslMode=none;Allow User Variables=True"
-    //mysql 本地
-    //"DefaultConnection": "server=localhost;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"
+    //"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=175.27.215.92;port=3306;database=hwjy-cloud;uid=kehaida;pwd=khd2024;charset='utf8';persistsecurityinfo=True;SslMode=None;Allow User Variables=True"
   },
   "PlcConfigs": [
     {
-      "IP": "192.168.0.1",
-      "Port": "102",
-      "CpuType": 30,
-      "Rack": "0",
-      "Slot": "0",
+      "IP": "192.168.2.30",
+      "Port": 102, //102是默认端口
+      "CpuType": 40,
+      "Rack": 0,
+      "Slot": 1,
       "Code": 0
     }
   ],