20240715

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

@@ -12,6 +12,7 @@ namespace Khd.Core.Api.Controllers
     public class RecieveRcsController : ControllerBase
     {
         private readonly IWcsTaskApplication _application;
+
         public RecieveRcsController(IWcsTaskApplication application)
         {
             _application = application;
@@ -20,7 +21,7 @@ namespace Khd.Core.Api.Controllers
         /// <summary>
         /// 接收agv接收任务通知接口
         /// </summary>
-        /// <param name="model"></param>
+        /// <param name="agvCallbackDto"></param>
         /// <returns></returns>
         [HttpPost("agvCallback")]
         public ReponseagvCallbackDto agvCallback(agvCallbackDto agvCallbackDto)
@@ -34,7 +35,7 @@ namespace Khd.Core.Api.Controllers
         /// <summary>
         /// 接收agv接收任务通知接口
         /// </summary>
-        /// <param name="model"></param>
+        /// <param name="agvCallbackDto"></param>
         /// <returns></returns>
         [HttpPost("agvCallback2")]
         public ReponseagvCallbackDto agvCallback2(agvCallbackDto agvCallbackDto)
@@ -81,5 +82,16 @@ namespace Khd.Core.Api.Controllers
             return _application.TaskReturn(taskReturn);
         }
 
+        /// <summary>
+        /// 通知去翻转机的任务
+        /// </summary>
+        /// <param name="callMaterial"></param>
+        /// <returns></returns>
+        [HttpPost("callMaterial")]
+        public ReponseMessage CallMaterial(CallMaterial callMaterial)
+        {
+            LogManager.Info($"CallMaterial 接口收到消息： {callMaterial}");
+            return _application.CallMaterial(callMaterial);
+        }
     }
 }

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

@@ -30,5 +30,6 @@ namespace Khd.Core.Application.Interface
 
         AgvCompeletedResponse TaskReturn(TaskReturn taskReturn);
         ReponseagvCallbackDto AgvCallback2(agvCallbackDto agvCallbackDto);
+        ReponseMessage CallMaterial(CallMaterial callMaterial);
     }
 }

src/Khd.Core.Application/Khd.Core.Application.csproj

@@ -5,6 +5,7 @@
 	</PropertyGroup>
 
 	<ItemGroup>
+		<PackageReference Include="Jc.SnowId" Version="1.0.2" />
 		<PackageReference Include="Masuit.Tools.Core" Version="2.6.7.5" />
 		<PackageReference Include="Microsoft.EntityFrameworkCore" Version="7.0.10" />
 		<PackageReference Include="Microsoft.IdentityModel.Tokens" Version="6.32.3" />

src/Khd.Core.Application/WcsTaskApplication.cs

@@ -1,9 +1,9 @@
-using Khd.Core.Application.Interface;
+using Jc.SnowId;
+using Khd.Core.Application.Interface;
 using Khd.Core.Domain.Dto.webapi;
 using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
 using Masuit.Tools.Logging;
-using Microsoft.EntityFrameworkCore;
 using Microsoft.Extensions.DependencyInjection;
 using System;
 using System.Linq;
@@ -14,6 +14,7 @@ namespace Khd.Core.Application
     public class WcsTaskApplication : IWcsTaskApplication
     {
         private readonly DefaultDbContext _dbContext;
+        private readonly static JcSnowId _snowId = new JcSnowId();
 
         public WcsTaskApplication(IServiceProvider serviceProvider)
         {
@@ -394,7 +395,7 @@ namespace Khd.Core.Application
                             wcscmd.sendFlag = 1;
                             wcsTask.taskStatus = 7;
                             _dbContext.WcsCmd.Update(wcscmd);
-                            _dbContext.WcsCmdLog.Where(t => t.objid == wcscmd.objid).Update(a => new WcsCmdLog { cmdStatus = 7});
+                            _dbContext.WcsCmdLog.Where(t => t.objid == wcscmd.objid).Update(a => new WcsCmdLog { cmdStatus = 7 });
                             _dbContext.WcsTask.Update(wcsTask);
                             _dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 7 });
                             _dbContext.SaveChanges();
@@ -419,5 +420,50 @@ namespace Khd.Core.Application
             reponseagvCallbackDto.reqCode = reponseagvCallbackDto.reqCode;
             return reponseagvCallbackDto;
         }
+
+        public ReponseMessage CallMaterial(CallMaterial callMaterial)
+        {
+            ReponseMessage reponseMessage = new ReponseMessage();
+            try
+            {
+                _dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
+                WmsRawOutstock wmsRawOutstock = _dbContext.WmsRawOutstock.FirstOrDefault(t => t.rawOutstockId == Convert.ToInt64(callMaterial.rawOutstockId));
+                if (wmsRawOutstock != null)
+                {
+                    bool hasTask = _dbContext.WcsTask.Where(t => t.endPointId == 31 || t.currPointId == 31).Any();
+                    bool hasTaskManual = _dbContext.WcsTaskManual.Where(t => t.endPointId == 31 || t.currPointId == 31 || t.taskType == 999).Any();
+                    if (hasTask || hasTaskManual)
+                    {
+                        reponseMessage.code = "1";
+                        reponseMessage.message = "当前有任务，请等待任务完成后再申请";
+                    }
+                    else
+                    {
+                        BaseEquip endEquip = _dbContext.BaseEquip.First(t => t.objid == 31);
+                        BaseEquip baseEquip = _dbContext.BaseEquip.First(t => t.objid == 9);
+                        WcsTaskManual wcsTaskManual = new WcsTaskManual();
+                        wcsTaskManual.taskType = 999;
+                        wcsTaskManual.objid = _snowId.NextId();
+                        wcsTaskManual.orderId = Convert.ToInt64(callMaterial.rawOutstockId);
+                        _dbContext.Add(wcsTaskManual);
+                        _dbContext.SaveChanges();
+                        reponseMessage.code = "0";
+                        reponseMessage.message = "成功";
+                    }
+                }
+                else
+                {
+                    reponseMessage.code = "1";
+                    reponseMessage.message = "未找到当前申请单的任务";
+                }
+            }
+            catch (Exception ex)
+            {
+                reponseMessage.code = "1";
+                reponseMessage.message = ex.Message;
+                LogManager.Error(ex);
+            }
+            return reponseMessage;
+        }
     }
 }

src/Khd.Core.Domain/Auth/SysMenu.cs

@@ -0,0 +1,20 @@
+using System.ComponentModel.DataAnnotations;
+using System.ComponentModel.DataAnnotations.Schema;
+
+namespace Khd.Core.Domain.Auth
+{
+    [Table("wcs_sys_menu")]
+    public class SysMenu
+    {
+        [Key]
+        [Column("OBJID")]
+        public long? OBJID { get; set; }
+
+        [Column("MENU_NAME")]
+        public string MenuName { get; set; }
+
+        [Column("MENU_VISIBLE")]
+        public int MenuVisble { get; set; }
+
+    }
+}

src/Khd.Core.Domain/Auth/SysRole.cs

@@ -0,0 +1,19 @@
+using System.ComponentModel.DataAnnotations;
+using System.ComponentModel.DataAnnotations.Schema;
+
+namespace Khd.Core.Domain.Auth
+{
+    [Table("wcs_sys_user_role")]
+    public class SysRole
+    {
+        [Key]
+        [Column("OBJID")]
+        public long? OBJID { get; set; }
+
+        [Column("USER_ID")]
+        public long? UserId { get; set; }
+
+        [Column("ROLE_ID")]
+        public long? RoleId { get; set; }
+    }
+}

src/Khd.Core.Domain/Auth/SysUser.cs

@@ -0,0 +1,32 @@
+using System;
+using System.ComponentModel.DataAnnotations;
+using System.ComponentModel.DataAnnotations.Schema;
+
+namespace Khd.Core.Domain.Auth
+{
+    [Table("wcs_sys_user")]
+    public class SysUser
+    {
+        [Key]
+        [Column("OBJID")]
+        public long? OBJID { get; set; }
+
+        [Column("USER_NAME")]
+        public string UserName { get; set; }
+
+        [Column("NICK_NAME")]
+        public string NickName { get; set; }
+
+        [Column("STATUS")]
+        public int Status { get; set; }
+
+        [Column("USER_PWD")]
+        public string Password { get; set; }
+
+        [Column("create_by")]
+        public string createBy { get; set; }
+
+        [Column("create_time")]
+        public DateTime? createTime { get; set; }
+    }
+}

src/Khd.Core.Domain/Dto/agv/WcsAgvStatus.cs

@@ -0,0 +1,50 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel.DataAnnotations;
+using System.ComponentModel.DataAnnotations.Schema;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Khd.Core.Domain.Dto.agv
+{
+    [Table("wcs_agv_status")]
+    public class WcsAgvStatus
+    {
+        [Column("id")]
+        public int Id { get; set; }
+        [Column("battery")]
+        public string Battery { get; set; }
+        [Column("exclType")]
+        public string ExclType { get; set; }
+        [Column("mapCode")]
+        public string MapCode { get; set; }
+        [Column("online")]
+        public string Online { get; set; }
+        [Column("path")]
+        public string Path { get; set; }
+        [Column("podCode")]
+        public string PodCode { get; set; }
+        [Column("podDir")]
+        public string PodDir { get; set; }
+        [Column("posX")]
+        public string PosX { get; set; }
+        [Column("posY")]
+        public string PosY { get; set; }
+        [Key]
+        [Column("robotCode")]
+        public string RobotCode { get; set; }
+        [Column("robotDir")]
+        public string RobotDir { get; set; }
+        [Column("robotIp")]
+        public string robotIp { get; set; }
+        [Column("speed")]
+        public string Speed { get; set; }
+        [Column("status")]
+        public string Status { get; set; }
+        [Column("stop")]
+        public string Stop { get; set; }
+        [Column("timestamp")]
+        public DateTime Timestamp { get; set; }
+    }
+}

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

@@ -1,10 +1,4 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace Khd.Core.Domain.Dto.webapi
+namespace Khd.Core.Domain.Dto.webapi
 {
     public class AgvCompeleted
     {

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

@@ -1,8 +1,4 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
+using System.Collections.Generic;
 
 namespace Khd.Core.Domain.Dto.webapi
 {

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

@@ -0,0 +1,8 @@
+namespace Khd.Core.Domain.Dto.webapi
+{
+    public class CallMaterial
+    {
+        public string rawOutstockId { get; set; }
+        public string method { get; set; }
+    }
+}

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

@@ -67,7 +67,7 @@ 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>

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

@@ -17,6 +17,9 @@ namespace Khd.Core.Domain.Models
     [Table("wcs_base_equip")]
     public class BaseEquip
     {
+        [Column("container_no")]
+        public string containerNo { get; set; }
+
         [Column("empty_count")]
         public int? emptyCount { get; set; }
 

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

@@ -1,10 +1,4 @@
-using System;
-using System.Collections.Generic;
-using System.ComponentModel.DataAnnotations.Schema;
-using System.Linq;
-using System.Runtime.InteropServices;
-using System.Text;
-using System.Threading.Tasks;
+using System.ComponentModel.DataAnnotations.Schema;
 
 namespace Khd.Core.Domain.Models
 {

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

@@ -1,11 +1,6 @@
 using System;
-using System.Collections.Generic;
 using System.ComponentModel.DataAnnotations;
 using System.ComponentModel.DataAnnotations.Schema;
-using System.Linq;
-using System.Runtime.Serialization;
-using System.Text;
-using System.Threading.Tasks;
 
 namespace Khd.Core.Domain.Models
 {

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

@@ -1,9 +1,4 @@
-using System;
-using System.Collections.Generic;
-using System.ComponentModel.DataAnnotations.Schema;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
+using System.ComponentModel.DataAnnotations.Schema;
 
 namespace Khd.Core.Domain.Models
 {

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

@@ -17,6 +17,7 @@ namespace Khd.Core.Domain.Models
     [Table("wcs_task")]
     public class WcsTask
     {
+
         [Column("from_floor_no")]
         public int? fromFloorNo { get; set; }
 
@@ -91,7 +92,7 @@ namespace Khd.Core.Domain.Models
         /// 物料号
         /// </summary>
         [Column("material_no")]
-        public string? materialNo { get; set; }
+        public string? materialBarcode { get; set; }
 
         /// <summary>
         /// 数量
@@ -99,17 +100,17 @@ namespace Khd.Core.Domain.Models
         [Column("qty")]
         public int? qty { get; set; }
 
-        /// <summary>
-        /// 起始点编号
-        /// </summary>
-        [Column("start_point_no")]
-        public string startPointNo { get; set; }
+        ///// <summary>
+        ///// 起始点编号
+        ///// </summary>
+        //[Column("start_point_no")]
+        //public string startPointNo { get; set; }
 
-        /// <summary>
-        /// 起始点id
-        /// </summary>
-        [Column("start_point_id")]
-        public long? startPointId { get; set; }
+        ///// <summary>
+        ///// 起始点id
+        ///// </summary>
+        //[Column("start_point_id")]
+        //public long? startPointId { get; set; }
 
         /// <summary>
         /// 当前点编号

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

@@ -91,7 +91,7 @@ namespace Khd.Core.Domain.Models
         /// 物料号
         /// </summary>
         [Column("material_no")]
-        public string? materialNo { get; set; }
+        public string? materialBarcode { get; set; }
 
         /// <summary>
         /// 数量

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

@@ -1,10 +1,6 @@
 using System;
-using System.Collections.Generic;
-using System.ComponentModel.DataAnnotations.Schema;
 using System.ComponentModel.DataAnnotations;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
+using System.ComponentModel.DataAnnotations.Schema;
 
 namespace Khd.Core.Domain.Models
 {
@@ -85,7 +81,7 @@ namespace Khd.Core.Domain.Models
         /// 物料号
         /// </summary>
         [Column("material_no")]
-        public string? materialNo { get; set; }
+        public string? materialBarcode { get; set; }
 
         /// <summary>
         /// 数量

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

@@ -67,7 +67,7 @@ namespace Khd.Core.Domain.Models
         public int? locColumn { get; set; }
 
         /// <summary>
-        /// 深位
+        /// 深位1 浅位2
         /// </summary>
         [Column("loc_deep")]
         public int? locDeep { get; set; }

src/Khd.Core.EntityFramework/DefaultDbContext.cs

@@ -1,4 +1,4 @@
-using Khd.Core.Domain.Dto.wcs;
+using Khd.Core.Domain.Auth;
 using Khd.Core.Domain.Models;
 using Microsoft.EntityFrameworkCore;
 
@@ -9,6 +9,10 @@ namespace Khd.Core.EntityFramework
         public DefaultDbContext(DbContextOptions<DefaultDbContext> options) : base(options)
         {
         }
+        public DbSet<SysUser> SysUser { get; set; }
+        public DbSet<SysRole> SysRole { get; set; }
+        public DbSet<SysMenu> SysMenu { get; set; }
+
         public DbSet<MesBaseMaterialInfo> MesBaseMaterialInfo { get; set; }
         public DbSet<WmsRawReturn> WmsRawReturn { get; set; }
         public DbSet<WcsTaskManual> WcsTaskManual { get; set; }

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

@@ -1,9 +1,5 @@
 using Mapster;
 using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 
 namespace Khd.Core.Library.Mapper
 {
@@ -18,7 +14,7 @@ namespace Khd.Core.Library.Mapper
         /// <exception cref="ArgumentNullException"> Thrown when source is null. </exception>
         public static TDestination Map<TDestination>(object source)
         {
-            if(source == null) 
+            if (source == null)
                 throw new ArgumentNullException("Map Error : source is null");
             TypeAdapterConfig config = new TypeAdapterConfig();
 

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

@@ -261,6 +261,6 @@ namespace Khd.Core.Plc.S7
             return package.ToArray();
         }
 
-   
+
     }
 }

src/Khd.Core.Plc/StaticPlcHelper.cs

@@ -1,8 +1,4 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
+using System.Text;
 
 namespace Khd.Core.Plc
 {

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

@@ -5,7 +5,7 @@ namespace Khd.Core.Wcs
     public class HttpHelper
     {
 
-        public static string SendPostMessage(string ip, int port, string url, string message,string contentType="application/Text")
+        public static string SendPostMessage(string ip, int port, string url, string message, string contentType = "application/Text")
         {
             string retsult = HttpPost("http://" + ip + ":" + port + "/" + url, message, contentType, 30, null);
             return retsult;

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

@@ -38,7 +38,7 @@ namespace Khd.Core.Wcs.Global
         public static List<BaseDictionary> BaseDictionary = new List<BaseDictionary>();
 
         private static object baseEquipLock = new object();
-        private static List<BaseEquip> _baseEquip= new List<BaseEquip>();
+        private static List<BaseEquip> _baseEquip = new List<BaseEquip>();
         public static List<BaseEquip> BaseEquip
         {
             get
@@ -62,8 +62,8 @@ namespace Khd.Core.Wcs.Global
         public static List<WcsInWareOrder> WcsInWareOrder = new List<WcsInWareOrder>();
         public static List<WcsOutWareOrder> WcsOutWareOrder = new List<WcsOutWareOrder>();
         public static List<BasePlc> basePlcs = new List<BasePlc>();
-        public static List<PlcConfig> PlcConfigs { get;  set; }
-        public static Dictionary<int,Dictionary<string,PlcPoint>> PlcPoints = new Dictionary<int, Dictionary<string, PlcPoint>>();
+        public static List<PlcConfig> PlcConfigs { get; set; }
+        public static Dictionary<int, Dictionary<string, PlcPoint>> PlcPoints = new Dictionary<int, Dictionary<string, PlcPoint>>();
         public static Dictionary<int, Plc.S7.Plc> PlcDic = new Dictionary<int, Plc.S7.Plc>();
         public static JcSnowId SnowId = new JcSnowId();
     }

src/Khd.Core.Wcs/MainCentralControl.cs

@@ -1,15 +1,10 @@
-using Khd.Core.Domain.Models;
-using Khd.Core.EntityFramework;
-using Khd.Core.Plc;
-using Khd.Core.Plc.S7;
+using Khd.Core.EntityFramework;
 using Khd.Core.Wcs.Global;
 using Khd.Core.Wcs.Wcs;
 using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
 using System.Data;
-using System.Net.Http.Headers;
-using System.Text;
 using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs
@@ -37,7 +32,7 @@ namespace Khd.Core.Wcs
         public void Start()
         {
 
-          
+
             try
             {
                 using var scope = _host.Services.CreateScope();
@@ -51,9 +46,8 @@ namespace Khd.Core.Wcs
                 WcsMoRenQuXiang = StaticPlcHelper.GetValue("2", "1");
                 StaticData.BasePlcpointList = dbContext.BasePlcpoint.Where(t => t.isDelete == 0).ToList();
                 StaticData.BaseEquip = dbContext.BaseEquip.ToList();
-                //StaticData.basePlcs = dbContext.BasePlc.ToList();
                 StaticData.BaseDictionary = dbContext.BaseDictionary.ToList();
-               
+
                 foreach (var plcConfig in StaticData.PlcConfigs)
                 {
                     if (!StaticData.PlcDic.Any(t => t.Key == plcConfig.Code))
@@ -72,10 +66,10 @@ namespace Khd.Core.Wcs
                         StaticData.PlcDic.TryAdd(plcConfig.Code, plc);
                     }
                 }
-                //SystemTimer systemTimer = new SystemTimer(_host);
-                //systemTimer.Start();
+                SystemTimer systemTimer = new SystemTimer(_host);
+                systemTimer.Start();
                 //创建任务
-                CreateTaskByRecord createTaskByRecord = new(_host, "");
+                CreateTaskByRecord createTaskByRecord = new(_host);
                 createTaskByRecord.StartPoint();
 
                 ////一楼提升机以及接驳位
@@ -87,10 +81,10 @@ namespace Khd.Core.Wcs
                 //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();
@@ -102,10 +96,10 @@ namespace Khd.Core.Wcs
                 //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();
+                //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();

src/Khd.Core.Wcs/SystemData.cs

@@ -1,14 +1,11 @@
 using Khd.Core.EntityFramework;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 
 namespace Khd.Core.Wcs
 {
     public class SystemData
     {
+        public readonly static int maxTray = 10;
+
         private static long _serialNo { get; set; } = 1;
 
         private static object serialLock = new object();

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

@@ -1,15 +1,11 @@
-using Khd.Core.Application;
-using Khd.Core.Application.Interface;
-using Khd.Core.Domain.Models;
+using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
 using Khd.Core.Library.Mapper;
-using Khd.Core.Plc;
 using Khd.Core.Plc.S7;
 using Khd.Core.Wcs.Global;
 using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
-using System.Diagnostics;
 using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs.Wcs
@@ -56,6 +52,7 @@ namespace Khd.Core.Wcs.Wcs
         /// 提升机反馈流水号
         /// </summary>
         private readonly BasePlcpoint reserialno06;
+        private readonly BasePlcpoint mesClose;
 
 
 
@@ -72,6 +69,7 @@ namespace Khd.Core.Wcs.Wcs
 
             //一楼提升机流水号 读
             this.serialno06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("serialno06"));
+            this.mesClose = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("mesclose"));
             this.automatic = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("automatic"));
             //一楼提升机状态 读
             this.equipstate06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("equipstate06"));
@@ -132,50 +130,32 @@ namespace Khd.Core.Wcs.Wcs
                     int firstFloorCount = dbContext.WcsTask.Where(t => t.currPointId == 1).Count();
                     if (Convert.ToInt32(linesignal) == 0 && taskCount == 0 && firstFloorCount == 0)
                     {
-                        WcsTaskManual? wcsTaskManual = dbContext.WcsTaskManual.Where(t => t.nextPointId == 40).FirstOrDefault();
-                        if (wcsTaskManual != null)
+                        bool canSend = dbContext.WcsTask.Where(t => t.floorNo == 1).Where(t => t.taskStatus > 0).Any();
+                        if (!canSend)
                         {
-                            if (wcsTaskManual.taskType == 58)
+                            WcsTaskManual? wcsTaskManual = dbContext.WcsTaskManual.Where(t => t.nextPointId == 40).FirstOrDefault();
+                            if (wcsTaskManual != null)
                             {
-                                this._plc.WriteToPoint(oneOutPoint.plcpointAddress, "1", oneOutPoint.plcpointLength.ToString());
-                                WcsTask wcsTask = CoreMapper.Map<WcsTask>(wcsTaskManual);
-                                wcsTask.createTime = DateTime.Now;
-                                wcsTask.createBy = "一楼接驳位线程";
-                                wcsTask.taskStatus = 0;
-                                wcsTask.useFlag = 0;
-                                wcsTask.isEmpty = "1";
-                                wcsTask.remark = "一楼创建入库任务";
-                                WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
-                                mdjEquip.emptyCount -= 1;
-                                if (mdjEquip.emptyCount <= 0)
+                                if (wcsTaskManual.taskType == 53)
                                 {
+                                    this._plc.WriteToPoint(someOutPoint.plcpointAddress, "1", someOutPoint.plcpointLength.ToString());
+                                    WcsTask wcsTask = CoreMapper.Map<WcsTask>(wcsTaskManual);
+                                    wcsTask.createTime = DateTime.Now;
+                                    wcsTask.createBy = "一楼接驳位线程";
+                                    wcsTask.taskStatus = 0;
+                                    wcsTask.useFlag = 1;
+                                    wcsTask.isEmpty = "1";
+                                    wcsTask.qty = mdjEquip.emptyCount;
+                                    wcsTask.remark = "一楼创建入库任务";
+                                    WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
                                     mdjEquip.emptyCount = 0;
+                                    dbContext.Update(mdjEquip);
+                                    dbContext.Add(wcsTaskLog);
+                                    dbContext.Add(wcsTask);
+                                    dbContext.SaveChanges();
+                                    LogManager.Info("一楼接驳位线程：空托盘任务下发成功");
+                                    Console.WriteLine(DateTime.Now + ":一楼接驳位线程：空托盘任务下发成功");
                                 }
-                                dbContext.Update(mdjEquip);
-                                dbContext.Add(wcsTaskLog);
-                                dbContext.Add(wcsTask);
-                                dbContext.SaveChanges();
-                                LogManager.Info("一楼接驳位线程：空托盘任务下发成功");
-                                Console.WriteLine(DateTime.Now + ":一楼接驳位线程：空托盘任务下发成功");
-                            }
-                            else if (wcsTaskManual.taskType == 61)
-                            {
-                                this._plc.WriteToPoint(someOutPoint.plcpointAddress, "1", someOutPoint.plcpointLength.ToString());
-                                WcsTask wcsTask = CoreMapper.Map<WcsTask>(wcsTaskManual);
-                                wcsTask.createTime = DateTime.Now;
-                                wcsTask.createBy = "一楼接驳位线程";
-                                wcsTask.taskStatus = 0;
-                                wcsTask.useFlag = 1;
-                                wcsTask.isEmpty = mdjEquip.emptyCount.ToString();
-                                wcsTask.remark = "一楼创建入库任务";
-                                WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
-                                mdjEquip.emptyCount = 0;
-                                dbContext.Update(mdjEquip);
-                                dbContext.Add(wcsTaskLog);
-                                dbContext.Add(wcsTask);
-                                dbContext.SaveChanges();
-                                LogManager.Info("一楼接驳位线程：空托盘任务下发成功");
-                                Console.WriteLine(DateTime.Now + ":一楼接驳位线程：空托盘任务下发成功");
                             }
                         }
                     }
@@ -188,12 +168,32 @@ namespace Khd.Core.Wcs.Wcs
             }
         }
 
+        private bool ReadEmptyLocation()
+        {
+            var oneOutPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "oneOut");
+            var someOutPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "someOut");
+            var oneInPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "oneIn");
+            var someInPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "someIn");
+            var oneOutValue = this._plc.Read(oneOutPoint.plcpointAddress);
+            var someOutValue = this._plc.Read(someOutPoint.plcpointAddress);
+            var oneInValue = this._plc.Read(oneInPoint.plcpointAddress);
+            var someInValue = this._plc.Read(someInPoint.plcpointAddress);
+            if (oneOutValue != null && someOutValue != null && oneInValue != null && someInValue != null)
+            {
+                if (Convert.ToInt32(oneOutValue) == 0 && Convert.ToInt32(someOutValue) == 0 && Convert.ToInt32(oneInValue) == 0 && Convert.ToInt32(someInValue) == 0)
+                {
+                    return true;
+                }
+            }
+            return false;
+        }
+
         /// <summary>
         /// 启动一楼接驳位线程
         /// </summary>
         private void FirstFloorLine()
         {
-            List<int?> Itpyes = new() { 1, 3, 5, 7 };
+            List<int?> Outtpyes = new() { 2, 4, 8, 6 };
             using var scope = _host.Services.CreateScope();
             using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
             while (true)
@@ -207,6 +207,7 @@ namespace Khd.Core.Wcs.Wcs
                     if (linesignal01Value != null && RFID001Value != null)
                     {
                         //正常托盘到位
+                        BaseEquip baseEquip = dbContext.BaseEquip.First(t => t.objid == 1);
                         if (Convert.ToInt32(linesignal01Value) == 1)
                         {
                             //判断task表里没有该rfid的未完成的入库
@@ -216,24 +217,39 @@ namespace Khd.Core.Wcs.Wcs
                             {
                                 //根据托盘号获取物料码
                                 var material = dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value).FirstOrDefault();
+                                WcsTaskLog? taskLog = dbContext.WcsTaskLog.Where(t => t.containerNo == RFID001Value).OrderByDescending(t => t.createTime).FirstOrDefault();
+
                                 if (material != null)
                                 {
-                                    var lastTask = dbContext.WcsTaskLog.Where(t => t.containerNo == RFID001Value).OrderByDescending(t => t.createTime).FirstOrDefault();
-                                    if (lastTask != null)
-
+                                    if (taskLog != null)
                                     {
-                                        if (lastTask.materialId == material.materialId && lastTask.ud3 != "10")
+                                        if (taskLog.materialBarcode == material.materialBarcode)
                                         {
-                                            lastTask.ud2 = "1";
-                                            lastTask.ud3 = "1";
-                                            dbContext.Update(lastTask);
-                                            dbContext.SaveChanges();
-                                            LogManager.Info("一楼接驳位线程：托盘" + RFID001Value + "绑定信息未更新，请人工确认是否再次入库");
-                                            Console.WriteLine(DateTime.Now + ":一楼接驳位线程：托盘" + RFID001Value + "绑定信息未更新，请人工确认是否再次入库");
-                                            Thread.Sleep(3000);
-                                            continue;
+                                            if (baseEquip.containerNo == "0")
+                                            {
+                                                baseEquip.containerNo = null;
+                                                dbContext.Update(baseEquip);
+                                                dbContext.SaveChanges();
+                                                LogManager.Info("一楼接驳位线程：托盘" + RFID001Value + "解绑信息更新成功");
+                                            }
+                                            else if (baseEquip.containerNo != RFID001Value)
+                                            {
+                                                baseEquip.containerNo = RFID001Value;
+                                                dbContext.Update(baseEquip);
+                                                dbContext.SaveChanges();
+                                                LogManager.Info("一楼接驳位线程：托盘" + RFID001Value + "绑定信息更新成功");
+                                                Console.WriteLine(DateTime.Now + ":一楼接驳位线程：托盘" + RFID001Value + "绑定信息更新成功");
+                                                Thread.Sleep(3000);
+                                                continue;
+                                            }
+                                            else
+                                            {
+                                                Thread.Sleep(3000);
+                                                continue;
+                                            }
                                         }
                                     }
+
                                     var warehouseId = dbContext.WmsWarehouseMaterial.Where(t => t.storageType == "1" && t.storageId == material.materialId).FirstOrDefault()?.warehouseId;
                                     if (warehouseId != null)
                                     {
@@ -253,11 +269,9 @@ namespace Khd.Core.Wcs.Wcs
                                                     taskType = Convert.ToInt32(dic.dicValue),
                                                     taskStatus = 0,
                                                     containerNo = RFID001Value,
-                                                    materialNo = material.materialCode,
+                                                    materialBarcode = material.materialBarcode,
                                                     materialId = material.materialId,
                                                     qty = Convert.ToInt32(material.bindAmount),
-                                                    startPointId = F01,
-                                                    startPointNo = "TSJ_01",
                                                     currPointId = F01,
                                                     currPointNo = "TSJ_01",
                                                     nextPointId = T01,
@@ -279,15 +293,20 @@ namespace Khd.Core.Wcs.Wcs
                                     }
                                 }
                             }
-                            else if (Itpyes.Contains(task.taskType))//按照正常任务下发
+                            else if (string.IsNullOrEmpty(task.containerNo))//按照正常任务下发
                             {
                                 if (task.nextPointId != T01)
                                 {
+                                    task.containerNo = RFID001Value;
                                     task.currPointId = F01;
                                     task.currPointNo = "TSJ_01";
                                     task.nextPointId = T01;
                                     task.nextPointNo = "TSJ_01";
                                     task.taskStatus = 0;
+                                    if (task.createBy == "wpf")
+                                    {
+                                        task.useFlag = 0;
+                                    }
                                     task.updateBy = "一楼接驳位线程";
                                     task.updateTime = DateTime.Now;
                                     task.remark = "一楼创建入库任务";
@@ -298,43 +317,19 @@ namespace Khd.Core.Wcs.Wcs
                                 }
                             }
                             //出库
-                            else
+                            else if (Outtpyes.Contains(task.taskType))
                             {
-                                dbContext.WcsTask.Where(t => t.objid == task.objid).Delete();
-                                dbContext.WcsTaskLog.Where(t => t.objid == task.objid).Update(t => new WcsTaskLog { taskStatus = 4 });
-                                //没有绑定信息
-
-                                //WmsProductOutstock? wmsProductOutstock = dbContext.WmsProductOutstock.FirstOrDefault(t => t.palletInfoCode == RFID001Value&& t.executeStatus =="1");
-                                //WmsRawOutstock? wmsRawOutstock = dbContext.WmsRawOutstock.FirstOrDefault(t => t.palletInfoCode == RFID001Value && t.executeStatus == "1");
-                                //if (wmsProductOutstock != null || wmsRawOutstock != null)
-                                //{
-                                //    //清空托盘绑定
-                                //    var material = dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value).FirstOrDefault();
-                                //    if (material != null)
-                                //    {
-                                //        material.bindAmount = 0;
-                                //        material.materialBarcode = null;
-                                //        material.materialCode = null;
-                                //        material.materialId = null;
-                                //        material.materialName = null;
-                                //        material.updateBy = "WCS";
-                                //        material.updateTime = DateTime.Now;
-                                //        dbContext.Update(material);
-                                //        if (wmsRawOutstock != null)
-                                //        {
-                                //            wmsRawOutstock.executeStatus = "2";
-                                //            dbContext.Update(wmsRawOutstock);
-                                //        }
-                                //        else if(wmsProductOutstock != null)
-                                //        {
-                                //            wmsProductOutstock.executeStatus = "2";
-                                //            dbContext.Update(wmsProductOutstock);
-                                //        }
-                                //        //dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value).Delete();
-                                //        dbContext.SaveChanges();
-
-                                //    }
-                                //}
+                                MesBasePalletInfo? mesBasePalletInfo = dbContext.MesBasePalletInfo.FirstOrDefault(t => t.palletInfoCode == task.containerNo);
+                                if (mesBasePalletInfo != null)
+                                {
+                                    dbContext.WcsTask.Where(t => t.objid == task.objid).Delete();
+                                    dbContext.WcsTaskLog.Where(t => t.objid == task.objid).Update(t => new WcsTaskLog { taskStatus = 4, materialBarcode = mesBasePalletInfo.materialBarcode });
+                                }
+                                else
+                                {
+                                    dbContext.WcsTask.Where(t => t.objid == task.objid).Delete();
+                                    dbContext.WcsTaskLog.Where(t => t.objid == task.objid).Update(t => new WcsTaskLog { taskStatus = 4 });
+                                }
                             }
                         }
                     }
@@ -363,142 +358,171 @@ 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
                 {
-                    using var scope = _host.Services.CreateScope();
-                    using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+                    var mesCloseValue = this._plc.Read(this.mesClose.plcpointAddress);  //MES关闭状态 读
                     var serialno06Value = this._plc.Read(this.serialno06.plcpointAddress);  //提升机流水号 读
                     var equipstate06Value = this._plc.Read(this.equipstate06.plcpointAddress); //提升机状态 读
                     var hoisterTrayIn06Value = this._plc.Read(this.hoistertrayin06.plcpointAddress);      //提升机货物到位状态 读
                     var currentfloor06Value = this._plc.Read(this.currentfloor06.plcpointAddress);   //提升机当前楼层 读
                     var targetfloor06Value = this._plc.Read(this.targetfloor06.plcpointAddress);  //提升机目的楼层 写
                     var reserialno06 = this._plc.Read(this.reserialno06.plcpointAddress);  //反馈流水号
-
-                    //正常读到plc值
-                    if (targetfloor06Value != null && serialno06Value != null && equipstate06Value != null && currentfloor06Value != null && reserialno06 != null && hoisterTrayIn06Value != null)
+                    if (mesCloseValue != null && Convert.ToInt32(mesCloseValue) == 0)
                     {
-                        //提升机空闲
-                        if (Convert.ToInt32(equipstate06Value) == 0)
+                        //正常读到plc值
+                        if (targetfloor06Value != null && serialno06Value != null && equipstate06Value != null && currentfloor06Value != null && reserialno06 != null && hoisterTrayIn06Value != null)
                         {
-                            var wcsTasks = dbContext.WcsTask.Where(t => t.nextPointId == T01).OrderBy(t => t.createTime).ToList();
-                            foreach (var wcsTask in wcsTasks)
+                            //提升机空闲
+                            if (Convert.ToInt32(equipstate06Value) == 0)
                             {
-                                if (wcsTasks.Where(t => t.taskStatus > 0).Where(t => t.objid != wcsTask.objid).Any())
+                                dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
+                                var wcsTasks = dbContext.WcsTask.Where(t => t.nextPointId == T01).OrderBy(t => t.createTime).ToList();
+                                foreach (var wcsTask in wcsTasks)
                                 {
-                                    LogManager.Info("提升机线程：有其他任务正在执行，跳过当前任务");
-                                    continue;
-                                }
-                                BaseEquip lineEquip = StaticData.BaseEquip.First(t => t.objid == wcsTask.floorNo);
-                                if (wcsTask.taskStatus == 0 && Convert.ToInt32(hoisterTrayIn06Value) == 0)//创建状态，并且里面没有货物
-                                {
-                                    if (lineEquip.equipStatus == 1)
+                                    if (wcsTasks.Where(t => t.taskStatus > 0).Where(t => t.objid != wcsTask.objid).Any())
                                     {
-                                        LogManager.Info("提升机线程：" + wcsTask.floorNo + "楼接驳位有AGV任务，跳过当前任务");
+                                        LogManager.Info("提升机线程：有其他任务正在执行，跳过当前任务");
                                         continue;
                                     }
-                                    BasePlcpoint floorPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "RFID00" + wcsTask.fromFloorNo);
-                                    if (wcsTask.containerNo == this._plc.ReadRFID(floorPoint.plcpointAddress))
+                                    BaseEquip lineEquip = StaticData.BaseEquip.First(t => t.objid == wcsTask.floorNo);
+                                    if (wcsTask.taskStatus == 0 && Convert.ToInt32(hoisterTrayIn06Value) == 0)//创建状态，并且里面没有货物
                                     {
-                                        if (Convert.ToInt32(currentfloor06Value) == wcsTask.fromFloorNo)
+                                        if (lineEquip.equipStatus == 1)
                                         {
-                                            wcsTask.taskStatus = 2;
+                                            LogManager.Info("提升机线程：" + wcsTask.floorNo + "楼接驳位有AGV任务，跳过当前任务");
+                                            continue;
+                                        }
+                                        BasePlcpoint floorPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "RFID00" + wcsTask.fromFloorNo);
+                                        if (wcsTask.containerNo == this._plc.ReadRFID(floorPoint.plcpointAddress))
+                                        {
+                                            if (Convert.ToInt32(currentfloor06Value) == wcsTask.fromFloorNo)
+                                            {
+                                                wcsTask.taskStatus = 2;
+                                                wcsTask.updateBy = "提升机线程";
+                                                wcsTask.updateTime = DateTime.Now;
+                                                wcsTask.remark = "提升机任务执行中";
+                                                BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.fromFloorNo && t.plcpointNo.Contains("wcsrun"));
+                                                this._plc.WriteToPoint(basePlcpoint.plcpointAddress, "1", basePlcpoint.plcpointLength.ToString());
+                                                this._plc.WriteToPoint(this.serialno06.plcpointAddress, wcsTask.serialNo.ToString(), this.serialno06.plcpointLength.ToString());
+                                                dbContext.Update(wcsTask);
+                                                dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 2, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行中" });
+                                                lineEquip.equipStatus = 1;
+                                                dbContext.Update(lineEquip);
+                                                dbContext.SaveChanges();
+                                            }
+                                            else
+                                            {
+                                                wcsTask.taskStatus = 1;
+                                                wcsTask.updateBy = "提升机线程";
+                                                wcsTask.updateTime = DateTime.Now;
+                                                wcsTask.remark = "提升机任务执行中";
+                                                this._plc.WriteToPoint(this.targetfloor06.plcpointAddress, wcsTask.fromFloorNo.ToString(), this.targetfloor06.plcpointLength.ToString());//目的地楼层
+                                                this._plc.WriteToPoint(this.serialno06.plcpointAddress, wcsTask.serialNo.ToString(), this.serialno06.plcpointLength.ToString());
+                                                dbContext.Update(wcsTask);
+                                                dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 1, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行中" });
+                                                lineEquip.equipStatus = 1;
+                                                dbContext.Update(lineEquip);
+                                                dbContext.SaveChanges();
+                                            }
+                                        }
+                                    }
+                                    if (wcsTask.taskStatus == 1 && Convert.ToInt32(reserialno06) == wcsTask.serialNo)
+                                    {
+                                        BasePlcpoint floorPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "RFID00" + wcsTask.fromFloorNo);
+                                        if (wcsTask.containerNo == this._plc.ReadRFID(floorPoint.plcpointAddress))
+                                        {
+                                            if (Convert.ToInt32(currentfloor06Value) == wcsTask.fromFloorNo)//提升机当前楼层为初始地楼层
+                                            {
+                                                wcsTask.taskStatus = 2;
+                                                wcsTask.updateBy = "提升机线程";
+                                                wcsTask.updateTime = DateTime.Now;
+                                                wcsTask.remark = "提升机任务执行中";
+                                                BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.fromFloorNo && t.plcpointNo.Contains("wcsrun"));
+                                                this._plc.WriteToPoint(basePlcpoint.plcpointAddress, "1", basePlcpoint.plcpointLength.ToString());
+                                                this._plc.WriteToPoint(this.serialno06.plcpointAddress, wcsTask.serialNo.ToString(), this.serialno06.plcpointLength.ToString());
+                                                dbContext.Update(wcsTask);
+                                                dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 2, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行中" });
+                                                dbContext.SaveChanges();
+                                            }
+                                        }
+                                    }
+                                    if (wcsTask.taskStatus == 2 && Convert.ToInt32(reserialno06) == wcsTask.serialNo)
+                                    {
+                                        if (Convert.ToInt32(hoisterTrayIn06Value) == 1)//托盘已经进提升机
+                                        {
+                                            wcsTask.taskStatus = 3;
                                             wcsTask.updateBy = "提升机线程";
                                             wcsTask.updateTime = DateTime.Now;
-                                            wcsTask.remark = "提升机任务执行中";
-                                            BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.fromFloorNo && t.plcpointNo.Contains("wcsrun"));
-                                            this._plc.WriteToPoint(basePlcpoint.plcpointAddress, "1", basePlcpoint.plcpointLength.ToString());
-                                            this._plc.WriteToPoint(this.serialno06.plcpointAddress, wcsTask.serialNo.ToString(), this.serialno06.plcpointLength.ToString());
+                                            wcsTask.remark = "提升机任务执行完成";
+                                            this._plc.WriteToPoint(this.targetfloor06.plcpointAddress, wcsTask.floorNo.ToString(), this.targetfloor06.plcpointLength.ToString());//目的地楼层
                                             dbContext.Update(wcsTask);
-                                            dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 2, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行中" });
-                                            lineEquip.equipStatus = 1;
-                                            dbContext.Update(lineEquip);
+                                            dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 3, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行完成" });
                                             dbContext.SaveChanges();
                                         }
+                                    }
+                                    if (wcsTask.taskStatus == 3 && Convert.ToInt32(currentfloor06Value) == wcsTask.floorNo && Convert.ToInt32(reserialno06) == wcsTask.serialNo)//任务状态为3，且当前楼层为任务的目的楼层
+                                    {
+                                        if (wcsTask.floorNo == 1)
+                                        {
+                                            if (ReadEmptyLocation())
+                                            {
+                                                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.ToString());//去向为2，表示提升机已到达目的地，让货出去
+                                                dbContext.Update(wcsTask);
+                                                dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 4, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行完成" });
+                                                dbContext.SaveChanges();
+                                            }
+                                        }
                                         else
                                         {
-                                            wcsTask.taskStatus = 1;
+                                            wcsTask.taskStatus = 4;
                                             wcsTask.updateBy = "提升机线程";
                                             wcsTask.updateTime = DateTime.Now;
-                                            wcsTask.remark = "提升机任务执行中";
-                                            this._plc.WriteToPoint(this.targetfloor06.plcpointAddress, wcsTask.fromFloorNo.ToString(), this.targetfloor06.plcpointLength.ToString());//目的地楼层
-                                            this._plc.WriteToPoint(this.serialno06.plcpointAddress, wcsTask.serialNo.ToString(), this.serialno06.plcpointLength.ToString());
-                                            dbContext.Update(wcsTask);
-                                            dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 1, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行中" });
-                                            lineEquip.equipStatus = 1;
-                                            dbContext.Update(lineEquip);
-                                            dbContext.SaveChanges();
-                                        }
-                                    }
-                                }
-                                if (wcsTask.taskStatus == 1 && Convert.ToInt32(reserialno06) == wcsTask.serialNo)
-                                {
-                                    BasePlcpoint floorPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "RFID00" + wcsTask.fromFloorNo);
-                                    if (wcsTask.containerNo == this._plc.ReadRFID(floorPoint.plcpointAddress))
-                                    {
-                                        if (Convert.ToInt32(currentfloor06Value) == wcsTask.fromFloorNo)//提升机当前楼层为初始地楼层
-                                        {
-                                            wcsTask.taskStatus = 2;
-                                            wcsTask.updateBy = "提升机线程";
-                                            wcsTask.updateTime = DateTime.Now;
-                                            wcsTask.remark = "提升机任务执行中";
+                                            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, "1", basePlcpoint.plcpointLength.ToString());
-                                            this._plc.WriteToPoint(this.serialno06.plcpointAddress, wcsTask.serialNo.ToString(), this.serialno06.plcpointLength.ToString());
+                                            this._plc.WriteToPoint(basePlcpoint.plcpointAddress, "2", basePlcpoint.plcpointLength.ToString());//去向为2，表示提升机已到达目的地，让货出去
                                             dbContext.Update(wcsTask);
-                                            dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 2, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行中" });
+                                            dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 4, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行完成" });
                                             dbContext.SaveChanges();
                                         }
                                     }
-                                }
-                                if (wcsTask.taskStatus == 2 && Convert.ToInt32(reserialno06) == wcsTask.serialNo)
-                                {
-                                    if (Convert.ToInt32(hoisterTrayIn06Value) == 1)//托盘已经进提升机
+                                    else if (wcsTask.taskStatus == 4)
                                     {
-                                        wcsTask.taskStatus = 3;
+                                        BaseEquip floorEquip = StaticData.BaseEquip.First(t => t.objid == wcsTask.floorNo);
+                                        wcsTask.nextPointId = floorEquip.objid;
+                                        wcsTask.nextPointNo = floorEquip.equipNo;
+                                        wcsTask.taskStatus = 5;
                                         wcsTask.updateBy = "提升机线程";
                                         wcsTask.updateTime = DateTime.Now;
                                         wcsTask.remark = "提升机任务执行完成";
-                                        this._plc.WriteToPoint(this.targetfloor06.plcpointAddress, wcsTask.floorNo.ToString(), this.targetfloor06.plcpointLength.ToString());//目的地楼层
+                                        lineEquip.equipStatus = 0;
+                                        dbContext.Update(lineEquip);
+                                        dbContext.SaveChanges();
                                         dbContext.Update(wcsTask);
-                                        dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 3, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行完成" });
+                                        dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 5, nextPointId = floorEquip.objid, nextPointNo = floorEquip.equipNo, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行完成" });
                                         dbContext.SaveChanges();
                                     }
+                                    break;
                                 }
-                                if (wcsTask.taskStatus == 3 && Convert.ToInt32(currentfloor06Value) == wcsTask.floorNo && Convert.ToInt32(reserialno06) == wcsTask.serialNo)//任务状态为3，且当前楼层为任务的目的楼层
-                                {
-                                    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.ToString());//去向为2，表示提升机已到达目的地，让货出去
-                                    dbContext.Update(wcsTask);
-                                    dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 4, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行完成" });
-                                    dbContext.SaveChanges();
-                                }
-                                else if (wcsTask.taskStatus == 4)
-                                {
-                                    BaseEquip floorEquip = StaticData.BaseEquip.First(t => t.objid == wcsTask.floorNo);
-                                    wcsTask.nextPointId = floorEquip.objid;
-                                    wcsTask.nextPointNo = floorEquip.equipNo;
-                                    wcsTask.taskStatus = 5;
-                                    wcsTask.updateBy = "提升机线程";
-                                    wcsTask.updateTime = DateTime.Now;
-                                    wcsTask.remark = "提升机任务执行完成";
-                                    lineEquip.equipStatus = 0;
-                                    dbContext.Update(lineEquip);
-                                    dbContext.SaveChanges();
-                                    dbContext.Update(wcsTask);
-                                    dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 5, nextPointId = floorEquip.objid, nextPointNo = floorEquip.equipNo, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行完成" });
-                                    dbContext.SaveChanges();
-                                }
-                                break;
                             }
                         }
                     }
+                    else
+                    {
+                        if (currentfloor06Value != null && targetfloor06Value != null)
+                        {
+                            this._plc.WriteToPoint(this.targetfloor06.plcpointAddress, Convert.ToString(currentfloor06Value), this.targetfloor06.plcpointLength.ToString());
+                            continue;
+                        }
+                    }
                 }
                 catch (Exception ex)
                 {

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

@@ -1,5 +1,4 @@
-using Jc.SnowId;
-using Khd.Core.Domain.Dto.webapi;
+using Khd.Core.Domain.Dto.webapi;
 using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
 using Khd.Core.Library.Mapper;
@@ -9,8 +8,6 @@ using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
 using Newtonsoft.Json;
-using System.Diagnostics;
-using Thrift.Protocol;
 using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs.Wcs
@@ -77,7 +74,6 @@ namespace Khd.Core.Wcs.Wcs
                     var taskList = dbContext.WcsTask
                         .Where(t => t.useFlag == 1)
                         .Where(t => t.nextPointId == agvID).OrderBy(t => t.createTime).ToList();
-                    dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
                     foreach (var item in taskList)
                     {
                         if (taskList.Where(t => t.taskStatus > 0).Where(t => t.objid != item.objid).Any())
@@ -90,62 +86,62 @@ namespace Khd.Core.Wcs.Wcs
                             BaseDictionary baseDictionary = StaticData.BaseDictionary.First(t => t.objid == item.taskType);
                             if (item.taskType == 37)//入库任务
                             {
-                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
-                                BaseEquip currentEquip = StaticData.BaseEquip.First(t => t.floorNo == 5 && t.equipType == 1);
-                                WcsCmd wcsCmd = new()
-                                {
-                                    objid = StaticData.SnowId.NextId(),
-                                    cmdStatus = 0,
-                                    taskId = item.objid,
-                                    useFlag = 1,
-                                    cmdType = item.taskType,
-                                    containerNo = item.containerNo,
-                                    createTime = DateTime.Now,
-                                    createBy = FloorNo + "楼AGV",
-                                    currPointId = item.currPointId,
-                                    currPointNo = currentEquip.agvPositionCode,
-                                    nextPointId = item.endPointId,
-                                    nextPointNo = wmsBaseLocation.agvPositionCode,
-                                };
-                                var agvTask = new RequestAGVTaskDto
-                                {
-                                    reqCode = wcsCmd.objid.ToString(),
-                                    positionCodePath = new List<Position>
-                                    {
-                                        new ()
-                                        {
-                                            positionCode=wcsCmd.currPointNo,
-                                            type="00"
-                                        },
-                                        new ()
-                                        {
-                                            positionCode=wcsCmd.nextPointNo,
-                                            type="00"
-                                        }
-                                    },
-                                    taskTyp = baseDictionary.dicValue,
-                                    ctnrTyp = "2",
-                                };
-                                string message = JsonConvert.SerializeObject(agvTask);
-                                string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
-                                var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
-                                if (reponseMessage != null && reponseMessage.message == "成功")
-                                {
-                                    LogManager.Info("五楼Agv下发任务成功：" + message);
-                                    wcsCmd.taskCode = reponseMessage.data;
-                                    wcsCmd.cmdStatus = 1;
-                                    item.taskStatus = 1;
-                                    dbContext.Update(item);
-                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
-                                    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
-                                    dbContext.Add(wcsCmdLog);
-                                    dbContext.Add(wcsCmd);
-                                    dbContext.SaveChanges();
-                                }
-                                else
-                                {
-                                    LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
-                                }
+                                //WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
+                                //BaseEquip currentEquip = StaticData.BaseEquip.First(t => t.floorNo == 5 && t.equipType == 1);
+                                //WcsCmd wcsCmd = new()
+                                //{
+                                //    objid = StaticData.SnowId.NextId(),
+                                //    cmdStatus = 0,
+                                //    taskId = item.objid,
+                                //    useFlag = 1,
+                                //    cmdType = item.taskType,
+                                //    containerNo = item.containerNo,
+                                //    createTime = DateTime.Now,
+                                //    createBy = FloorNo + "楼AGV",
+                                //    currPointId = item.currPointId,
+                                //    currPointNo = currentEquip.agvPositionCode,
+                                //    nextPointId = item.endPointId,
+                                //    nextPointNo = wmsBaseLocation.agvPositionCode,
+                                //};
+                                //var agvTask = new RequestAGVTaskDto
+                                //{
+                                //    reqCode = wcsCmd.objid.ToString(),
+                                //    positionCodePath = new List<Position>
+                                //    {
+                                //        new ()
+                                //        {
+                                //            positionCode=wcsCmd.currPointNo,
+                                //            type="00"
+                                //        },
+                                //        new ()
+                                //        {
+                                //            positionCode=wcsCmd.nextPointNo,
+                                //            type="00"
+                                //        }
+                                //    },
+                                //    taskTyp = baseDictionary.dicValue,
+                                //    ctnrTyp = "2",
+                                //};
+                                //string message = JsonConvert.SerializeObject(agvTask);
+                                //string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                //var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                //if (reponseMessage != null && reponseMessage.message == "成功")
+                                //{
+                                //    LogManager.Info("五楼Agv下发任务成功：" + message);
+                                //    wcsCmd.taskCode = reponseMessage.data;
+                                //    wcsCmd.cmdStatus = 1;
+                                //    item.taskStatus = 1;
+                                //    dbContext.Update(item);
+                                //    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
+                                //    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                //    dbContext.Add(wcsCmdLog);
+                                //    dbContext.Add(wcsCmd);
+                                //    dbContext.SaveChanges();
+                                //}
+                                //else
+                                //{
+                                //    LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
+                                //}
                             }
                             else if (item.taskType == 38)//出库任务
                             {
@@ -161,7 +157,7 @@ namespace Khd.Core.Wcs.Wcs
                                     Console.WriteLine($"{DateTime.Now}:5楼接驳位上有货，无法下发Agv出库任务");
                                     continue;
                                 }
-                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
+                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
                                 BaseEquip nextEquip = StaticData.BaseEquip.First(t => t.floorNo == 5 && t.equipType == 1);
                                 WcsCmd wcsCmd = new()
                                 {
@@ -223,7 +219,7 @@ namespace Khd.Core.Wcs.Wcs
                             else if (item.taskType == 33)//原材料到背板安装
                             {
                                 BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == 30);
-                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
+                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
                                 WcsCmd wcsCmd = new()
                                 {
                                     objid = StaticData.SnowId.NextId(),
@@ -340,7 +336,7 @@ namespace Khd.Core.Wcs.Wcs
                             }
                             else if (item.taskType == 46)//原材料到拆分区
                             {
-                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
+                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
                                 BaseEquip currentEquip = StaticData.BaseEquip.First(t => t.objid == 29);
                                 WcsCmd wcsCmd = new()
                                 {
@@ -516,7 +512,7 @@ namespace Khd.Core.Wcs.Wcs
                                     LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
                                 }
                             }
-                            else if (item.taskType == 49)//移库
+                            else if (item.taskType == 66)//移库
                             {
                                 WmsBaseLocation fromBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
                                 WmsBaseLocation toBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
@@ -581,7 +577,7 @@ namespace Khd.Core.Wcs.Wcs
                             WcsCmd? wcsCmd = dbContext.WcsCmd.FirstOrDefault(t => t.taskId == item.objid);
                             if (wcsCmd != null)
                             {
-                              
+
                                 if (wcsCmd.cmdStatus == 3)
                                 {
                                     var agvTask = new RequestAGVTaskDto
@@ -608,14 +604,18 @@ namespace Khd.Core.Wcs.Wcs
                                     LogManager.Info("五楼叉车线程完成任务" + wcsCmd.objid);
                                     Console.WriteLine(DateTime.Now + ":五楼背负式AGV线程完成任务" + wcsCmd.currPointNo + "," + wcsCmd.nextPointNo);
                                     LogManager.Info("五楼Agv完成任务成功：" + wcsCmd.ToJsonString());
-                                    if (item.taskType == 49)
+                                    if (item.taskType == 66)
                                     {
                                         WmsBaseLocation fromBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
                                         WmsBaseLocation toBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
                                         fromBaseLocation.outstockFlag = "0";
                                         fromBaseLocation.locationStatus = "1";
+                                        fromBaseLocation.containerCode = null;
+                                        fromBaseLocation.updateTime = DateTime.Now;
                                         toBaseLocation.instockFlag = "0";
                                         toBaseLocation.locationStatus = "1";
+                                        toBaseLocation.containerCode = item.containerNo;
+                                        toBaseLocation.updateTime = DateTime.Now;
                                         var wmsRawStock = dbContext.WmsRawStock.Where(t => t.locationCode == fromBaseLocation.locationCode).FirstOrDefault();
                                         if (wmsRawStock != null)
                                         {
@@ -704,13 +704,13 @@ namespace Khd.Core.Wcs.Wcs
                                             dbContext.WmsProductStock.Where(t => t.locationCode == wmsBaseLocation.locationCode).Delete();
                                             BaseEquip floorLineEquip = StaticData.BaseEquip.First(t => t.equipType == 1 && t.floorNo == 5);
                                             WcsTask newTask = CoreMapper.Map<WcsTask>(item);
-                                            newTask.createTime=DateTime.Now;
+                                            newTask.createTime = DateTime.Now;
                                             newTask.nextPointId = floorLineEquip.objid;
                                             newTask.nextPointNo = floorLineEquip.equipNo;
                                             newTask.fromFloorNo = 5;
                                             newTask.floorNo = 1;
                                             newTask.taskStatus = 6;
-                                            newTask.objid=StaticData.SnowId.NextId();
+                                            newTask.objid = StaticData.SnowId.NextId();
                                             lineEquip.equipStatus = 0;
                                             dbContext.Update(lineEquip);
                                             dbContext.Add(newTask);
@@ -725,7 +725,7 @@ namespace Khd.Core.Wcs.Wcs
                                     }
                                     else if (item.taskType == 33)//原材料到背板安装
                                     {
-                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
+                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
                                         wmsBaseLocation.locationStatus = "1";
                                         wmsBaseLocation.outstockFlag = "0";
                                         wmsBaseLocation.containerCode = "";
@@ -782,7 +782,7 @@ namespace Khd.Core.Wcs.Wcs
                                                     planDetailCode = wmsProductInstock.planDetailCode,
                                                     warehouseId = 512
                                                 };
-                                                BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.startPointId);
+                                                BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
                                                 wmsProductInstockDetail.executeStatus = "2";
                                                 startEquip.emptyCount = 0;
                                                 dbContext.Update(wmsProductInstockDetail);
@@ -800,7 +800,7 @@ namespace Khd.Core.Wcs.Wcs
                                     }
                                     else if (item.taskType == 46)//该任务结束后，立刻生成一个新的返库任务，但是是否使用标志未0，等待mes通知
                                     {
-                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
+                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
                                         wmsBaseLocation.outstockFlag = "0";
                                         wmsBaseLocation.instockFlag = "1";
                                         wmsBaseLocation.locationStatus = "2";
@@ -817,13 +817,13 @@ namespace Khd.Core.Wcs.Wcs
                                             dbContext.Update(wmsBaseLocation);
                                             WcsTask newTask = CoreMapper.Map<WcsTask>(item);
                                             newTask.objid = StaticData.SnowId.NextId();
+                                            var currPointId = item.currPointId;
+                                            var currPointNo = item.currPointNo;
                                             newTask.currPointId = item.endPointId;
                                             newTask.currPointNo = item.endPointNo;
-                                            newTask.endPointId = item.startPointId;
-                                            newTask.endPointNo = item.startPointNo;
-                                            newTask.startPointId = item.currPointId;
+                                            newTask.endPointId = item.currPointId;
+                                            newTask.endPointNo = item.currPointNo;
                                             newTask.createTime = DateTime.Now;
-                                            newTask.startPointNo = item.currPointNo;
                                             newTask.taskType = 28;
                                             newTask.taskStatus = 0;
                                             newTask.useFlag = 0;
@@ -853,7 +853,6 @@ namespace Khd.Core.Wcs.Wcs
                                             wmsRawStock.completeFlag = "0";
                                             wmsRawStock.updateDate = DateTime.Now;
                                             wmsRawStock.updateBy = "WCS";
-                                            wmsRawStock.occupyAmount = 0;
                                             BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
                                             startEquip.emptyCount = 0;
                                             dbContext.Update(startEquip);

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

@@ -8,11 +8,6 @@ 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;
 using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs.Wcs
@@ -88,7 +83,7 @@ namespace Khd.Core.Wcs.Wcs
                     {
                         if (item.taskStatus == 0)//下发任务
                         {
-                            BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.startPointId);
+                            BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
                             BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
                             BaseDictionary baseDictionary = dbContext.BaseDictionary.First(t => t.objid == item.taskType);
                             WcsCmd wcsCmd = new()
@@ -101,7 +96,7 @@ namespace Khd.Core.Wcs.Wcs
                                 containerNo = item.containerNo,
                                 createTime = DateTime.Now,
                                 createBy = FloorNo + "楼AGV",
-                                currPointId = item.startPointId,
+                                currPointId = item.currPointId,
                                 currPointNo = startEquip.agvPositionCode,
                                 nextPointId = item.endPointId,
                                 nextPointNo = endEquip.agvPositionCode,
@@ -191,18 +186,27 @@ namespace Khd.Core.Wcs.Wcs
                                         {
                                             if (item.taskType == 48)
                                             {
-                                                dbContext.WmsRawReturn.Where(t => t.rawReturnId == item.orderId).Update(t => new WmsRawReturn { executeStatus = "2" });
+                                                WmsRawReturn? wmsRawReturn = dbContext.WmsRawReturn.Where(t => t.rawReturnId == item.orderId).FirstOrDefault();
+                                                if (wmsRawReturn != null)
+                                                {
+                                                    wmsRawReturn.executeStatus = "2";
+                                                    dbContext.Update(wmsRawReturn);
+                                                }
                                             }
-                                            else
+                                            else if (item.taskType == 32)
                                             {
-
+                                                WmsRawOutstock? wmsRawOutstock = dbContext.WmsRawOutstock.Where(t => t.rawOutstockId == item.orderId).FirstOrDefault();
+                                                if (wmsRawOutstock != null)
+                                                {
+                                                    wmsRawOutstock.executeStatus = "2";
+                                                    dbContext.Update(wmsRawOutstock);
+                                                }
                                             }
                                             dbContext.Remove(wcsCmd);
                                             dbContext.Remove(item);
                                             dbContext.SaveChanges();
-                                            dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog() { cmdStatus = 10 });
-                                            dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 10 });
-
+                                            dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog() { cmdStatus = 8 });
+                                            dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
                                         }
                                     }
                                 }

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

@@ -1,10 +1,7 @@
-using AngleSharp.Css.Dom;
-using Castle.Core.Logging;
-using Khd.Core.Domain.Dto.webapi;
+using Khd.Core.Domain.Dto.webapi;
 using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
 using Khd.Core.Library.Mapper;
-using Khd.Core.Plc;
 using Khd.Core.Plc.S7;
 using Khd.Core.Wcs.Global;
 using Masuit.Tools;
@@ -12,8 +9,6 @@ using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
 using Newtonsoft.Json;
-using System;
-using Thrift.Protocol;
 using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs.Wcs
@@ -123,7 +118,6 @@ namespace Khd.Core.Wcs.Wcs
                     var isArrive = this._plc.Read(isarrive.plcpointAddress);
                     var receiveMaterial = this._plc.Read(ReceiveMaterial.plcpointAddress);
                     var waring = this._plc.Read(CtuLineWaring.plcpointAddress);
-                    bool haveAny = dbContext.WcsTask.Where(t => t.nextPointId == 11).Any();
                     if (rfid != null && isArrive != null && receiveMaterial != null && Convert.ToInt32(receiveMaterial) == 1 && Convert.ToInt32(isArrive) == 1)
                     {
                         if (Convert.ToBoolean(waring))
@@ -146,8 +140,6 @@ namespace Khd.Core.Wcs.Wcs
                                     var wcsTask = new WcsTask()
                                     {
                                         objid = StaticData.SnowId.NextId(),
-                                        startPointId = baseEquip.objid,
-                                        startPointNo = baseEquip.agvPositionCode,
                                         currPointId = baseEquip.objid,
                                         currPointNo = baseEquip.agvPositionCode,
                                         nextPointId = ctuEquip.objid,
@@ -191,8 +183,6 @@ namespace Khd.Core.Wcs.Wcs
                                         var wcsTask = new WcsTask()
                                         {
                                             objid = StaticData.SnowId.NextId(),
-                                            startPointId = baseEquip.objid,
-                                            startPointNo = baseEquip.agvPositionCode,
                                             currPointId = baseEquip.objid,
                                             currPointNo = baseEquip.agvPositionCode,
                                             nextPointId = ctuEquip.objid,
@@ -229,12 +219,12 @@ namespace Khd.Core.Wcs.Wcs
                     }
                     else if (receiveMaterial != null && Convert.ToInt32(receiveMaterial) == 1)
                     {
-                        if (!IsStart && !haveAny)
+                        Task.Run(() =>
                         {
-                            Task.Run(() =>
+                            var receiveMaterial2 = this._plc.Read(ReceiveMaterial.plcpointAddress);
+                            while (receiveMaterial2 != null && Convert.ToInt32(receiveMaterial2) == 1)
                             {
-                                IsStart = true;
-                                Thread.Sleep(10000);
+                                receiveMaterial2 = this._plc.Read(ReceiveMaterial.plcpointAddress);
                                 lock (SystemData.outStockLock)
                                 {
                                     dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
@@ -247,10 +237,10 @@ namespace Khd.Core.Wcs.Wcs
                                         dbContext.Update(wcsOutstockLock);
                                         dbContext.SaveChanges();
                                     }
-                                    IsStart = false;
                                 }
-                            });
-                        }
+                                Thread.Sleep(3000);
+                            }
+                        });
                     }
                 }
                 catch (Exception ex)
@@ -349,7 +339,7 @@ namespace Khd.Core.Wcs.Wcs
         /// <summary>
         /// 监控上件扫描点位
         /// </summary>
-        public void MonitorInLocatorPoint() 
+        public void MonitorInLocatorPoint()
         {
             List<int?> taskType = new() { 1, 3, 5, 7 };
             using var scope = _host.Services.CreateScope();
@@ -374,7 +364,7 @@ namespace Khd.Core.Wcs.Wcs
                             if (item.taskType == 30)//出库任务
                             {
                                 BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
-                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
+                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
                                 var wcsCmd = new WcsCmd()
                                 {
                                     objid = StaticData.SnowId.NextId(),
@@ -435,7 +425,7 @@ namespace Khd.Core.Wcs.Wcs
                                 bool haveOut = taskList.Where(t => t.taskType == 30).Where(t => t.taskStatus != 6).Any();
                                 if (!haveOut && CtuWaitLogic())
                                 {
-                                    BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.startPointId);
+                                    BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
                                     WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
                                     var wcsCmd = new WcsCmd()
                                     {
@@ -531,7 +521,7 @@ namespace Khd.Core.Wcs.Wcs
                                             if (reponseMessage != null && reponseMessage.code == "0")
                                             {
                                                 LogManager.Info("五楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
-                                                Console.WriteLine(DateTime.Now + ":五楼CTU线程继续任务" + item.startPointNo + "," + item.endPointNo);
+                                                Console.WriteLine(DateTime.Now + ":五楼CTU线程继续任务" + item.currPointId + "," + item.endPointNo);
                                                 dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmd() { cmdStatus = 4 });
                                                 dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog() { cmdStatus = 4 });
                                                 dbContext.WcsTask.Where(t => t.objid == item.objid).Update(t => new WcsTask() { taskStatus = 4 });
@@ -558,7 +548,7 @@ namespace Khd.Core.Wcs.Wcs
                                         if (reponseMessage != null && reponseMessage.code == "0")
                                         {
                                             LogManager.Info("五楼CTU线程下发任务" + agvTask.ToJsonString() + "\n" + message);
-                                            Console.WriteLine(DateTime.Now + ":五楼CTU线程下发任务" + item.startPointNo + "," + item.endPointNo);
+                                            Console.WriteLine(DateTime.Now + ":五楼CTU线程下发任务" + item.currPointId + "," + item.endPointNo);
                                             dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmd() { cmdStatus = 4 });
                                             dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog() { cmdStatus = 4 });
                                             dbContext.WcsTask.Where(t => t.objid == item.objid).Update(t => new WcsTask() { taskStatus = 4 });
@@ -586,7 +576,7 @@ namespace Khd.Core.Wcs.Wcs
                                         }
 
                                         WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
-                                               .First(t => t.locationId == item.startPointId && t.warehouseFloor == 5);
+                                               .First(t => t.locationId == item.currPointId && t.warehouseFloor == 5);
                                         wmsBaseLocation.outstockFlag = "0";
                                         wmsBaseLocation.locationStatus = "1";
                                         wmsBaseLocation.locationStatus = "2";

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

@@ -1,14 +1,10 @@
-using Khd.Core.Domain.Dto.webapi;
-using Khd.Core.Domain.Models;
+using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
 using Khd.Core.Library.Mapper;
-using Khd.Core.Plc;
 using Khd.Core.Wcs.Global;
 using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
-using Newtonsoft.Json;
-using System.Security.Cryptography;
 using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs.Wcs
@@ -95,7 +91,7 @@ namespace Khd.Core.Wcs.Wcs
                                         .Where(t => t.locationScrapType == "1")
                                         .Where(t => t.instockFlag == "0")
                                         .Where(t => t.outstockFlag == "0")
-                                        .Where(t=>t.warehouseId==511)
+                                        .Where(t => t.warehouseId == 511)
                                         //.Where(t => t.locationStatus == "1")
                                         //.Where(t => string.IsNullOrEmpty(t.containerCode))
                                         .ToList();
@@ -144,21 +140,20 @@ namespace Khd.Core.Wcs.Wcs
                                             newTask.endPointNo = wmsBaseLocation.locationCode;
                                             newTask.objid = StaticData.SnowId.NextId();
                                             newTask.createTime = DateTime.Now;
+                                            newTask.taskType = 47;
                                             if (newTask.fromFloorNo != 1)
                                             {
-                                                newTask.taskType = 47;
                                                 newTask.useFlag = 0;
                                             }
                                             else
                                             {
-                                                newTask.taskType = 47;//?28?
                                                 newTask.useFlag = 1;
                                             }
                                             wmsBaseLocation.instockFlag = "1";
                                             wmsBaseLocation.locationStatus = "2";
                                             dbContext.Update(wmsBaseLocation);
                                             dbContext.Remove(wcsTask);
-                                            
+
                                             dbContext.Add(newTask);
                                             WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(newTask);
                                             dbContext.Add(wcsTaskLog);

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

@@ -1,17 +1,9 @@
 using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
-using Khd.Core.Library.Mapper;
-using Khd.Core.Plc;
-using Khd.Core.Plc.S7;
 using Khd.Core.Wcs.Global;
 using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs.Wcs

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

@@ -8,8 +8,6 @@ using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
 using Newtonsoft.Json;
-using System;
-using System.Runtime.Intrinsics.X86;
 using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs.Wcs
@@ -139,7 +137,7 @@ namespace Khd.Core.Wcs.Wcs
                                 if (reponseMessage != null && reponseMessage.message == "成功")
                                 {
                                     LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
-                                    Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.startPointNo + "," + item.endPointNo);
+                                    Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
                                     wcsCmd.taskCode = reponseMessage.data;
                                     wcsCmd.cmdStatus = 1;
                                     item.taskStatus = 1;
@@ -199,7 +197,7 @@ namespace Khd.Core.Wcs.Wcs
                                 if (reponseMessage != null && reponseMessage.message == "成功")
                                 {
                                     LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
-                                    Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.startPointNo + "," + item.endPointNo);
+                                    Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
                                     wcsCmd.taskCode = reponseMessage.data;
                                     wcsCmd.cmdStatus = 1;
                                     item.taskStatus = 1;
@@ -258,7 +256,7 @@ namespace Khd.Core.Wcs.Wcs
                                 if (reponseMessage != null && reponseMessage.message == "成功")
                                 {
                                     LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
-                                    Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.startPointNo + "," + item.endPointNo);
+                                    Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
                                     wcsCmd.taskCode = reponseMessage.data;
                                     wcsCmd.cmdStatus = 1;
                                     item.taskStatus = 1;
@@ -276,7 +274,7 @@ namespace Khd.Core.Wcs.Wcs
                             }
                             else if (item.taskType == 57)//周转位-提升机
                             {
-                                var startPoint = StaticData.BaseEquip.First(t => t.objid == item.startPointId);
+                                var startPoint = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
                                 WcsCmd wcsCmd = new WcsCmd()
                                 {
                                     objid = StaticData.SnowId.NextId(),
@@ -317,7 +315,7 @@ namespace Khd.Core.Wcs.Wcs
                                 if (reponseMessage != null && reponseMessage.message == "成功")
                                 {
                                     LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
-                                    Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.startPointNo + "," + item.endPointNo);
+                                    Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
                                     wcsCmd.taskCode = reponseMessage.data;
                                     wcsCmd.cmdStatus = 1;
                                     item.taskStatus = 1;
@@ -335,7 +333,7 @@ namespace Khd.Core.Wcs.Wcs
                             }
                             else if (item.taskType == 50)//库位-提升机
                             {
-                                var startPoint = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
+                                var startPoint = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
                                 WcsCmd wcsCmd = new WcsCmd()
                                 {
                                     objid = StaticData.SnowId.NextId(),
@@ -376,7 +374,7 @@ namespace Khd.Core.Wcs.Wcs
                                 if (reponseMessage != null && reponseMessage.message == "成功")
                                 {
                                     LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
-                                    Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.startPointNo + "," + item.endPointNo);
+                                    Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
                                     wcsCmd.taskCode = reponseMessage.data;
                                     wcsCmd.cmdStatus = 1;
                                     item.taskStatus = 1;
@@ -394,7 +392,7 @@ namespace Khd.Core.Wcs.Wcs
                             }
                             else if (item.taskType == 55)//2F移库
                             {
-                                WmsBaseLocation fromWmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
+                                WmsBaseLocation fromWmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
                                 WmsBaseLocation toWmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
                                 WcsCmd wcsCmd = new WcsCmd()
                                 {
@@ -434,7 +432,7 @@ namespace Khd.Core.Wcs.Wcs
                                 if (reponseMessage != null && reponseMessage.message == "成功")
                                 {
                                     LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
-                                    Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.startPointNo + "," + item.endPointNo);
+                                    Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
                                     wcsCmd.taskCode = reponseMessage.data;
                                     wcsCmd.cmdStatus = 1;
                                     item.taskStatus = 1;
@@ -492,7 +490,7 @@ namespace Khd.Core.Wcs.Wcs
                                 if (reponseMessage != null && reponseMessage.message == "成功")
                                 {
                                     LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
-                                    Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.startPointNo + "," + item.endPointNo);
+                                    Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
                                     wcsCmd.taskCode = reponseMessage.data;
                                     wcsCmd.cmdStatus = 1;
                                     item.taskStatus = 1;
@@ -510,7 +508,7 @@ namespace Khd.Core.Wcs.Wcs
                             }
                             else if (item.taskType == 54)//周转位-废料工位
                             {
-                                var wasteEquipLocation = StaticData.BaseEquip.FirstOrDefault(t => t.objid == item.startPointId);
+                                var wasteEquipLocation = StaticData.BaseEquip.FirstOrDefault(t => t.objid == item.currPointId);
                                 if (wasteEquipLocation != null)
                                 {
                                     WcsCmd wcsCmd = new WcsCmd()
@@ -553,7 +551,7 @@ namespace Khd.Core.Wcs.Wcs
                                     if (reponseMessage != null && reponseMessage.message == "成功")
                                     {
                                         LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
-                                        Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.startPointNo + "," + item.endPointNo);
+                                        Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
                                         wcsCmd.taskCode = reponseMessage.data;
                                         wcsCmd.cmdStatus = 1;
                                         item.taskStatus = 1;
@@ -613,7 +611,7 @@ namespace Khd.Core.Wcs.Wcs
                                 if (reponseMessage != null && reponseMessage.message == "成功")
                                 {
                                     LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
-                                    Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.startPointNo + "," + item.endPointNo);
+                                    Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
                                     wcsCmd.taskCode = reponseMessage.data;
                                     wcsCmd.cmdStatus = 1;
                                     item.taskStatus = 1;
@@ -787,62 +785,62 @@ namespace Khd.Core.Wcs.Wcs
                                 {
                                     if (item.taskType == 49)
                                     {
-                                        WmsProductInstock? wmsProductInstock = dbContext.WmsProductInstock.FirstOrDefault(t => t.productInstockId == item.orderId);
-                                        if (wmsProductInstock != null)
+                                        //WmsProductInstock? wmsProductInstock = dbContext.WmsProductInstock.FirstOrDefault(t => t.productInstockId == item.orderId);
+                                        //if (wmsProductInstock != null)
+                                        //{
+                                        //    WmsProductInstockDetail? wmsProductInstockDetail = dbContext.WmsProductInstockDetail.FirstOrDefault(t => t.productInstockId == wmsProductInstock.productInstockId);
+                                        //    if (wmsProductInstockDetail != null)
+                                        //    {
+                                        MesBasePalletInfo? mesBasePalletInfo = dbContext.MesBasePalletInfo.FirstOrDefault(t => t.palletInfoCode == item.containerNo);
+                                        if (mesBasePalletInfo != null)
                                         {
-                                            WmsProductInstockDetail? wmsProductInstockDetail = dbContext.WmsProductInstockDetail.FirstOrDefault(t => t.productInstockId == wmsProductInstock.productInstockId);
-                                            if (wmsProductInstockDetail != null)
+                                            MesBaseBarcodeInfo? mesBaseBarcodeInfo = dbContext.MesBaseBarcodeInfo.FirstOrDefault(t => t.palletInfoCode == item.containerNo);
+                                            if (mesBaseBarcodeInfo != null)
                                             {
-                                                MesBasePalletInfo? mesBasePalletInfo = dbContext.MesBasePalletInfo.FirstOrDefault(t => t.palletInfoCode == item.containerNo);
-                                                if (mesBasePalletInfo != null)
+                                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
+                                                wmsBaseLocation.instockFlag = "0";
+                                                wmsBaseLocation.locationStatus = "1";
+                                                wmsBaseLocation.containerCode = item.containerNo;
+                                                WmsProductStock wmsProductStock = new WmsProductStock()
                                                 {
-                                                    MesBaseBarcodeInfo? mesBaseBarcodeInfo = dbContext.MesBaseBarcodeInfo.FirstOrDefault(t => t.palletInfoCode == item.containerNo);
-                                                    if (mesBaseBarcodeInfo != null)
-                                                    {
-                                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
-                                                        wmsBaseLocation.instockFlag = "0";
-                                                        wmsBaseLocation.locationStatus = "1";
-                                                        wmsBaseLocation.containerCode = item.containerNo;
-                                                        WmsProductStock wmsProductStock = new WmsProductStock()
-                                                        {
-                                                            productId = mesBasePalletInfo.materialId,
-                                                            activeFlag = "1",
-                                                            frozenAmount = 0,
-                                                            createBy = "WCS",
-                                                            createDate = DateTime.Now,
-                                                            updateBy = "WCS",
-                                                            updateDate = DateTime.Now,
-                                                            instockDate = DateTime.Now,
-                                                            locationCode = wmsBaseLocation.locationCode,
-                                                            occupyAmount = 0,
-                                                            totalAmount = 1,
-                                                            palletInfoCode = item.containerNo,
-                                                            planCode = wmsProductInstock.planCode,
-                                                            planDetailCode = wmsProductInstock.planDetailCode,
-                                                            productBatch = mesBasePalletInfo.materialBarcode,
-                                                            saleorderCode = wmsProductInstock.saleorderCode,
-                                                            productStockId = StaticData.SnowId.NextId(),
-                                                            saleOrderId = wmsProductInstock.SaleOrderId,
-                                                            stockType = "3",
-                                                            qualityStatus = "0",
-                                                            warehouseFloor = 2,
-                                                            warehouseId = wmsBaseLocation.warehouseId
-                                                        };
-                                                        wmsProductInstockDetail.executeStatus = "2";
-                                                        wmsProductInstock.endTime = DateTime.Now;
-                                                        wmsProductInstock.executeStatus = "2";
-                                                        dbContext.Update(wmsProductInstockDetail);
-                                                        dbContext.Add(wmsProductStock);
-                                                        dbContext.Update(wmsBaseLocation);
-                                                        dbContext.Update(wmsProductInstock);
-                                                        dbContext.Remove(item);
-                                                        dbContext.Remove(wcsCmd);
-                                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
-                                                        dbContext.WcsCmdLog.Where(t => t.objid == item.objid).Update(t => new WcsCmdLog() { cmdStatus = 8 });
-                                                        dbContext.SaveChanges();
-                                                    }
-                                                }
+                                                    productId = mesBasePalletInfo.materialId,
+                                                    activeFlag = "1",
+                                                    frozenAmount = 0,
+                                                    createBy = "WCS",
+                                                    createDate = DateTime.Now,
+                                                    updateBy = "WCS",
+                                                    updateDate = DateTime.Now,
+                                                    instockDate = DateTime.Now,
+                                                    locationCode = wmsBaseLocation.locationCode,
+                                                    occupyAmount = 0,
+                                                    totalAmount = 1,
+                                                    palletInfoCode = item.containerNo,
+                                                    planCode = mesBaseBarcodeInfo.planCode,
+                                                    planDetailCode = mesBaseBarcodeInfo.planDetailCode,
+                                                    productBatch = mesBasePalletInfo.materialBarcode,
+                                                    saleorderCode = mesBaseBarcodeInfo.saleorderCode,
+                                                    productStockId = StaticData.SnowId.NextId(),
+                                                    saleOrderId = mesBaseBarcodeInfo.saleOrderId,
+                                                    stockType = "3",
+                                                    qualityStatus = "0",
+                                                    warehouseFloor = 2,
+                                                    warehouseId = wmsBaseLocation.warehouseId
+                                                };
+                                                //wmsProductInstockDetail.executeStatus = "2";
+                                                //wmsProductInstock.endTime = DateTime.Now;
+                                                //wmsProductInstock.executeStatus = "2";
+                                                //dbContext.Update(wmsProductInstockDetail);
+                                                dbContext.Add(wmsProductStock);
+                                                dbContext.Update(wmsBaseLocation);
+                                                //dbContext.Update(wmsProductInstock);
+                                                dbContext.Remove(item);
+                                                dbContext.Remove(wcsCmd);
+                                                dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
+                                                dbContext.WcsCmdLog.Where(t => t.objid == item.objid).Update(t => new WcsCmdLog() { cmdStatus = 8 });
+                                                dbContext.SaveChanges();
                                             }
+                                            //    }
+                                            //}
                                         }
                                     }
                                     else if (item.taskType == 50)
@@ -853,7 +851,7 @@ namespace Khd.Core.Wcs.Wcs
                                             WmsProductOutstockDetail? wmsProductOutstockDetail = dbContext.WmsProductOutstockDetail.FirstOrDefault(t => t.productOutstockId == wmsProductOutstock.productOutstockId);
                                             if (wmsProductOutstockDetail != null)
                                             {
-                                                var wmsBaseLocation = dbContext.WmsBaseLocation.Where(t => t.locationId == item.startPointId).First();
+                                                var wmsBaseLocation = dbContext.WmsBaseLocation.Where(t => t.locationId == item.currPointId).First();
                                                 WmsProductStock wmsProductStock = dbContext.WmsProductStock.First(t => t.locationCode == wmsBaseLocation.locationCode);
                                                 wmsProductOutstockDetail.executeStatus = "2";
                                                 wmsProductOutstock.endTime = DateTime.Now;
@@ -878,7 +876,7 @@ namespace Khd.Core.Wcs.Wcs
                                     {
                                         BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
                                         endEquip.equipStatus = 1;
-                                        endEquip.emptyCount = Convert.ToInt32(item.isEmpty);
+                                        endEquip.emptyCount = item.qty;
                                         dbContext.Update(endEquip);
                                         dbContext.Remove(item);
                                         dbContext.Remove(wcsCmd);
@@ -918,18 +916,33 @@ namespace Khd.Core.Wcs.Wcs
                                     }
                                     else if (item.taskType == 55)
                                     {
-                                        WmsBaseLocation fromWmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
-                                        WmsBaseLocation toWmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
-                                        fromWmsBaseLocation.locationStatus = "1";
-                                        toWmsBaseLocation.locationStatus = "1";
-                                        fromWmsBaseLocation.outstockFlag = "0";
-                                        toWmsBaseLocation.outstockFlag = "0";
-                                        fromWmsBaseLocation.instockFlag = "0";
-                                        toWmsBaseLocation.instockFlag = "0";
-                                        fromWmsBaseLocation.containerCode = null;
-                                        toWmsBaseLocation.containerCode = item.containerNo;
-                                        dbContext.Update(fromWmsBaseLocation);
-                                        dbContext.Update(toWmsBaseLocation);
+                                        WmsBaseLocation fromBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
+                                        WmsBaseLocation toBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
+                                        fromBaseLocation.outstockFlag = "0";
+                                        fromBaseLocation.locationStatus = "1";
+                                        fromBaseLocation.containerCode = null;
+                                        fromBaseLocation.updateTime = DateTime.Now;
+                                        toBaseLocation.instockFlag = "0";
+                                        toBaseLocation.locationStatus = "1";
+                                        toBaseLocation.containerCode = item.containerNo;
+                                        toBaseLocation.updateTime = DateTime.Now;
+                                        var wmsRawStock = dbContext.WmsRawStock.Where(t => t.locationCode == fromBaseLocation.locationCode).FirstOrDefault();
+                                        if (wmsRawStock != null)
+                                        {
+                                            wmsRawStock.locationCode = toBaseLocation.locationCode;
+                                            dbContext.Update(wmsRawStock);
+                                        }
+                                        else
+                                        {
+                                            var wmsProductStock = dbContext.WmsProductStock.FirstOrDefault(t => t.locationCode == fromBaseLocation.locationCode);
+                                            if (wmsProductStock != null)
+                                            {
+                                                wmsProductStock.locationCode = toBaseLocation.locationCode;
+                                                dbContext.Update(wmsProductStock);
+                                            }
+                                        }
+                                        dbContext.Update(fromBaseLocation);
+                                        dbContext.Update(toBaseLocation);
                                         dbContext.Remove(item);
                                         dbContext.Remove(wcsCmd);
                                         dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
@@ -940,6 +953,9 @@ namespace Khd.Core.Wcs.Wcs
                                     {
                                         wasteEquip.emptyCount = 0;
                                         wasteEquip.equipStatus = 0;
+                                        BaseEquip endEquip = dbContext.BaseEquip.First(t => t.objid == item.endPointId);
+                                        endEquip.emptyCount = 1;
+                                        endEquip.equipStatus = 2;
                                         dbContext.Remove(item);
                                         dbContext.Update(wasteEquip);
                                         dbContext.Remove(wcsCmd);

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

@@ -1,11 +1,10 @@
-using Khd.Core.Domain.Dto.webapi;
-using Khd.Core.Domain.Models;
+using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
+using Khd.Core.Library.Mapper;
 using Khd.Core.Wcs.Global;
 using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
-using Newtonsoft.Json;
 using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs.Wcs
@@ -58,6 +57,7 @@ namespace Khd.Core.Wcs.Wcs
             var rfidPoint = StaticData.BasePlcpointList.First(t => t.id == 52);
             var agvGetPoint = StaticData.BasePlcpointList.First(t => t.id == 53);
             var agvPutPoint = StaticData.BasePlcpointList.First(t => t.id == 54);
+            BaseEquip agvEquip = StaticData.BaseEquip.First(t => t.objid == 8);
             while (true)
             {
                 try
@@ -68,13 +68,171 @@ namespace Khd.Core.Wcs.Wcs
                     var rfidValue = this._plc.ReadRFID(rfidPoint.plcpointAddress);
                     if (agvGetValue != null && agvPutValue != null && rfidValue != null)
                     {
-                        if(Convert.ToBoolean(agvPutValue))
+                        if (Convert.ToInt32(agvPutValue) == 0)
                         {
+                            bool canCreate = dbContext.WcsTask.Where(t => t.endPointId == 36 || t.nextPointId == 8).Any();
+                            if (!canCreate)
+                            {
+                                BaseEquip? baseEquip = dbContext.BaseEquip.FirstOrDefault(t => t.equipType == 20 && t.emptyCount > 1 && t.equipStatus == 1);
+                                BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == 36);
+                                if (baseEquip != null)
+                                {
+                                    var wcsTask = new WcsTask()
+                                    {
+                                        objid = StaticData.SnowId.NextId(),
+                                        endPointId = endEquip.objid,
+                                        endPointNo = endEquip.equipNo,
+                                        nextPointId = agvEquip.objid,
+                                        nextPointNo = agvEquip.equipNo,
+                                        currPointId = baseEquip.objid,
+                                        currPointNo = baseEquip.equipNo,
+                                        taskStatus = 0,
+                                        useFlag = 1,
+                                        containerNo = null,
+                                        createBy = "WCS",
+                                        createTime = DateTime.Now,
+                                        floorNo = 2,
+                                        fromFloorNo = 2,
+                                        isEmpty = "1",
+                                        qty = baseEquip.emptyCount,
+                                        taskType = 57,
+                                    };
+                                    dbContext.Add(wcsTask);
+                                    WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
+                                    dbContext.Add(wcsTaskLog);
+                                    dbContext.SaveChanges();
+                                    Console.WriteLine(DateTime.Now + ":二楼码垛输送线生成请求空托盘任务成功:" + wcsTask.objid);
+                                    LogManager.Info("二楼码垛输送线生成请求空托盘任务成功:" + wcsTask.objid);
+                                }
+                                else
+                                {
+                                    baseEquip = dbContext.BaseEquip.FirstOrDefault(t => t.equipType == 15 && t.emptyCount > 1 && t.equipStatus == 1);
+                                    if (baseEquip != null)
+                                    {
 
+                                    }
+                                    else
+                                    {
+                                        BaseEquip startEquip = dbContext.BaseEquip.First(t => t.objid == 40);
+                                        if (startEquip.emptyCount > 1)
+                                        {
+                                            WcsTaskManual wcsTaskManual = new WcsTaskManual()
+                                            {
+                                                objid = StaticData.SnowId.NextId(),
+                                                startPointId = startEquip.objid,
+                                                startPointNo = startEquip.equipNo,
+                                                endPointId = endEquip.objid,
+                                                endPointNo = endEquip.equipNo,
+                                                nextPointId = startEquip.objid,
+                                                nextPointNo = startEquip.equipNo,
+                                                currPointId = startEquip.objid,
+                                                currPointNo = startEquip.equipNo,
+                                                taskStatus = 0,
+                                                useFlag = 1,
+                                                containerNo = null,
+                                                createBy = "WCS",
+                                                createTime = DateTime.Now,
+                                                floorNo = 2,
+                                                fromFloorNo = 1,
+                                                isEmpty = "1",
+                                                qty = startEquip.emptyCount,
+                                                taskType = 53,
+                                            };
+                                            dbContext.Add(wcsTaskManual);
+                                            dbContext.SaveChanges();
+                                            Console.WriteLine(DateTime.Now + ":二楼码垛输送线生成一楼托盘库任务成功:" + wcsTaskManual.objid);
+                                            LogManager.Info("二楼码垛输送线生成一楼托盘库任务成功:" + wcsTaskManual.objid);
+                                        }
+                                    }
+                                }
+                            }
                         }
-                        if (Convert.ToBoolean(agvGetValue) && !string.IsNullOrEmpty(rfidValue))
+                        if (Convert.ToInt32(agvGetValue) == 1 && !string.IsNullOrEmpty(rfidValue))
                         {
-
+                            MesBasePalletInfo? mesBasePalletInfo = dbContext.MesBasePalletInfo.FirstOrDefault(t => t.palletInfoCode == rfidValue);
+                            if (mesBasePalletInfo != null)
+                            {
+                                var wmsBaseLocations = dbContext.WmsBaseLocation
+                                           .Where(t => t.warehouseFloor == FloorNo)
+                                           .Where(t => t.activeFlag == "1")
+                                           .Where(t => t.delFlag == "0")
+                                           .Where(t => t.locationScrapType == "1")
+                                           .Where(t => t.instockFlag == "0")
+                                           .Where(t => t.outstockFlag == "0")
+                                           .Where(t => t.warehouseId == 231)
+                                           .ToList();
+                                var wmsProductStocks = dbContext.WmsProductStock
+                                    .Where(t => t.warehouseId == 231)
+                                    .ToList();
+                                WmsBaseLocation? wmsBaseLocation = null;
+                                if (wmsBaseLocations.Count > 0)
+                                {
+                                    List<WmsBaseLocation> locDeepLocations = wmsBaseLocations.Where(t => t.locDeep == 1).ToList();
+                                    var bill = from a in wmsProductStocks
+                                               join b in locDeepLocations on a.locationCode equals b.locationCode
+                                               select new { a, b };
+                                    if (bill.Any())
+                                    {
+                                        int? row = 0;
+                                        foreach (var item in bill)
+                                        {
+                                            if (item.b.locRow % 2 == 1)
+                                            {
+                                                row = item.b.locRow + 1;
+                                            }
+                                            else
+                                            {
+                                                row = item.b.locRow - 1;
+                                            }
+                                            wmsBaseLocation = wmsBaseLocations
+                                                .Where(t => t.locDeep == 2)
+                                                .Where(t => t.locRow == row)
+                                                .Where(t => t.locColumn == item.b.locColumn)
+                                                .Where(t => t.containerCode == null || t.containerCode == "")
+                                                .FirstOrDefault();
+                                            if (wmsBaseLocation != null)
+                                            {
+                                                break;
+                                            }
+                                        }
+                                    }
+                                    wmsBaseLocation ??= wmsBaseLocations
+                                            .Where(t => t.containerCode == null || t.containerCode == "")
+                                            .Where(t => t.locDeep == 1)
+                                            .FirstOrDefault();
+                                    wmsBaseLocation ??= wmsBaseLocations.Where(t => t.containerCode == null || t.containerCode == "").FirstOrDefault();
+                                    if (wmsBaseLocation != null)
+                                    {
+                                        BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == 37);
+                                        var wcsTask = new WcsTask()
+                                        {
+                                            objid = StaticData.SnowId.NextId(),
+                                            currPointId = startEquip.objid,
+                                            currPointNo = startEquip.equipNo,
+                                            nextPointId = agvEquip.objid,
+                                            nextPointNo = agvEquip.equipNo,
+                                            endPointId = wmsBaseLocation.locationId,
+                                            endPointNo = wmsBaseLocation.locationCode,
+                                            taskStatus = 0,
+                                            useFlag = 1,
+                                            containerNo = rfidValue,
+                                            createBy = "WCS",
+                                            createTime = DateTime.Now,
+                                            floorNo = 2,
+                                            fromFloorNo = 2,
+                                            isEmpty = "0",
+                                            taskType = 49,
+                                            qty = 1,
+                                        };
+                                        dbContext.Add(wcsTask);
+                                        WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
+                                        dbContext.Add(wcsTaskLog);
+                                        dbContext.SaveChanges();
+                                        Console.WriteLine(DateTime.Now + ":二楼码垛输送线生成入库托盘任务成功:" + wcsTask.objid);
+                                        LogManager.Info("二楼码垛输送线生成入库托盘任务成功:" + wcsTask.objid);
+                                    }
+                                }
+                            }
                         }
                     }
                 }

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

@@ -79,7 +79,8 @@ namespace Khd.Core.Wcs.Wcs
                     //入库任务
                     var rfid = this._plc.ReadRFID(LineRFID.plcpointAddress);
                     var isSignal = this._plc.Read(LineSignal.plcpointAddress);
-                    StaticData.PlcDic[2].Read(agvPutPoint.plcpointAddress);
+                    var agvPutValue = StaticData.PlcDic[2].Read(agvPutPoint.plcpointAddress);
+
                     if (rfid != null && isSignal != null)
                     {
                         //正常读到输送线信息 有到位信号,并且有托盘,获取条码信息
@@ -96,76 +97,196 @@ namespace Khd.Core.Wcs.Wcs
                                 {
                                     if (wcsTask.taskType != 99)
                                     {
-                                        dbContext.WcsTask.Remove(wcsTask);
-                                        WcsTask newTask = CoreMapper.Map<WcsTask>(wcsTask);
-                                        newTask.taskStatus = 0;
-                                        newTask.objid = StaticData.SnowId.NextId();
-                                        newTask.nextPointId = agvEquip.objid;
-                                        newTask.nextPointNo = agvEquip.equipNo;
-                                        newTask.createTime = DateTime.Now;
-                                        newTask.updateTime = DateTime.Now;
-                                        newTask.endPointId = inEquip.objid;
-                                        newTask.endPointNo = inEquip.equipNo;
-                                        newTask.containerNo = palletNo;
-                                        newTask.currPointId = lineEquip.objid;
-                                        newTask.currPointNo = lineEquip.equipNo;
-                                        newTask.taskType = 2;
-                                        newTask.useFlag = 1;
-                                        dbContext.WcsTask.Add(newTask);
-                                        WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(newTask);
-                                        dbContext.Add(wcsTaskLog);
-                                        dbContext.SaveChanges();
-                                        LogManager.Info("二楼接驳位生成任务入库成功,托盘号:" + palletNo);
-                                        Console.WriteLine(DateTime.Now + ":二楼接驳位生成任务入库成功,托盘号:" + palletNo);
-                                    }
-                                    else
-                                    {
-
-                                    }
-                                }
-                                else if (wcsTask.taskStatus == 6)
-                                {
-                                    WmsProductOutstock? wmsProductOutstock = dbContext.WmsProductOutstock.FirstOrDefault(t => t.productOutstockId == wcsTask.orderId);
-                                    if (wmsProductOutstock != null)
-                                    {
-                                        BaseEquip? endEquip = StaticData.BaseEquip.FirstOrDefault(t => t.equipNo == wmsProductOutstock.endStationCode);
-                                        if (endEquip != null)
+                                        if (Convert.ToInt32(agvPutValue) == 0)
                                         {
                                             dbContext.WcsTask.Remove(wcsTask);
                                             WcsTask newTask = CoreMapper.Map<WcsTask>(wcsTask);
-                                            newTask.serialNo = SystemData.GetSerialNo(dbContext);
                                             newTask.taskStatus = 0;
                                             newTask.objid = StaticData.SnowId.NextId();
-                                            newTask.nextPointId = tsjEquip.objid;
-                                            newTask.nextPointNo = tsjEquip.equipNo;
+                                            newTask.nextPointId = agvEquip.objid;
+                                            newTask.nextPointNo = agvEquip.equipNo;
                                             newTask.createTime = DateTime.Now;
                                             newTask.updateTime = DateTime.Now;
-                                            newTask.endPointId = endEquip.objid;
-                                            newTask.endPointNo = endEquip.equipNo;
                                             newTask.containerNo = palletNo;
                                             newTask.currPointId = lineEquip.objid;
                                             newTask.currPointNo = lineEquip.equipNo;
-                                            newTask.taskType = 6;
+                                            newTask.endPointId = inEquip.objid;
+                                            newTask.endPointNo = inEquip.equipNo;
+                                            newTask.taskType = 51;//到小包入口
                                             newTask.useFlag = 1;
-                                            newTask.fromFloorNo = 2;
-                                            newTask.floorNo = endEquip.floorNo;
                                             dbContext.WcsTask.Add(newTask);
                                             WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(newTask);
                                             dbContext.Add(wcsTaskLog);
                                             dbContext.SaveChanges();
-                                            LogManager.Info("二楼接驳位生成任务出库成功,托盘号:" + palletNo);
-                                            Console.WriteLine(DateTime.Now + ":二楼接驳位生成任务出库成功,托盘号:" + palletNo);
+                                            LogManager.Info("二楼接驳位生成任务入库成功,托盘号:" + palletNo);
+                                            Console.WriteLine(DateTime.Now + ":二楼接驳位生成任务入库成功,托盘号:" + palletNo);
                                         }
-                                        else
+                                        else if (Convert.ToInt32(agvPutValue) == 1)
                                         {
-                                            LogManager.Info("二楼接驳位出库任务出库失败,找不到终点站点");
-                                            Console.WriteLine(DateTime.Now + ":二楼接驳位出库任务出库失败,找不到终点站点");
+                                            BaseEquip? endEquip = dbContext.BaseEquip.FirstOrDefault(t => t.equipType == 20 && t.equipStatus == 0 && t.emptyCount == 0);
+                                            if (endEquip != null)
+                                            {
+                                                dbContext.WcsTask.Remove(wcsTask);
+                                                WcsTask newTask = CoreMapper.Map<WcsTask>(wcsTask);
+                                                newTask.taskStatus = 0;
+                                                newTask.objid = StaticData.SnowId.NextId();
+                                                newTask.nextPointId = agvEquip.objid;
+                                                newTask.nextPointNo = agvEquip.equipNo;
+                                                newTask.createTime = DateTime.Now;
+                                                newTask.updateTime = DateTime.Now;
+                                                newTask.containerNo = palletNo;
+                                                newTask.currPointId = lineEquip.objid;
+                                                newTask.currPointNo = lineEquip.equipNo;
+                                                newTask.endPointId = endEquip.objid;
+                                                newTask.endPointNo = endEquip.equipNo;
+                                                newTask.taskType = 58;//到周转位
+                                                newTask.useFlag = 1;
+                                                dbContext.WcsTask.Add(newTask);
+                                                WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(newTask);
+                                                dbContext.Add(wcsTaskLog);
+                                                dbContext.SaveChanges();
+                                                LogManager.Info("二楼接驳位生成任务入库成功,托盘号:" + palletNo);
+                                                Console.WriteLine(DateTime.Now + ":二楼接驳位生成任务入库成功,托盘号:" + palletNo);
+                                            }
                                         }
                                     }
                                     else
                                     {
-                                        LogManager.Info("二楼接驳位出库任务出库失败,找不到订单信息");
-                                        Console.WriteLine(DateTime.Now + ":二楼接驳位出库任务出库失败,找不到订单信息");
+                                        if (wcsTask.endPointId == 36)
+                                        {
+                                            if (Convert.ToInt32(agvPutValue) == 0)
+                                            {
+                                                dbContext.WcsTask.Remove(wcsTask);
+                                                WcsTask newTask = CoreMapper.Map<WcsTask>(wcsTask);
+                                                newTask.taskStatus = 0;
+                                                newTask.objid = StaticData.SnowId.NextId();
+                                                newTask.nextPointId = agvEquip.objid;
+                                                newTask.nextPointNo = agvEquip.equipNo;
+                                                newTask.createTime = DateTime.Now;
+                                                newTask.updateTime = DateTime.Now;
+                                                newTask.containerNo = palletNo;
+                                                newTask.currPointId = lineEquip.objid;
+                                                newTask.currPointNo = lineEquip.equipNo;
+                                                newTask.endPointId = inEquip.objid;
+                                                newTask.endPointNo = inEquip.equipNo;
+                                                newTask.taskType = 51;//到小包入口
+                                                newTask.useFlag = 1;
+                                                dbContext.WcsTask.Add(newTask);
+                                                WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(newTask);
+                                                dbContext.Add(wcsTaskLog);
+                                                dbContext.SaveChanges();
+                                                LogManager.Info("二楼接驳位生成任务入库成功,托盘号:" + palletNo);
+                                                Console.WriteLine(DateTime.Now + ":二楼接驳位生成任务入库成功,托盘号:" + palletNo);
+                                            }
+                                            else if (Convert.ToInt32(agvPutValue) == 1)
+                                            {
+                                                BaseEquip? endEquip = dbContext.BaseEquip.FirstOrDefault(t => t.equipType == 20 && t.equipStatus == 0 && t.emptyCount == 0);
+                                                if (endEquip != null)
+                                                {
+                                                    dbContext.WcsTask.Remove(wcsTask);
+                                                    WcsTask newTask = CoreMapper.Map<WcsTask>(wcsTask);
+                                                    newTask.taskStatus = 0;
+                                                    newTask.objid = StaticData.SnowId.NextId();
+                                                    newTask.nextPointId = agvEquip.objid;
+                                                    newTask.nextPointNo = agvEquip.equipNo;
+                                                    newTask.createTime = DateTime.Now;
+                                                    newTask.updateTime = DateTime.Now;
+                                                    newTask.containerNo = palletNo;
+                                                    newTask.currPointId = lineEquip.objid;
+                                                    newTask.currPointNo = lineEquip.equipNo;
+                                                    newTask.endPointId = endEquip.objid;
+                                                    newTask.endPointNo = endEquip.equipNo;
+                                                    newTask.taskType = 58;//到周转位
+                                                    newTask.useFlag = 1;
+                                                    dbContext.WcsTask.Add(newTask);
+                                                    WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(newTask);
+                                                    dbContext.Add(wcsTaskLog);
+                                                    dbContext.SaveChanges();
+                                                    LogManager.Info("二楼接驳位生成任务入库成功,托盘号:" + palletNo);
+                                                    Console.WriteLine(DateTime.Now + ":二楼接驳位生成任务入库成功,托盘号:" + palletNo);
+                                                }
+                                            }
+                                        }
+                                        else if (wcsTask.endPointId == 38)
+                                        {
+                                            dbContext.WcsTask.Remove(wcsTask);
+                                            WcsTask newTask = CoreMapper.Map<WcsTask>(wcsTask);
+                                            newTask.taskStatus = 0;
+                                            newTask.objid = StaticData.SnowId.NextId();
+                                            newTask.nextPointId = agvEquip.objid;
+                                            newTask.nextPointNo = agvEquip.equipNo;
+                                            newTask.createTime = DateTime.Now;
+                                            newTask.updateTime = DateTime.Now;
+                                            newTask.containerNo = palletNo;
+                                            newTask.currPointId = lineEquip.objid;
+                                            newTask.currPointNo = lineEquip.equipNo;
+                                            newTask.taskType = 54;
+                                            newTask.useFlag = 1;
+                                            dbContext.WcsTask.Add(newTask);
+                                            WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(newTask);
+                                            dbContext.Add(wcsTaskLog);
+                                            dbContext.SaveChanges();
+                                            LogManager.Info("二楼接驳位生成任务入库成功,托盘号:" + palletNo);
+                                            Console.WriteLine(DateTime.Now + ":二楼接驳位生成任务入库成功,托盘号:" + palletNo);
+                                        }
+                                        else
+                                        {
+                                            BaseEquip? endEquip = dbContext.BaseEquip.FirstOrDefault(t => t.equipType == 20 && t.equipStatus == 0 && t.emptyCount == 0);
+                                            if (endEquip != null)
+                                            {
+                                                dbContext.WcsTask.Remove(wcsTask);
+                                                WcsTask newTask = CoreMapper.Map<WcsTask>(wcsTask);
+                                                newTask.taskStatus = 0;
+                                                newTask.objid = StaticData.SnowId.NextId();
+                                                newTask.nextPointId = agvEquip.objid;
+                                                newTask.nextPointNo = agvEquip.equipNo;
+                                                newTask.createTime = DateTime.Now;
+                                                newTask.updateTime = DateTime.Now;
+                                                newTask.containerNo = palletNo;
+                                                newTask.currPointId = lineEquip.objid;
+                                                newTask.currPointNo = lineEquip.equipNo;
+                                                newTask.endPointId = endEquip.objid;
+                                                newTask.endPointNo = endEquip.equipNo;
+                                                newTask.taskType = 58;
+                                                newTask.useFlag = 1;
+                                                dbContext.WcsTask.Add(newTask);
+                                                WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(newTask);
+                                                dbContext.Add(wcsTaskLog);
+                                                dbContext.SaveChanges();
+                                                LogManager.Info("二楼接驳位生成任务入库成功,托盘号:" + palletNo);
+                                                Console.WriteLine(DateTime.Now + ":二楼接驳位生成任务入库成功,托盘号:" + palletNo);
+                                            }
+                                        }
+                                    }
+                                }
+                                else if (wcsTask.taskStatus == 8)
+                                {
+                                    if (wcsTask.taskType == 44)
+                                    {
+                                        BaseEquip? endEquip = StaticData.BaseEquip.First(t => t.objid == 3);
+                                        dbContext.WcsTask.Remove(wcsTask);
+                                        WcsTask newTask = CoreMapper.Map<WcsTask>(wcsTask);
+                                        newTask.serialNo = SystemData.GetSerialNo(dbContext);
+                                        newTask.taskStatus = 0;
+                                        newTask.objid = StaticData.SnowId.NextId();
+                                        newTask.nextPointId = tsjEquip.objid;
+                                        newTask.nextPointNo = tsjEquip.equipNo;
+                                        newTask.createTime = DateTime.Now;
+                                        newTask.updateTime = DateTime.Now;
+                                        newTask.endPointId = endEquip.objid;
+                                        newTask.endPointNo = endEquip.equipNo;
+                                        newTask.containerNo = palletNo;
+                                        newTask.currPointId = lineEquip.objid;
+                                        newTask.currPointNo = lineEquip.equipNo;
+                                        newTask.useFlag = 1;
+                                        newTask.fromFloorNo = 2;
+                                        newTask.floorNo = endEquip.floorNo;
+                                        dbContext.WcsTask.Add(newTask);
+                                        WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(newTask);
+                                        dbContext.Add(wcsTaskLog);
+                                        dbContext.SaveChanges();
+                                        LogManager.Info("二楼接驳位生成任务出库成功,托盘号:" + palletNo);
+                                        Console.WriteLine(DateTime.Now + ":二楼接驳位生成任务出库成功,托盘号:" + palletNo);
                                     }
                                 }
                             }

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

@@ -114,7 +114,7 @@ namespace Khd.Core.Wcs.Wcs
         {
             BasePlcpoint HeartBeat31 = StaticData.BasePlcpointList.First(t => t.plcpointNo == "HeartBeat31");
             int heartBeatCount = 0;
-            while(true)
+            while (true)
             {
                 try
                 {

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

@@ -82,6 +82,66 @@ namespace Khd.Core.Wcs.Wcs
                     {
                         if (item.taskStatus == 0)
                         {
+                            BaseDictionary baseDictionary = StaticData.BaseDictionary.First(t => t.objid == item.taskType);
+                            if (item.taskType == 67)
+                            {
+                                WmsBaseLocation fromBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
+                                WmsBaseLocation toBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
+                                WcsCmd wcsCmd = new()
+                                {
+                                    objid = StaticData.SnowId.NextId(),
+                                    cmdStatus = 0,
+                                    taskId = item.objid,
+                                    useFlag = 1,
+                                    cmdType = item.taskType,
+                                    containerNo = item.containerNo,
+                                    createTime = DateTime.Now,
+                                    createBy = FloorNo + "楼AGV",
+                                    currPointId = item.currPointId,
+                                    currPointNo = fromBaseLocation.agvPositionCode,
+                                    nextPointId = item.endPointId,
+                                    nextPointNo = toBaseLocation.agvPositionCode,
+                                };
+                                var agvTask = new RequestAGVTaskDto
+                                {
+                                    reqCode = wcsCmd.objid.ToString(),
+                                    positionCodePath = new List<Position>
+                                    {
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.currPointNo,
+                                            type="00"
+                                        },
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.nextPointNo,
+                                            type="00"
+                                        }
+                                    },
+                                    taskTyp = baseDictionary.dicValue,
+                                    ctnrTyp = "2",
+                                };
+                                string message = JsonConvert.SerializeObject(agvTask);
+                                string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                if (reponseMessage != null && reponseMessage.message == "成功")
+                                {
+                                    LogManager.Info("五楼Agv下发任务成功：" + message);
+                                    wcsCmd.taskCode = reponseMessage.data;
+                                    wcsCmd.cmdStatus = 1;
+                                    item.taskStatus = 1;
+                                    dbContext.Update(item);
+                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
+                                    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                    dbContext.Add(wcsCmdLog);
+                                    dbContext.Add(wcsCmd);
+                                    dbContext.SaveChanges();
+                                }
+                                else
+                                {
+                                    LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
+                                }
+                            }
                             if (item.taskType == 39)
                             {
                                 BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == 3);
@@ -117,7 +177,7 @@ namespace Khd.Core.Wcs.Wcs
                                             type="00"
                                         }
                                     },
-                                    taskTyp = "F300",
+                                    taskTyp = baseDictionary.dicValue,
                                     ctnrTyp = "2",
                                 };
                                 string message = JsonConvert.SerializeObject(agvTask);
@@ -142,27 +202,32 @@ namespace Khd.Core.Wcs.Wcs
                             }
                             else if (item.taskType == 41)
                             {
-                                BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == 31);
-                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
-                                WcsCmd wcsCmd = new WcsCmd()
+                                WmsRawOutstockDetail? wmsRawOutstockDetail = dbContext.WmsRawOutstockDetail.FirstOrDefault(t => t.rawOutstockId == wmsRawOutstock.rawOutstockId && t.executeStatus == "1");
+                                if (wmsRawOutstockDetail != null)
                                 {
-                                    objid = StaticData.SnowId.NextId(),
-                                    cmdStatus = 0,
-                                    taskId = item.objid,
-                                    useFlag = 1,
-                                    cmdType = item.taskType,
-                                    containerNo = item.containerNo,
-                                    createTime = DateTime.Now,
-                                    createBy = FloorNo + "楼AGV",
-                                    currPointId = item.startPointId,
-                                    currPointNo = wmsBaseLocation.agvPositionCode,
-                                    nextPointId = endEquip.objid,
-                                    nextPointNo = endEquip.agvPositionCode,
-                                };
-                                var agvTask = new RequestAGVTaskDto
-                                {
-                                    reqCode = StaticData.SnowId.NextId().ToString(),
-                                    positionCodePath = new List<Position>
+                                    wmsRawOutstockDetail.executeStatus = "1";
+                                    wmsRawOutstockDetail.outstockTime = DateTime.Now;
+                                    BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == 31);
+                                    WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
+                                    WcsCmd wcsCmd = new WcsCmd()
+                                    {
+                                        objid = StaticData.SnowId.NextId(),
+                                        cmdStatus = 0,
+                                        taskId = item.objid,
+                                        useFlag = 1,
+                                        cmdType = item.taskType,
+                                        containerNo = item.containerNo,
+                                        createTime = DateTime.Now,
+                                        createBy = FloorNo + "楼AGV",
+                                        currPointId = item.currPointId,
+                                        currPointNo = wmsBaseLocation.agvPositionCode,
+                                        nextPointId = endEquip.objid,
+                                        nextPointNo = endEquip.agvPositionCode,
+                                    };
+                                    var agvTask = new RequestAGVTaskDto
+                                    {
+                                        reqCode = StaticData.SnowId.NextId().ToString(),
+                                        positionCodePath = new List<Position>
                                     {
                                         new ()
                                         {
@@ -175,33 +240,35 @@ namespace Khd.Core.Wcs.Wcs
                                             type="00"
                                         }
                                     },
-                                    taskTyp="F301",
-                                    ctnrTyp = "2",
-                                };
-                                string message = JsonConvert.SerializeObject(agvTask);
-                                string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
-                                var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
-                                if (reponseMessage != null && reponseMessage.message == "成功")
-                                {
-                                    wcsCmd.taskCode = reponseMessage.data;
-                                    wcsCmd.cmdStatus = 1;
-                                    item.taskStatus = 1;
-                                    dbContext.Update(item);
-                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
-                                    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
-                                    dbContext.Add(wcsCmdLog);
-                                    dbContext.Add(wcsCmd);
-                                    dbContext.SaveChanges();
-                                }
-                                else
-                                {
-                                    LogManager.Info("三楼Agv下发任务失败" + item.taskType + message);
+                                        taskTyp = baseDictionary.dicValue,
+                                        ctnrTyp = "2",
+                                    };
+                                    string message = JsonConvert.SerializeObject(agvTask);
+                                    string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                    var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                    if (reponseMessage != null && reponseMessage.message == "成功")
+                                    {
+                                        wcsCmd.taskCode = reponseMessage.data;
+                                        wcsCmd.cmdStatus = 1;
+                                        item.taskStatus = 1;
+                                        dbContext.Update(wmsRawOutstockDetail);
+                                        dbContext.Update(item);
+                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
+                                        WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                        dbContext.Add(wcsCmdLog);
+                                        dbContext.Add(wcsCmd);
+                                        dbContext.SaveChanges();
+                                    }
+                                    else
+                                    {
+                                        LogManager.Info("三楼Agv下发任务失败" + item.taskType + message);
+                                    }
                                 }
                             }
-                            else if (item.taskType == 42)
+                            else if (item.taskType == 40)
                             {
-                                BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == 31);
-                                BaseEquip endEquip = StaticData.BaseEquip.First();
+                                BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
+                                BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
                                 WcsCmd wcsCmd = new WcsCmd()
                                 {
                                     objid = StaticData.SnowId.NextId(),
@@ -233,8 +300,69 @@ namespace Khd.Core.Wcs.Wcs
                                             type="00"
                                         }
                                     },
-                                    taskTyp="F302",
+                                    taskTyp = baseDictionary.dicValue,
                                     ctnrTyp = "2",
+                                    ctnrNum = startEquip.emptyCount.ToString()
+                                };
+                                string message = JsonConvert.SerializeObject(agvTask);
+                                string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
+                                var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
+                                if (reponseMessage != null && reponseMessage.message == "成功")
+                                {
+                                    wcsCmd.taskCode = reponseMessage.data;
+                                    wcsCmd.cmdStatus = 1;
+                                    item.taskStatus = 1;
+                                    dbContext.Update(item);
+                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
+                                    WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
+                                    dbContext.Add(wcsCmdLog);
+                                    dbContext.Add(wcsCmd);
+                                    dbContext.SaveChanges();
+                                }
+                                else
+                                {
+                                    LogManager.Info("三楼Agv下发任务失败" + item.taskType + message);
+                                }
+                            }
+                            else if (item.taskType == 42)
+                            {
+                                //var startEquip = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
+                                BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
+                                BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
+                                WcsCmd wcsCmd = new WcsCmd()
+                                {
+                                    objid = StaticData.SnowId.NextId(),
+                                    cmdStatus = 0,
+                                    taskId = item.objid,
+                                    useFlag = 1,
+                                    cmdType = item.taskType,
+                                    containerNo = item.containerNo,
+                                    createTime = DateTime.Now,
+                                    createBy = FloorNo + "楼AGV",
+                                    currPointId = item.currPointId,
+                                    currPointNo = startEquip.agvPositionCode,
+                                    nextPointId = endEquip.objid,
+                                    nextPointNo = endEquip.agvPositionCode,
+                                };
+                                var agvTask = new RequestAGVTaskDto
+                                {
+                                    reqCode = StaticData.SnowId.NextId().ToString(),
+                                    positionCodePath = new List<Position>
+                                    {
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.currPointNo,
+                                            type="00"
+                                        },
+                                        new ()
+                                        {
+                                            positionCode=wcsCmd.nextPointNo,
+                                            type="00"
+                                        }
+                                    },
+                                    taskTyp = baseDictionary.dicValue,
+                                    ctnrTyp = "2",
+                                    ctnrNum = "1"
                                 };
                                 string message = JsonConvert.SerializeObject(agvTask);
                                 string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
@@ -258,8 +386,8 @@ namespace Khd.Core.Wcs.Wcs
                             }
                             else if (item.taskType == 43)
                             {
-                                BaseEquip emptyEquip = StaticData.BaseEquip.First(t => t.objid == item.startPointId);
-                                BaseEquip endEquip = StaticData.BaseEquip.First(t => t.floorNo == 3 && t.equipType == 1);
+                                BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
+                                BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
                                 WcsCmd wcsCmd = new WcsCmd()
                                 {
                                     objid = StaticData.SnowId.NextId(),
@@ -270,8 +398,8 @@ namespace Khd.Core.Wcs.Wcs
                                     containerNo = item.containerNo,
                                     createTime = DateTime.Now,
                                     createBy = FloorNo + "楼AGV",
-                                    currPointId = item.startPointId,
-                                    currPointNo = emptyEquip.agvPositionCode,
+                                    currPointId = item.currPointId,
+                                    currPointNo = startEquip.agvPositionCode,
                                     nextPointId = endEquip.objid,
                                     nextPointNo = endEquip.agvPositionCode,
                                 };
@@ -291,8 +419,9 @@ namespace Khd.Core.Wcs.Wcs
                                             type="00"
                                         }
                                     },
-                                    taskTyp="F303",
+                                    taskTyp = baseDictionary.dicValue,
                                     ctnrTyp = "2",
+                                    ctnrNum = startEquip.emptyCount.ToString()
                                 };
                                 string message = JsonConvert.SerializeObject(agvTask);
                                 string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
@@ -316,7 +445,7 @@ namespace Khd.Core.Wcs.Wcs
                             }
                             else if (item.taskType == 44)
                             {
-                                BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.startPointId);
+                                BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
                                 BaseEquip lineEquip = StaticData.BaseEquip.First(t => t.objid == 3);
                                 WcsCmd wcsCmd = new WcsCmd()
                                 {
@@ -349,8 +478,9 @@ namespace Khd.Core.Wcs.Wcs
                                             type = "00"
                                         }
                                     },
-                                    taskTyp="F304",
-                                    ctnrTyp="2"
+                                    taskTyp = baseDictionary.dicValue,
+                                    ctnrTyp = "2",
+                                    ctnrNum = startEquip.emptyCount.ToString()
                                 };
                                 string message = JsonConvert.SerializeObject(agvTask);
                                 string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
@@ -400,6 +530,43 @@ namespace Khd.Core.Wcs.Wcs
                                 }
                                 else if (item.taskStatus == 5)
                                 {
+                                    if (item.taskType == 67)
+                                    {
+                                        WmsBaseLocation fromBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
+                                        WmsBaseLocation toBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
+                                        fromBaseLocation.outstockFlag = "0";
+                                        fromBaseLocation.locationStatus = "1";
+                                        fromBaseLocation.containerCode = null;
+                                        fromBaseLocation.updateTime = DateTime.Now;
+                                        toBaseLocation.instockFlag = "0";
+                                        toBaseLocation.locationStatus = "1";
+                                        toBaseLocation.containerCode = item.containerNo;
+                                        toBaseLocation.updateTime = DateTime.Now;
+                                        var wmsRawStock = dbContext.WmsRawStock.Where(t => t.locationCode == fromBaseLocation.locationCode).FirstOrDefault();
+                                        if (wmsRawStock != null)
+                                        {
+                                            wmsRawStock.locationCode = toBaseLocation.locationCode;
+                                            dbContext.Update(wmsRawStock);
+                                        }
+                                        else
+                                        {
+                                            var wmsProductStock = dbContext.WmsProductStock.FirstOrDefault(t => t.locationCode == fromBaseLocation.locationCode);
+                                            if (wmsProductStock != null)
+                                            {
+                                                wmsProductStock.locationCode = toBaseLocation.locationCode;
+                                                dbContext.Update(wmsProductStock);
+                                            }
+                                        }
+                                        dbContext.Update(fromBaseLocation);
+                                        dbContext.Update(toBaseLocation);
+                                        dbContext.Remove(wcsCmd);
+                                        dbContext.Remove(item);
+                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 6 });
+                                        dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog() { cmdStatus = 6 });
+                                        dbContext.Update(fromBaseLocation);
+                                        dbContext.Update(toBaseLocation);
+                                        dbContext.SaveChanges();
+                                    }
                                     if (item.taskType == 39)
                                     {
                                         WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
@@ -446,7 +613,26 @@ namespace Khd.Core.Wcs.Wcs
                                                 dbContext.SaveChanges();
                                             }
                                         }
-
+                                    }
+                                    else if (item.taskType == 40)
+                                    {
+                                        BaseEquip startEquip = dbContext.BaseEquip.First(t => t.objid == item.currPointId);
+                                        BaseEquip endEquip = dbContext.BaseEquip.First(t => t.objid == item.endPointId);
+                                        startEquip.emptyCount = 0;
+                                        startEquip.equipStatus = 0;
+                                        startEquip.updateTime = DateTime.Now;
+                                        startEquip.updateBy = "WCS";
+                                        endEquip.emptyCount = item.qty;
+                                        endEquip.equipStatus = 1;
+                                        endEquip.updateTime = DateTime.Now;
+                                        endEquip.updateBy = "WCS";
+                                        dbContext.Update(startEquip);
+                                        dbContext.Update(endEquip);
+                                        dbContext.Remove(wcsCmd);
+                                        dbContext.Remove(item);
+                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6 });
+                                        dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog { cmdStatus = 6 });
+                                        dbContext.SaveChanges();
                                     }
                                     else if (item.taskType == 41)
                                     {
@@ -454,51 +640,68 @@ namespace Khd.Core.Wcs.Wcs
                                           .First(t => t.locationId == item.currPointId);
                                         wmsBaseLocation.outstockFlag = "0";
                                         wmsBaseLocation.locationStatus = "1";
-                                        wmsBaseLocation.containerCode = "";
+                                        wmsBaseLocation.containerCode = null;
                                         wmsBaseLocation.updateTime = DateTime.Now;
                                         wmsBaseLocation.updateBy = "WCS";
-                                        dbContext.WmsRawOutstock.Where(t => t.orderId == item.orderId).Update(t => new WmsRawOutstock
+
+                                        WmsRawOutstock? wmsRawOutstock = dbContext.WmsRawOutstock.FirstOrDefault(t => t.rawOutstockId == item.orderId);
+                                        if (wmsRawOutstock != null)
                                         {
-                                            executeStatus = "2"
-                                        });
-                                        dbContext.Update(wmsBaseLocation);
-                                        dbContext.WmsRawStock.Where(t => t.locationCode == wmsBaseLocation.locationCode).Delete();
-                                        dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
-                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6 });
-                                        dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog { cmdStatus = 6 });
-                                        dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
-                                        dbContext.SaveChanges();
+                                            wmsRawOutstock.realOutstockAmount += 1;
+                                            WmsRawOutstockDetail? wmsRawOutstockDetail = dbContext.WmsRawOutstockDetail.FirstOrDefault(t => t.rawOutstockId == wmsRawOutstock.rawOutstockId && t.executeStatus == "1");
+                                            if (wmsRawOutstockDetail != null)
+                                            {
+                                                wmsRawOutstockDetail.executeStatus = "2";
+                                                WmsRawStock? wmsRawStock = dbContext.WmsRawStock.Where(t => t.palletInfoCode == item.containerNo).FirstOrDefault();
+                                                if (wmsRawStock != null)
+                                                {
+                                                    dbContext.Update(wmsRawOutstock);
+                                                    dbContext.Remove(wmsRawStock);
+                                                    dbContext.Update(wmsBaseLocation);
+                                                    dbContext.Remove(wcsCmd);
+                                                    dbContext.Remove(item);
+                                                    dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6 });
+                                                    dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog { cmdStatus = 6 });
+                                                    dbContext.SaveChanges();
+                                                }
+                                            }
+                                        }
                                     }
                                     else if (item.taskType == 42)
                                     {
-                                        BaseEquip emptyEquip = StaticData.BaseEquip.First(t => t.objid == 35);
-                                        BaseEquip lineEquip = StaticData.BaseEquip.First(t => t.objid == 3);
+                                        BaseEquip emptyEquip = dbContext.BaseEquip.First(t => t.objid == 35);
                                         emptyEquip.emptyCount += 1;
+                                        emptyEquip.equipStatus = 1;
                                         emptyEquip.updateTime = DateTime.Now;
                                         emptyEquip.updateBy = "WCS";
                                         dbContext.Update(emptyEquip);
-                                        dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
+                                        dbContext.Remove(wcsCmd);
+                                        dbContext.Remove(item);
                                         dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6 });
                                         dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog { cmdStatus = 6 });
-                                        dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
                                         dbContext.SaveChanges();
                                     }
                                     else if (item.taskType == 43)
                                     {
-                                        BaseEquip emptyEquip = StaticData.BaseEquip.First(t => t.objid == 35);
-                                        BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
+                                        BaseEquip emptyEquip = dbContext.BaseEquip.First(t => t.objid == 35);
+                                        BaseEquip endEquip = dbContext.BaseEquip.First(t => t.objid == item.endPointId);
                                         emptyEquip.emptyCount = 0;
                                         emptyEquip.updateTime = DateTime.Now;
                                         emptyEquip.updateBy = "WCS";
-                                        endEquip.emptyCount = emptyEquip.emptyCount;
+                                        endEquip.emptyCount += item.qty;
                                         endEquip.updateTime = DateTime.Now;
                                         endEquip.updateBy = "WCS";
                                         dbContext.Update(endEquip);
                                         dbContext.Update(emptyEquip);
+                                        dbContext.Remove(wcsCmd);
+                                        dbContext.Remove(item);
+                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6 });
+                                        dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog { cmdStatus = 6 });
+                                        dbContext.SaveChanges();
                                     }
                                     else if (item.taskType == 44)
                                     {
-                                        BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.startPointId);
+                                        BaseEquip startEquip = dbContext.BaseEquip.First(t => t.objid == item.currPointId);
                                         BaseEquip lineEquip = StaticData.BaseEquip.First(t => t.objid == 3);
                                         startEquip.emptyCount = 0;
                                         startEquip.updateTime = DateTime.Now;
@@ -511,9 +714,9 @@ namespace Khd.Core.Wcs.Wcs
                                         item.floorNo = endEquip.floorNo;
                                         item.taskStatus = 6;
                                         dbContext.Update(item);
-                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6, nextPointId = lineEquip.objid, nextPointNo = lineEquip.equipNo, fromFloorNo = 3, floorNo = endEquip.floorNo });
+                                        dbContext.Remove(wcsCmd);
+                                        dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog { taskStatus = 6 });
                                         dbContext.WcsCmdLog.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmdLog { cmdStatus = 6 });
-                                        dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
                                         dbContext.SaveChanges();
                                     }
                                 }

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

@@ -1,13 +1,10 @@
-using Khd.Core.Domain.Dto.webapi;
-using Khd.Core.Domain.Models;
+using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
 using Khd.Core.Library.Mapper;
-using Khd.Core.Plc;
 using Khd.Core.Wcs.Global;
 using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
-using Newtonsoft.Json;
 using Z.EntityFramework.Plus;
 
 namespace Khd.Core.Wcs.Wcs
@@ -90,27 +87,6 @@ namespace Khd.Core.Wcs.Wcs
                             {
                                 if (wcsTask.taskStatus == 5)//提升机任务是完成状态
                                 {
-                                    if (wcsTask.isEmpty == "1")
-                                    {
-                                        var emptyEquip = StaticData.BaseEquip.FirstOrDefault(t => t.equipType == 15 && t.emptyCount == 0);
-                                        if(emptyEquip != null)
-                                        {
-                                            wcsTask.taskStatus = 0;//创建状态
-                                            wcsTask.updateTime = DateTime.Now;
-                                            wcsTask.currPointId = baseEquip.objid;
-                                            wcsTask.currPointNo = baseEquip.equipNo;
-                                            wcsTask.nextPointId = AgvEquip.objid;
-                                            wcsTask.nextPointNo = AgvEquip.equipNo;
-                                            wcsTask.endPointId = emptyEquip.objid;
-                                            wcsTask.endPointNo = emptyEquip.equipNo;
-                                            wcsTask.useFlag = 1;
-                                            dbContext.Update(wcsTask);
-                                            WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
-                                            dbContext.Add(wcsTaskLog);
-                                            dbContext.SaveChanges();
-                                        }
-                                    }
-                                    else
                                     {
                                         var wmsBaseLocations = dbContext.WmsBaseLocation.Where(t => t.warehouseFloor == FloorNo)
                                               .Where(t => t.activeFlag == "1")
@@ -144,20 +120,23 @@ namespace Khd.Core.Wcs.Wcs
                                         wmsBaseLocation ??= outBill.FirstOrDefault()?.b;//先找相同物料的外侧库位
                                         wmsBaseLocation ??= wmsBaseLocations.Where(t => string.IsNullOrEmpty(t.containerCode)).FirstOrDefault(t => t.locDeep == 2);//找不到再找深库位
                                         wmsBaseLocation ??= wmsBaseLocations.Where(t => string.IsNullOrEmpty(t.containerCode)).FirstOrDefault();//找不到再找任意库位
-                                 
+
                                         if (wmsBaseLocations.Count > 0 && wmsBaseLocation != null)
                                         {
-                                            wcsTask.taskStatus = 0;//创建状态
-                                            wcsTask.updateTime = DateTime.Now;
-                                            wcsTask.currPointId = baseEquip.objid;
-                                            wcsTask.currPointNo = baseEquip.equipNo;
-                                            wcsTask.nextPointId = AgvEquip.objid;
-                                            wcsTask.nextPointNo = AgvEquip.equipNo;
-                                            wcsTask.endPointId = wmsBaseLocation.locationId;
-                                            wcsTask.endPointNo = wmsBaseLocation.locationCode;
+                                            dbContext.Remove(wcsTask);
+                                            WcsTask newTask = CoreMapper.Map<WcsTask>(wcsTask);
+                                            newTask.objid = StaticData.SnowId.NextId();
+                                            newTask.taskStatus = 0;//创建状态
+                                            newTask.updateTime = DateTime.Now;
+                                            newTask.currPointId = baseEquip.objid;
+                                            newTask.currPointNo = baseEquip.equipNo;
+                                            newTask.nextPointId = AgvEquip.objid;
+                                            newTask.nextPointNo = AgvEquip.equipNo;
+                                            newTask.endPointId = wmsBaseLocation.locationId;
+                                            newTask.endPointNo = wmsBaseLocation.locationCode;
                                             if (wmsBaseLocation.warehouseId == 311)
                                             {
-                                                wcsTask.taskType = 39;
+                                                newTask.taskType = 39;
                                             }
                                             else
                                             {
@@ -165,11 +144,11 @@ namespace Khd.Core.Wcs.Wcs
                                                 Thread.Sleep(1000);
                                                 continue;
                                             }
-                                            wcsTask.useFlag = 1;
+                                            newTask.useFlag = 1;
                                             wmsBaseLocation.instockFlag = "1";
                                             wmsBaseLocation.locationStatus = "2";
                                             dbContext.Update(wmsBaseLocation);
-                                            dbContext.Update(wcsTask);
+                                            dbContext.Add(wcsTask);
                                             WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
                                             dbContext.Add(wcsTaskLog);
                                             dbContext.SaveChanges();
@@ -184,24 +163,19 @@ namespace Khd.Core.Wcs.Wcs
                                 else if (wcsTask.taskStatus == 6)//小车任务是完成状态，说明是出库
                                 {
                                     BaseEquip nextEquip = StaticData.BaseEquip.First(t => t.equipType == 2);//提升机
-                                    wcsTask.nextPointId = nextEquip.objid;
-                                    wcsTask.nextPointNo = nextEquip.equipNo;
-                                    wcsTask.currPointId = baseEquip.objid;
-                                    wcsTask.currPointNo = baseEquip.equipNo;
-                                    wcsTask.fromFloorNo = FloorNo;
-                                    wcsTask.taskStatus = 0;
-                                    wcsTask.updateTime = DateTime.Now;
-                                    dbContext.Update(wcsTask);
-                                    dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid)
-                                        .Update(t => new WcsTaskLog
-                                        {
-                                            nextPointId = nextEquip.objid,
-                                            nextPointNo = nextEquip.equipNo,
-                                            currPointId = baseEquip.objid,
-                                            currPointNo = baseEquip.equipNo,
-                                            taskStatus = 0,
-                                            updateTime = DateTime.Now,
-                                        });
+                                    dbContext.Remove(wcsTask);
+                                    WcsTask newTask = CoreMapper.Map<WcsTask>(wcsTask);
+                                    newTask.objid = StaticData.SnowId.NextId();
+                                    newTask.nextPointId = nextEquip.objid;
+                                    newTask.nextPointNo = nextEquip.equipNo;
+                                    newTask.currPointId = baseEquip.objid;
+                                    newTask.currPointNo = baseEquip.equipNo;
+                                    newTask.fromFloorNo = FloorNo;
+                                    newTask.taskStatus = 0;
+                                    newTask.updateTime = DateTime.Now;
+                                    dbContext.Add(newTask);
+                                    WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(newTask);
+                                    dbContext.Add(wcsTaskLog);
                                     dbContext.SaveChanges();
                                 }
                             }

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

@@ -1,9 +1,4 @@
-using Khd.Core.Domain.Dto.webapi;
-using Masuit.Tools;
-using Masuit.Tools.Logging;
-using Newtonsoft.Json;
-
-namespace Khd.Core.Wcs.Wcs
+namespace Khd.Core.Wcs.Wcs
 {
     public class WcsToWms
     {

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

@@ -1,9 +1,6 @@
-using Masuit.Tools;
-using Microsoft.Extensions.Configuration;
+using Microsoft.Extensions.Configuration;
 using System;
 using System.Collections.Generic;
-using System.Diagnostics;
-using System.Linq;
 using System.Threading.Tasks;
 using System.Windows;
 namespace Khd.Core.Wpf
@@ -15,7 +12,7 @@ namespace Khd.Core.Wpf
     {
         public App()
         {
-     
+
             //UI线程未捕获异常处理事件（UI主线程）
             this.DispatcherUnhandledException += App_DispatcherUnhandledException;
 
@@ -30,7 +27,7 @@ namespace Khd.Core.Wpf
             .Build();
 
             SystemData.PlcConfigs = configuration.GetSection("PlcConfigs").Get<List<PlcConfig>>();
-      
+
             ConnectionStrings.ConnectionString = configuration["ConnectionStrings:DefaultConnection"].ToString();
             //配置文件 加载 Thrift 推送端口
             ThriftConfig.ThriftIpAddress = configuration["ThriftConfig:ThriftIpAddress"].ToString();

src/Khd.Core.Wpf/CSS/DataGridClass.xaml

@@ -4,14 +4,14 @@
     <!--datagrid  列头部样式-->
     <Style  x:Key="DataGridStyle" TargetType="DataGrid">
         <Setter Property="Background"  Value="Transparent"></Setter>
-        <!--<Setter Property="HorizontalAlignment"  Value="Center"></Setter>
-        <Setter Property="VerticalAlignment"  Value="Center"></Setter>--> 
+        <Setter Property="HorizontalAlignment"  Value="Center"></Setter>
+        <Setter Property="VerticalAlignment"  Value="Center"></Setter> 
         <Setter Property="FontSize"  Value="20"></Setter>
     </Style>
 
 
     <!--datagrid  列头部样式-->
-    <Style  x:Key="RowHeaderStyle" TargetType="{x:Type DataGridRow}">
+    <Style  x:Key="RowHeaderStyle" TargetType="{x:Type DataGridRow}" >
         <Style.Triggers>
             <Trigger Property="ItemsControl.AlternationIndex" Value="0">
                 <Setter Property="Background" Value="#354665" />
@@ -24,7 +24,7 @@
         </Style.Triggers>
     </Style>
 
-    <Style  x:Key="SmallRowHeaderStyle" TargetType="{x:Type DataGridRow}">
+    <Style  x:Key="SmallRowHeaderStyle" TargetType="{x:Type DataGridRow}"  >
         <Style.Triggers>
             <Trigger Property="ItemsControl.AlternationIndex" Value="0">
                 <Setter Property="Background" Value="#354665" />

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

@@ -1,7 +1,6 @@
 
 using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
-using Khd.Core.Plc.S7;
 using Masuit.Tools.Logging;
 using Microsoft.EntityFrameworkCore;
 using Microsoft.Extensions.DependencyInjection;

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

@@ -26,6 +26,8 @@
             <local:TypeDataConverter x:Key="taskTypeConverter"/>
             <local:EquipConverter x:Key="EquipConverter"/>
             <local:AgvTaskStatusConverter x:Key="AgvTaskStatusConverter"/>
+
+
             <Style  TargetType="{x:Type ComboBox}">
                 <Setter Property="Width" Value="120"></Setter>
                 <Setter Property="Template">
@@ -106,11 +108,9 @@
                     <Setter.Value>
                         <ControlTemplate TargetType="TabItem">
                             <Grid>
-
                                 <Border Background="{TemplateBinding Background}" BorderThickness="1"  BorderBrush="#213269">
                                     <ContentPresenter ContentSource="Header" VerticalAlignment="Center" HorizontalAlignment="Center"/>
                                 </Border>
-
                             </Grid>
                         </ControlTemplate>
                     </Setter.Value>
@@ -165,12 +165,11 @@
                 <Setter Property="VerticalContentAlignment" Value="Center"/>
             </Style>
             <!--  TextBox默认样式  -->
-            <Style x:Key="DefaultTextBox" TargetType="{x:Type TextBox}" />
-            <Style x:Key="dgCell" TargetType="TextBlock">
+            <Style x:Key="DefaultTextBox" TargetType="{x:Type TextBox}"  />
+            <Style x:Key="dgCell" TargetType="TextBlock" BasedOn="{x:Null}">
                 <Setter Property="TextAlignment" Value="Center" />
                 <Setter Property="HorizontalAlignment" Value="Center" />
                 <Setter Property="VerticalAlignment" Value="Center" />
-                <Setter Property="Height" Value="auto"/>
             </Style>
             <Style x:Key="DefaultButton" TargetType="{x:Type Button}">
                 <Setter Property="Foreground" Value="White" />
@@ -389,81 +388,81 @@
                 <Viewbox Stretch=" fill"  >
                     <Canvas Width="1880" Height="1080" >
                         <Grid   Width="1880" Height="1080">
-                            <TabControl Background="Transparent" BorderThickness="0" HorizontalAlignment="Center" VerticalContentAlignment="Center" SelectionChanged="TabControl_SelectionChanged"  TabStripPlacement="Left"  Width="1890" Margin="-10,0,0,0">
-                                <TabItem Header="任务管理" Style="{StaticResource DefaultItem}" Background="#213269"  Foreground="White"   FontSize="25"   Width="160" Height="125" VerticalAlignment="Center" HorizontalAlignment="Center" Margin="5" >
+                            <TabControl x:Name="TabControl" Background="Transparent" BorderThickness="0" HorizontalAlignment="Center" VerticalContentAlignment="Center" SelectionChanged="TabControl_SelectionChanged"  TabStripPlacement="Left"  Width="1890" Margin="-10,0,0,0">
+                                <TabItem Visibility="Collapsed" x:Name="FirstItem"></TabItem>
+                                <TabItem  x:Name="TaskManager" Header="任务管理" Style="{StaticResource DefaultItem}" Background="#213269"  Foreground="White"   FontSize="25"   Width="160" Height="100" VerticalAlignment="Center" HorizontalAlignment="Center" Margin="5" >
                                     <StackPanel
                                                 x:Name="essentialData"
-                                                Canvas.Left="174"
-                                                Canvas.Top="110"
-                                                Width="1714"
-                                                Height="1060"
-                                                Background="#213269" Margin="0,-15,0,0">
-                                        <TextBlock
+                                                Orientation="Vertical"
+                                                Background="#213269">
+                                        <StackPanel Orientation="Horizontal" Margin="10">
+                                            <TextBlock
+                                                Margin="5"
                                 Width="125"
-                                Height="70"
-                                Margin="-1500,20,0,-100"
+                                VerticalAlignment="Center"
                                 Text="设备编号 :"
                                 FontSize="25" 
                                              Foreground="White"
                               />
-                                        <Border
+                                            <Border
                                                         ></Border>
-                                        <TextBox x:Name="lba_ThrifTtitle1"   Style="{StaticResource XingHaoBianMaYangShi}" IsEnabled="true" 
-                                  Width="180" Height="50" Margin="-1150,-8,0,-100"></TextBox>
-                                        <TextBlock
+                                            <TextBox x:Name="lba_ThrifTtitle1" Margin="5"  Style="{StaticResource XingHaoBianMaYangShi}" IsEnabled="true" 
+                                  Width="180" Height="50" ></TextBox>
+                                            <TextBlock
                                 Width="125"
-                                Height="70"
-                                Margin="-800,20,0,-100"
                                 Text="容器号 :"
+                                                Margin="5"
+                                                 VerticalAlignment="Center"
                                 FontSize="25" 
                                              Foreground="White"
                               />
-                                        <Border
+                                            <Border
                                                         ></Border>
-                                        <TextBox x:Name="lba_ThrifTtitle2"   Style="{StaticResource XingHaoBianMaYangShi}" IsEnabled="true"
-                                  Width="180" Height="50" Margin="-500,-8,0,-100"></TextBox>
-                                        <Button Content="搜索" Margin="-100,-8,0,-100" Foreground="White" Height="50" FontSize="25"  Width="132" Click="btnGetTask_Click">
-                                            <Button.Template >
-                                                <ControlTemplate TargetType="{x:Type Button}" >
-                                                    <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
-                                                        <Border.Background>#346DFF</Border.Background>
-                                                        <ContentPresenter Content="{TemplateBinding ContentControl.Content}" HorizontalAlignment="Center" VerticalAlignment="Center" ></ContentPresenter>
-                                                    </Border>
-                                                </ControlTemplate>
-                                            </Button.Template>
-                                        </Button>
-
-                                        <Button Content="创建任务" Margin="200,-8,0,-100" FontSize="25" Foreground="White" Height="50"  Width="132" Click="AddTaskButton_Click">
-                                            <Button.Template >
-                                                <ControlTemplate TargetType="{x:Type Button}" >
-                                                    <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
-                                                        <Border.Background>#346DFF</Border.Background>
-                                                        <ContentPresenter Content="{TemplateBinding ContentControl.Content}" HorizontalAlignment="Center" VerticalAlignment="Center" ></ContentPresenter>
-                                                    </Border>
-                                                </ControlTemplate>
-                                            </Button.Template>
-                                        </Button>
-                                        <Button Content="删除任务" Visibility="Hidden" Margin="500,-8,0,-100" FontSize="25" Foreground="White" Height="50"  Width="132" Click="btnDelTask_Click">
-                                            <Button.Template >
-                                                <ControlTemplate TargetType="{x:Type Button}" >
-                                                    <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
-                                                        <Border.Background>#346DFF</Border.Background>
-                                                        <ContentPresenter Content="{TemplateBinding ContentControl.Content}" HorizontalAlignment="Center" VerticalAlignment="Center" ></ContentPresenter>
-                                                    </Border>
-                                                </ControlTemplate>
-                                            </Button.Template>
-                                        </Button>
-                                        <Button Content="开始任务" Margin="500,-8,0,-100" FontSize="25" Foreground="White" Height="50"  Width="132" Click="btnEditTask_Click">
-                                            <Button.Template >
-                                                <ControlTemplate TargetType="{x:Type Button}" >
-                                                    <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
-                                                        <Border.Background>#346DFF</Border.Background>
-                                                        <ContentPresenter Content="{TemplateBinding ContentControl.Content}" HorizontalAlignment="Center" VerticalAlignment="Center" ></ContentPresenter>
-                                                    </Border>
-                                                </ControlTemplate>
-                                            </Button.Template>
-                                        </Button>
-                                        <!--<Button Content="手动完成" Margin="800,-8,0,-100" Foreground="White" Height="50"  Width="132" Click="btnFinishTask_Click">
+                                            <TextBox x:Name="lba_ThrifTtitle2"   Style="{StaticResource XingHaoBianMaYangShi}" IsEnabled="true"
+                                  Width="180" Height="50" Margin="5" ></TextBox>
+                                            <TextBlock Text="设备:" VerticalAlignment="Center"/>
+                                            <ComboBox x:Name="EquipListSelectDy" DisplayMemberPath="equipName" Width="200" VerticalContentAlignment="Center" HorizontalContentAlignment="Center"/>
+                                            <Button Content="搜索"  Foreground="White" Height="50" Margin="5" FontSize="25"  Width="132" Click="btnGetTask_Click">
+                                                <Button.Template >
+                                                    <ControlTemplate TargetType="{x:Type Button}" >
+                                                        <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
+                                                            <Border.Background>#346DFF</Border.Background>
+                                                            <ContentPresenter Content="{TemplateBinding ContentControl.Content}" HorizontalAlignment="Center" VerticalAlignment="Center" ></ContentPresenter>
+                                                        </Border>
+                                                    </ControlTemplate>
+                                                </Button.Template>
+                                            </Button>
+                                            <Button Content="创建任务" FontSize="25" Margin="5" Foreground="White" Height="50"  Width="132" Click="AddTaskButton_Click">
+                                                <Button.Template >
+                                                    <ControlTemplate TargetType="{x:Type Button}" >
+                                                        <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
+                                                            <Border.Background>#346DFF</Border.Background>
+                                                            <ContentPresenter Content="{TemplateBinding ContentControl.Content}" HorizontalAlignment="Center" VerticalAlignment="Center" ></ContentPresenter>
+                                                        </Border>
+                                                    </ControlTemplate>
+                                                </Button.Template>
+                                            </Button>
+                                            <Button Content="删除任务" Visibility="Collapsed" FontSize="25" Foreground="White" Height="50"  Width="132" Click="btnDelTask_Click">
+                                                <Button.Template >
+                                                    <ControlTemplate TargetType="{x:Type Button}" >
+                                                        <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
+                                                            <Border.Background>#346DFF</Border.Background>
+                                                            <ContentPresenter Content="{TemplateBinding ContentControl.Content}" HorizontalAlignment="Center" VerticalAlignment="Center" ></ContentPresenter>
+                                                        </Border>
+                                                    </ControlTemplate>
+                                                </Button.Template>
+                                            </Button>
+                                            <Button Content="开始任务" Margin="5" FontSize="25" Foreground="White" Height="50"  Width="132" Click="btnEditTask_Click">
+                                                <Button.Template >
+                                                    <ControlTemplate TargetType="{x:Type Button}" >
+                                                        <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
+                                                            <Border.Background>#346DFF</Border.Background>
+                                                            <ContentPresenter Content="{TemplateBinding ContentControl.Content}" HorizontalAlignment="Center" VerticalAlignment="Center" ></ContentPresenter>
+                                                        </Border>
+                                                    </ControlTemplate>
+                                                </Button.Template>
+                                            </Button>
+                                            <!--<Button Content="手动完成" Margin="800,-8,0,-100" Foreground="White" Height="50"  Width="132" Click="btnFinishTask_Click">
                                             <Button.Template >
                                                 <ControlTemplate TargetType="{x:Type Button}" >
                                                     <Border BorderBrush="{TemplateBinding Control.BorderBrush}" BorderThickness="1" CornerRadius="4,4,4,4">
@@ -473,10 +472,10 @@
                                                 </ControlTemplate>
                                             </Button.Template>
                                         </Button>-->
-
+                                        </StackPanel>
 
                                         <!--  订单信息  -->
-                                        <Grid  Width="1711" Height="1070" HorizontalAlignment="Left">
+                                        <Grid  Width="1711" Margin="0,10,0,0" HorizontalAlignment="Left">
                                             <Grid.RowDefinitions>
                                                 <RowDefinition Height="10*"/>
                                                 <RowDefinition Height="2*"/>
@@ -486,6 +485,7 @@
                                             <Grid Grid.Row="2">
                                                 <DataGrid 
                                                             x:Name="LoadMaterial0"
+                                                    Height="1000"
                             AlternationCount="2"
                             AutoGenerateColumns="False"
                             Background="#172557"
@@ -498,7 +498,7 @@
                             IsReadOnly="True"
                             LoadingRow="dgData_LoadingRow"
                             RowHeaderWidth="0"
-                            SelectionMode="Single" FontSize="16" HorizontalAlignment="Left" Width="1711" Margin="0,0,0,10">
+                            SelectionMode="Single" FontSize="16" HorizontalAlignment="Left" Width="1711">
                                                     <DataGrid.Columns>
                                                         <DataGridTemplateColumn Width="130*" Header="选择">
                                                             <DataGridTemplateColumn.CellTemplate>
@@ -581,7 +581,7 @@
                                     IsReadOnly="True" Visibility="Hidden"/>
                                                         <DataGridTextColumn
                                     Width="300*"
-                                    Binding="{Binding startPointNo,Converter={StaticResource EquipConverter}}"
+                                    Binding="{Binding currPointNo,Converter={StaticResource EquipConverter}}"
                                     CanUserSort="False"
                                     ElementStyle="{StaticResource dgCell}"
                                     FontSize="20"
@@ -620,6 +620,19 @@
                                     FontSize="20"
                                     Header="创建时间"
                                     IsReadOnly="True" />
+                                                        <DataGridTemplateColumn
+                                            Width="100"
+                                            MinWidth="10"
+                                            Header=" 操作"
+                                            IsReadOnly="True">
+                                                            <DataGridTemplateColumn.CellTemplate>
+                                                                <DataTemplate>
+                                                                    <StackPanel Orientation="Horizontal">
+                                                                        <Button Content="任务完成" Visibility="{Binding isShow}" Style="{StaticResource ButtonPrimary}" FontSize="25" Width="100" Height="75" Click="taskCompeleted_Click"/>
+                                                                    </StackPanel>
+                                                                </DataTemplate>
+                                                            </DataGridTemplateColumn.CellTemplate>
+                                                        </DataGridTemplateColumn>
                                                     </DataGrid.Columns>
                                                     <DataGrid.CellStyle>
                                                         <Style TargetType="{x:Type DataGridCell}">
@@ -662,7 +675,7 @@
                                         </Grid>
                                     </StackPanel>
                                 </TabItem>
-                                <!--<TabItem  Header="入库确认" Foreground="White" FontSize="25" Width="160" Height="125" VerticalAlignment="Center" HorizontalAlignment="Center" Margin="5">
+                                <!--<TabItem  Header="入库确认" Foreground="White" FontSize="25" Width="160" Height="100" VerticalAlignment="Center" HorizontalAlignment="Center" Margin="5">
                                     <Grid>
                                         <Grid.RowDefinitions>
                                             <RowDefinition Height="auto"/>
@@ -781,7 +794,7 @@
                                         </DataGrid>
                                     </Grid>
                                 </TabItem>-->
-                                <TabItem Header="设备管理" Background="#213269" Style="{StaticResource DefaultItem}" Foreground="White"   FontSize="25"   Width="160" Height="125"  VerticalAlignment="Center" HorizontalAlignment="Center" Margin="5" >
+                                <TabItem  Header="设备管理" Visibility="Collapsed" Background="#213269" Style="{StaticResource DefaultItem}" Foreground="White"   FontSize="25"   Width="160" Height="100"  VerticalAlignment="Center" HorizontalAlignment="Center" Margin="5" >
                                     <StackPanel
                                                 x:Name="materialBom"
                                                  Canvas.Left="174"
@@ -944,7 +957,7 @@
                                         <Label Content="Label"/>
                                     </StackPanel>
                                 </TabItem>
-                                <TabItem Header="库存信息" Background="#213269" Style="{StaticResource DefaultItem}" Foreground="White"   FontSize="25"   Width="160" Height="125"  VerticalAlignment="Center" HorizontalAlignment="Center" Margin="5" >
+                                <TabItem x:Name="LocationManager" Header="库存信息" Background="#213269" Style="{StaticResource DefaultItem}" Foreground="White"   FontSize="25"   Width="160" Height="100"  VerticalAlignment="Center" HorizontalAlignment="Center" Margin="5" >
                                     <StackPanel
                                                 x:Name="orderControl"
                                                 Canvas.Left="174"
@@ -997,7 +1010,7 @@
                                             </Grid.RowDefinitions>
                                             <Grid Grid.Row="1">
                                                 <DataGrid 
-                                                            x:Name="LoadMaterial1"
+                            x:Name="LoadMaterial1"
                             AlternationCount="2"
                             AutoGenerateColumns="False"
                             Background="#172557"
@@ -1010,7 +1023,8 @@
                             IsReadOnly="True"
                             LoadingRow="dgData_LoadingRow"
                             RowHeaderWidth="0"
-                            SelectionMode="Single" FontSize="16" HorizontalAlignment="Left" Width="1711" Margin="0,0,0,10" >
+                            SelectionMode="Single" FontSize="16" HorizontalAlignment="Left" Width="1711" Margin="0,0,0,10" 
+                                                    >
                                                     <DataGrid.Columns>
                                                         <DataGridTemplateColumn
                                     x:Name="orderControlData"
@@ -1099,8 +1113,6 @@
                                         IsReadOnly="True" />
 
 
-
-
                                                     </DataGrid.Columns>
                                                     <DataGrid.CellStyle>
                                                         <Style TargetType="{x:Type DataGridCell}">
@@ -1146,7 +1158,7 @@
                                         </Grid>
                                     </StackPanel>
                                 </TabItem>
-                                <!--<TabItem Header="指令管理"   Foreground="White"   FontSize="25"   Width="160" Height="125"  VerticalAlignment="Center" HorizontalAlignment="Center" Margin="5" >
+                                <!--<TabItem Header="指令管理"   Foreground="White"   FontSize="25"   Width="160" Height="100"  VerticalAlignment="Center" HorizontalAlignment="Center" Margin="5" >
                                     <StackPanel
                     x:Name="UpperStart"
                     Canvas.Left="174"
@@ -1394,7 +1406,161 @@
                                         </StackPanel>
                                     </StackPanel>
                                 </TabItem>-->
-                                <TabItem Header="人工叫料" Style="{StaticResource DefaultItem}"  FontSize="25" HorizontalContentAlignment="Center" Background="#213269" VerticalContentAlignment="Center"   Foreground="White" Width="160" Height="125" Margin="5">
+                                <TabItem  x:Name="WasterManager" Header="废料区管理" Style="{StaticResource DefaultItem}"  FontSize="25" HorizontalContentAlignment="Center" Background="#213269" VerticalContentAlignment="Center"   Foreground="White" Width="160" Height="100" Margin="5">
+                                    <Grid Height="1100" Width="1700">
+                                        <Grid.RowDefinitions>
+                                            <RowDefinition Height="*"/>
+                                            <RowDefinition Height="2*"/>
+                                        </Grid.RowDefinitions>
+                                        <Border BorderBrush="White" BorderThickness="2" Height="320" CornerRadius="10" Margin="10">
+                                            <Grid Grid.Column="0" Grid.Row="0">
+                                                <Grid.RowDefinitions>
+                                                    <RowDefinition Height="*"/>
+                                                    <RowDefinition Height="2*"/>
+                                                </Grid.RowDefinitions>
+                                                <TextBlock Text="废料区任务下发" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="75"/>
+                                                <Grid Grid.Row="1" >
+                                                    <Grid.ColumnDefinitions>
+                                                        <ColumnDefinition Width="2*"/>
+                                                        <ColumnDefinition Width="*"/>
+                                                        <ColumnDefinition Width="2*"/>
+                                                        <ColumnDefinition Width="*"/>
+                                                    </Grid.ColumnDefinitions>
+                                                    <TextBlock Text="请求空托盘" Grid.Column="0" Grid.Row="0" FontSize="50" HorizontalAlignment="Center" VerticalAlignment="Center"/>
+                                                    <Button Content="执行" Foreground="White" Background="#346DFF" Width="150" Height="75" Grid.Column="1" Grid.Row="0" FontSize="30" HorizontalAlignment="Center" VerticalAlignment="Center" Click="btnSendEmptyTray_Click"/>
+                                                    <TextBlock Text="出托盘到周转区" Grid.Column="2" Grid.Row="0" FontSize="50" HorizontalAlignment="Center" VerticalAlignment="Center"/>
+                                                    <Button Content="执行" Foreground="White" Background="#346DFF" Width="150" Height="75" Grid.Column="3" Grid.Row="0" FontSize="30" HorizontalAlignment="Center" VerticalAlignment="Center" Click="btnSendTrayToTurnover_Click"/>
+                                                </Grid>
+                                            </Grid>
+                                        </Border>
+                                        <Border Grid.Column="0" Grid.Row="1" BorderBrush="White" BorderThickness="2" Height="650" CornerRadius="10" Margin="10">
+                                            <DataGrid 
+                                                       AlternationCount="2"
+                                                         AutoGenerateColumns="False"
+                                                         Background="#172557"
+                                                         CanUserAddRows="False"
+                                                         CanUserReorderColumns="False"
+                                                         CanUserResizeColumns="False"
+                                                         CanUserResizeRows="False"
+                                                         Focusable="False"
+                                                         HeadersVisibility="Column"
+                                                         IsReadOnly="True"
+                                                         RowHeaderWidth="0"
+                                                         SelectionMode="Single"
+                                                      x:Name="EmptyEquip"
+                                                      LoadingRow="dgData_LoadingRow"
+                                                      MinRowHeight="50" HorizontalAlignment="Stretch" VerticalAlignment="Stretch">
+                                                <DataGrid.Columns>
+                                                    <DataGridTemplateColumn
+                                                            Width="100"
+                                                            MinWidth="10"
+                                                            Header=" 序号"
+                                                            IsReadOnly="True">
+                                                        <DataGridTemplateColumn.CellTemplate>
+                                                            <DataTemplate>
+                                                                <TextBlock
+                                                                Margin="0"
+                                                                HorizontalAlignment="Center"
+                                                                VerticalAlignment="Center"
+                                                                Focusable="False"
+                                                                FontSize="20"
+                                                                Text="{Binding Header, RelativeSource={RelativeSource AncestorType={x:Type DataGridRow}, Mode=FindAncestor}}" />
+                                                            </DataTemplate>
+                                                        </DataGridTemplateColumn.CellTemplate>
+                                                    </DataGridTemplateColumn>
+                                                    <DataGridTextColumn
+                                                        Width="180*"
+                                                        Binding="{Binding equipNo}"
+                                                        CanUserSort="False"
+                                                        ElementStyle="{StaticResource dgCell}"
+                                                        FontSize="20"
+                                                        Header="库位"
+                                                        IsReadOnly="True" />
+                                                    <DataGridTextColumn
+                                                          Width="180*"
+                                                          Binding="{Binding equipName}"
+                                                          CanUserSort="False"
+                                                          ElementStyle="{StaticResource dgCell}"
+                                                          FontSize="20"
+                                                          Header="库位名称"
+                                                          IsReadOnly="True" />
+                                                    <DataGridTextColumn
+                                                          Width="180*"
+                                                          Binding="{Binding floorNo}"
+                                                          CanUserSort="False"
+                                                          ElementStyle="{StaticResource dgCell}"
+                                                          FontSize="20"
+                                                          Header="楼层"
+                                                          IsReadOnly="True" />
+                                                    <DataGridTextColumn
+                                                        Width="180*"
+                                                        Binding="{Binding ud3}"
+                                                        CanUserSort="False"
+                                                        ElementStyle="{StaticResource dgCell}"
+                                                        FontSize="20"
+                                                        Header="类型"
+                                                        IsReadOnly="True" />
+                                                    <DataGridTextColumn
+                                                         Width="180*"
+                                                         Binding="{Binding emptyCount}"
+                                                         CanUserSort="False"
+                                                         ElementStyle="{StaticResource dgCell}"
+                                                         FontSize="20"
+                                                         Header="托盘数量"
+                                                         IsReadOnly="True" />
+                                                    <DataGridTemplateColumn
+                                                        Width="300"
+                                                        MinWidth="10"
+                                                        Header=" 操作"
+                                                        IsReadOnly="True">
+                                                        <DataGridTemplateColumn.CellTemplate>
+                                                            <DataTemplate>
+                                                                <StackPanel Orientation="Horizontal">
+                                                                    <Button Content="清除" Style="{StaticResource ButtonPrimary}" FontSize="25" Width="125" Height="75" Click="clearLocation_Click"/>
+                                                                    <Button Content="出库" Style="{StaticResource ButtonPrimary}" FontSize="25" Width="125" Height="75" Click="outLocation_Click"/>
+                                                                </StackPanel>
+                                                            </DataTemplate>
+                                                        </DataGridTemplateColumn.CellTemplate>
+                                                    </DataGridTemplateColumn>
+                                                </DataGrid.Columns>
+                                                <DataGrid.CellStyle>
+                                                    <Style TargetType="{x:Type DataGridCell}">
+                                                        <Setter Property="Background" Value="#213269" />
+                                                        <Setter Property="Foreground" Value="White" />
+                                                        <Setter Property="HorizontalContentAlignment" Value="Center" />
+                                                    </Style>
+
+                                                </DataGrid.CellStyle>
+                                                <DataGrid.RowStyle>
+                                                    <Style TargetType="{x:Type DataGridRow}">
+                                                        <Setter Property="Background" Value="#213269" />
+                                                        <Setter Property="Foreground" Value="White" />
+                                                        <Setter Property="Height" Value="65"/>
+                                                    </Style>
+                                                </DataGrid.RowStyle>
+                                                <DataGrid.RowHeaderStyle>
+                                                    <Style TargetType="{x:Type DataGridRowHeader}">
+                                                        <Setter Property="Background" Value="#213269" />
+                                                        <Setter Property="Foreground" Value="White" />
+                                                        <Setter Property="HorizontalContentAlignment" Value="Center" />
+                                                    </Style>
+                                                </DataGrid.RowHeaderStyle>
+                                                <DataGrid.ColumnHeaderStyle>
+                                                    <Style TargetType="{x:Type DataGridColumnHeader}">
+                                                        <Setter Property="Background" Value="#172560" />
+                                                        <Setter Property="Foreground" Value="White" />
+                                                        <Setter Property="HorizontalContentAlignment" Value="Center" />
+                                                        <Setter Property="Margin" Value="0,0,0,0" />
+                                                        <Setter Property="BorderThickness" Value="5" />
+                                                        <Setter Property="BorderBrush" Value="#172540" />
+                                                        <Setter Property="FontSize" Value="30" />
+                                                    </Style>
+                                                </DataGrid.ColumnHeaderStyle>
+                                            </DataGrid>
+                                        </Border>
+                                    </Grid>
+                                </TabItem>
+                                <TabItem  x:Name="CallPersonManager" Header="人工叫料" Style="{StaticResource DefaultItem}"  FontSize="25" HorizontalContentAlignment="Center" Background="#213269" VerticalContentAlignment="Center"   Foreground="White" Width="160" Height="100" Margin="5">
                                     <Grid Height="1100" Width="1700">
                                         <Grid.RowDefinitions>
                                             <RowDefinition Height="auto"/>
@@ -1410,11 +1576,14 @@
                                                 <Button Content="出选择料箱" Background="#346DFF" Foreground="White" FontSize="25" Height="50" Width="200" Margin="20,0,0,0" Click="CallTrayBtn_Click"/>
                                             </StackPanel>
                                         </Border>
-                                        <DataGrid Grid.Row="1"   AlternationCount="2"
+                                        <DataGrid 
+                                              Style="{StaticResource DataGridStyle}"
+                                              Grid.Row="1" AlternationCount="2"
                                               AutoGenerateColumns="False"
                                               MinRowHeight="50"
                                               Background="#172557"
                                               CanUserAddRows="False"
+                                              GridLinesVisibility="None"
                                               CanUserReorderColumns="False"
                                               CanUserResizeColumns="False"
                                               CanUserResizeRows="False"
@@ -1469,6 +1638,14 @@
                                                     FontSize="20"
                                                     Header="库位号"
                                                     IsReadOnly="True" />
+                                                <DataGridTextColumn
+                                                    Width="180*"
+                                                    Binding="{Binding palletInfoCode}"
+                                                    CanUserSort="False"
+                                                    ElementStyle="{StaticResource dgCell}"
+                                                    FontSize="20"
+                                                    Header="料箱号"
+                                                    IsReadOnly="True" />
                                                 <DataGridTextColumn
                                                      Width="180*"
                                                      Binding="{Binding materialId}"
@@ -1477,22 +1654,17 @@
                                                      FontSize="20"
                                                      Header="物料Id"
                                                      IsReadOnly="True" />
-                                                <DataGridTextColumn
-                                                      Width="180*"
-                                                      Binding="{Binding materialName}"
-                                                      ElementStyle="{StaticResource dgCell}"
-                                                      CanUserSort="False"
-                                                      FontSize="20"
-                                                      Header="物料名称"
-                                                      IsReadOnly="True" />
-                                                <!--<DataGridTextColumn
-                                                      Width="250*"
-                                                      Binding="{Binding materialSpec}"
-                                                      CanUserSort="False"
-                                                      ElementStyle="{StaticResource dgCell}"
-                                                      FontSize="20"
-                                                      Header="物料规格"
-                                                      IsReadOnly="True" />-->
+                                                <DataGridTemplateColumn
+                                                        Width="350*"
+                                                        CanUserSort="False"
+                                                        Header="物料名称"
+                                                        IsReadOnly="True" >
+                                                    <DataGridTemplateColumn.CellTemplate>
+                                                        <DataTemplate>
+                                                            <TextBlock TextWrapping="Wrap" Text="{Binding materialName}" ToolTip="{Binding materialNameSrc}" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="20" />
+                                                        </DataTemplate>
+                                                    </DataGridTemplateColumn.CellTemplate>
+                                                </DataGridTemplateColumn>
                                                 <DataGridTemplateColumn
                                                    Width="350*"
                                                    CanUserSort="False"
@@ -1500,45 +1672,22 @@
                                                    IsReadOnly="True" >
                                                     <DataGridTemplateColumn.CellTemplate>
                                                         <DataTemplate>
-                                                            <TextBlock TextWrapping="WrapWithOverflow" Text="{Binding materialSpec}" Height="auto" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="20" />
+                                                            <TextBlock TextWrapping="Wrap" Text="{Binding materialSpec}" ToolTip="{Binding materialSpecSrc}" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="20" />
                                                         </DataTemplate>
                                                     </DataGridTemplateColumn.CellTemplate>
                                                 </DataGridTemplateColumn>
-                                                <DataGridTextColumn
-                                                      Width="180*"
-                                                      Binding="{Binding palletInfoCode}"
-                                                      CanUserSort="False"
-                                                      ElementStyle="{StaticResource dgCell}"
-                                                      FontSize="20"
-                                                      Header="料箱号"
-                                                      IsReadOnly="True" />
-                                                <!--<DataGridTextColumn
-                                                      Width="130*"
-                                                      Binding="{Binding totalAmount}"
-                                                      CanUserSort="False"
-                                                      ElementStyle="{StaticResource dgCell}"
-                                                      FontSize="20"
-                                                      Header="总数"
-                                                      IsReadOnly="True" />-->
+
                                                 <DataGridTemplateColumn
-                                                       Width="130*"
-                                                       CanUserSort="False"
-                                                       Header="总数"
-                                                       IsReadOnly="True" >
+                                                   Width="130*"
+                                                   CanUserSort="False"
+                                                   Header="总数"
+                                                   IsReadOnly="True" >
                                                     <DataGridTemplateColumn.CellTemplate>
                                                         <DataTemplate>
-                                                            <TextBlock TextWrapping="WrapWithOverflow" Text="{Binding totalAmount}" Height="auto" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="20" />
+                                                            <TextBlock TextWrapping="Wrap" Text="{Binding totalAmount}" ToolTip="{Binding totalAmount}" Height="auto" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="20" />
                                                         </DataTemplate>
                                                     </DataGridTemplateColumn.CellTemplate>
                                                 </DataGridTemplateColumn>
-                                                <!--<DataGridTextColumn
-                                                      Width="130*"
-                                                      Binding="{Binding frozenAmount}"
-                                                      CanUserSort="False"
-                                                      ElementStyle="{StaticResource dgCell}"
-                                                      FontSize="20"
-                                                      Header="冻结数量"
-                                                      IsReadOnly="True" />-->
                                                 <DataGridTemplateColumn
                                                    Width="130*"
                                                    CanUserSort="False"
@@ -1556,8 +1705,6 @@
                                                     <Setter Property="Background" Value="#213269" />
                                                     <Setter Property="Foreground" Value="White" />
                                                     <Setter Property="HorizontalContentAlignment" Value="Center" />
-                                                    <Setter Property="Margin" Value="5"/>
-                                                    <Setter Property="Height" Value="auto"/>
                                                 </Style>
 
                                             </DataGrid.CellStyle>
@@ -1565,14 +1712,12 @@
                                                 <Style TargetType="{x:Type DataGridRow}">
                                                     <Setter Property="Background" Value="#213269" />
                                                     <Setter Property="Foreground" Value="White" />
-                                                    <Setter Property="Height" Value="auto"/>
                                                 </Style>
                                             </DataGrid.RowStyle>
                                             <DataGrid.RowHeaderStyle>
                                                 <Style TargetType="{x:Type DataGridRowHeader}">
                                                     <Setter Property="Background" Value="#213269" />
                                                     <Setter Property="Foreground" Value="White" />
-                                                    <Setter Property="Height" Value="50" />
                                                     <Setter Property="HorizontalContentAlignment" Value="Center" />
                                                 </Style>
                                             </DataGrid.RowHeaderStyle>
@@ -1580,7 +1725,6 @@
                                                 <Style TargetType="{x:Type DataGridColumnHeader}">
                                                     <Setter Property="Background" Value="#172560" />
                                                     <Setter Property="Foreground" Value="White" />
-                                                    <Setter Property="Height" Value="50" />
                                                     <Setter Property="HorizontalContentAlignment" Value="Center" />
                                                     <Setter Property="Margin" Value="0,0,0,0" />
                                                     <Setter Property="BorderThickness" Value="5" />
@@ -1592,7 +1736,7 @@
                                         <hc:Pagination x:Name="Pagination2" Grid.Row="2" MaxWidth="1500" MaxPageCount="1"  Margin="0,0,0,15"  PageUpdated="Pagination2_PageUpdated" IsJumpEnabled="True"   HorizontalAlignment="Center" Width="339" />
                                     </Grid>
                                 </TabItem>
-                                <TabItem Header="扫描入库" Style="{StaticResource DefaultItem}"  FontSize="25" HorizontalContentAlignment="Center" Background="#213269" VerticalContentAlignment="Center"   Foreground="White" Width="160" Height="125" Margin="5">
+                                <TabItem   x:Name="ScanInManager" Header="扫描入库" Style="{StaticResource DefaultItem}"  FontSize="25" HorizontalContentAlignment="Center" Background="#213269" VerticalContentAlignment="Center"   Foreground="White" Width="160" Height="100" Margin="5">
                                     <StackPanel x:Name="splMaterialCode" Height="1060" Width="1703"  Background="#213269" Canvas.Left="175" Canvas.Top="110"  Orientation="Horizontal">
                                         <StackPanel Orientation="Horizontal" Width="1750">
                                             <StackPanel Orientation="Vertical" Margin="20,5,0,0">
@@ -1624,15 +1768,6 @@
                                                         <ComboBox x:Name="MaterialSpec" DisplayMemberPath="MaterialSpec" Grid.Column="1" Grid.Row="1" Width="170" VerticalAlignment="Center" HorizontalAlignment="Left"/>
                                                     </Grid>
                                                 </Border>-->
-                                                <StackPanel Orientation="Horizontal" Margin="0">
-                                                    <Image
-                                                        x:Name="img_plcmesssage2"
-                                                        Width="40"
-                                                        Height="35"
-                                                        Margin="60,0,0,0"
-                                                        Source="..\Resources\chanpintiaoma.png" Visibility="Visible"/>
-                                                    <TextBlock Text="物料扫描" Foreground="White" FontSize="25" Width="150" Height="40" Margin="10,10,80,0" HorizontalAlignment="Center" VerticalAlignment="Center"/>
-                                                </StackPanel>
                                                 <Grid Width="1650" Height="1000">
                                                     <Grid.ColumnDefinitions>
                                                         <ColumnDefinition Width="*"/>
@@ -1643,7 +1778,7 @@
                                                         <ColumnDefinition Width="*"/>
                                                     </Grid.ColumnDefinitions>
                                                     <Grid.RowDefinitions>
-                                                        <RowDefinition Height="83*"/>
+                                                        <RowDefinition Height="167*"/>
                                                         <RowDefinition Height="167*"/>
                                                         <RowDefinition Height="167*"/>
                                                         <RowDefinition Height="166.667"/>
@@ -1651,6 +1786,7 @@
                                                         <RowDefinition Height="167*"/>
                                                         <RowDefinition Height="83*"/>
                                                     </Grid.RowDefinitions>
+                                                    <TextBlock Text="扫描入库" Foreground="White" FontSize="50" Grid.ColumnSpan="6"  HorizontalAlignment="Center" VerticalAlignment="Center"/>
                                                     <TextBlock Text="扫描料箱号:" Grid.Row="1" Grid.Column="1" Grid.ColumnSpan="2" HorizontalAlignment="Center" VerticalAlignment="Center" FontSize="75"/>
                                                     <TextBlock Text="扫描条码号:" Grid.Row="2" Grid.Column="1" Grid.ColumnSpan="2" HorizontalAlignment="Center" VerticalAlignment="Center" FontSize="75"/>
                                                     <TextBlock Text="入库数量:" Grid.Row="3" Grid.Column="1" Grid.ColumnSpan="2" HorizontalAlignment="Center" VerticalAlignment="Center" FontSize="75"/>
@@ -1765,19 +1901,10 @@
                                         </StackPanel>
                                     </StackPanel>
                                 </TabItem>
-                                <TabItem Header="扫描出库" Style="{StaticResource DefaultItem}"  FontSize="25" HorizontalContentAlignment="Center" Background="#213269" VerticalContentAlignment="Center"   Foreground="White" Width="160" Height="125" Margin="5">
+                                <TabItem  x:Name="ScanOutManager" Header="扫描出库" Style="{StaticResource DefaultItem}"  FontSize="25" HorizontalContentAlignment="Center" Background="#213269" VerticalContentAlignment="Center"   Foreground="White" Width="160" Height="100" Margin="5">
                                     <StackPanel  Height="1060" Width="1703"  Background="#213269" Canvas.Left="175" Canvas.Top="110"  Orientation="Horizontal">
                                         <StackPanel Orientation="Horizontal" Width="1750">
                                             <StackPanel Orientation="Vertical" Margin="20,5,0,0">
-
-                                                <StackPanel Orientation="Horizontal" Margin="0">
-                                                    <Image
-                                                  Width="40"
-                                                  Height="35"
-                                                  Margin="60,0,0,0"
-                                                  Source="..\Resources\chanpintiaoma.png" Visibility="Visible"/>
-                                                    <TextBlock Text="物料扫描" Foreground="White" FontSize="25" Width="150" Height="40" Margin="10,10,80,0" HorizontalAlignment="Center" VerticalAlignment="Center"/>
-                                                </StackPanel>
                                                 <Grid Width="1650" Height="1000">
                                                     <Grid.ColumnDefinitions>
                                                         <ColumnDefinition Width="*"/>
@@ -1796,6 +1923,7 @@
                                                         <RowDefinition Height="167*"/>
                                                         <RowDefinition Height="83*"/>
                                                     </Grid.RowDefinitions>
+                                                    <TextBlock Text="扫描出库" Foreground="White" FontSize="50"   HorizontalAlignment="Center" VerticalAlignment="Center" Grid.ColumnSpan="6"/>
                                                     <TextBlock Text="待执行CTU任务数:" Visibility="Hidden" Grid.Row="0" Grid.Column="0" Grid.ColumnSpan="2" HorizontalAlignment="Right" VerticalAlignment="Center" FontSize="50"/>
                                                     <TextBlock x:Name="outTaskCount" Visibility="Hidden" Grid.Row="0" Grid.Column="2" HorizontalAlignment="Center" VerticalAlignment="Center" FontSize="75"/>
                                                     <Button Content="执行CTU出库任务" Visibility="Hidden" Grid.Row="0" Grid.Column="3" Grid.ColumnSpan="2" Width="500" Height="100" FontSize="50" Background="#346DFF" Foreground="White" Click="ExecuteCtuTask_Click"/>
@@ -1912,29 +2040,51 @@
                                         </StackPanel>
                                     </StackPanel>
                                 </TabItem>
-                                <TabItem Header="一楼堆垛机" Style="{StaticResource DefaultItem}"  FontSize="25" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" Background="#213269"  Foreground="White" Width="160" Height="125"  Margin="5">
-                                    <Grid  Height="1060" Width="1729">
+                                <TabItem x:Name="FirstFloorManager" Header="一楼接驳位" Style="{StaticResource DefaultItem}"  FontSize="25" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" Background="#213269"  Foreground="White" Width="160" Height="100"  Margin="5">
+                                    <Grid Height="1100" Width="1700">
                                         <Grid.RowDefinitions>
                                             <RowDefinition Height="*"/>
                                             <RowDefinition Height="*"/>
-                                            <RowDefinition Height="*"/>
                                         </Grid.RowDefinitions>
-                                        <Grid.ColumnDefinitions>
-                                            <ColumnDefinition Width="*"/>
-                                            <ColumnDefinition Width="*"/>
-                                            <ColumnDefinition Width="*"/>
-                                            <ColumnDefinition Width="*"/>
-                                        </Grid.ColumnDefinitions>
-                                        <TextBlock Text="堆垛机内托盘数量:" FontSize="75" VerticalAlignment="Center" HorizontalAlignment="Center" Grid.Column="0" Grid.ColumnSpan="2"/>
-                                        <TextBlock x:Name="DDJEmptyCount"  FontSize="75" VerticalAlignment="Center" HorizontalAlignment="Left" Grid.Column="2" Grid.ColumnSpan="2"/>
-                                        <Button x:Name="OneIn" Background="#346DFF" Foreground="White" Content="入一个空托盘" Grid.Column="0" Grid.ColumnSpan="2" Grid.Row="1" HorizontalAlignment="Center" VerticalAlignment="Center" Width="500" Height="200" FontSize="75" Click="OneIn_Click"/>
-                                        <Button Background="#346DFF" Foreground="White" Content="修改" Grid.Column="2" Grid.ColumnSpan="2" Grid.Row="0" HorizontalAlignment="Center" VerticalAlignment="Center" Width="300" Height="200" FontSize="75" Click="UpdateEmpty_Click"/>
-                                        <Button x:Name="SomeIn" Background="#346DFF" Foreground="White" Content="入一螺空托盘" Grid.Column="0" Grid.ColumnSpan="2" Grid.Row="2" HorizontalAlignment="Center" VerticalAlignment="Center" Width="500" Height="200" FontSize="75" Click="SomeIn_Click"/>
-                                        <Button x:Name="OneOut" Background="#346DFF" Foreground="White" Content="出一个空托盘" Grid.Column="2" Grid.ColumnSpan="2" Grid.Row="1" HorizontalAlignment="Center" VerticalAlignment="Center" Width="500" Height="200" FontSize="75" Click="OneOut_Click"/>
-                                        <Button x:Name="SomeOut" Background="#346DFF" Foreground="White" Content="出一螺空托盘" Grid.Column="2" Grid.ColumnSpan="2" Grid.Row="2" HorizontalAlignment="Center" VerticalAlignment="Center" Width="500" Height="200" FontSize="75" Click="SomeOut_Click"/>
+                                        <Border BorderBrush="White" BorderThickness="2">
+                                            <Grid >
+                                                <Grid.RowDefinitions>
+                                                    <RowDefinition Height="*"/>
+                                                    <RowDefinition Height="*"/>
+                                                    <RowDefinition Height="*"/>
+                                                </Grid.RowDefinitions>
+                                                <Grid.ColumnDefinitions>
+                                                    <ColumnDefinition Width="*"/>
+                                                    <ColumnDefinition Width="*"/>
+                                                    <ColumnDefinition Width="*"/>
+                                                    <ColumnDefinition Width="*"/>
+                                                </Grid.ColumnDefinitions>
+                                                <TextBlock Text="托盘库内托盘数量:" FontSize="75" VerticalAlignment="Center" HorizontalAlignment="Center" Grid.Column="0" Grid.ColumnSpan="2"/>
+                                                <TextBlock x:Name="DDJEmptyCount"  FontSize="75" VerticalAlignment="Center" HorizontalAlignment="Left" Grid.Column="2" Grid.ColumnSpan="2"/>
+                                                <Button x:Name="OneIn" Background="#346DFF" Foreground="White" Content="入一个空托盘" Grid.Column="0" Grid.ColumnSpan="2" Grid.Row="1" HorizontalAlignment="Center" VerticalAlignment="Center" Width="500" Height="150" FontSize="75" Click="OneIn_Click"/>
+                                                <Button Background="#346DFF" Foreground="White" Content="修改" Grid.Column="2" Grid.ColumnSpan="2" Grid.Row="0" HorizontalAlignment="Center" VerticalAlignment="Center" Width="300" Height="150" FontSize="75" Click="UpdateEmpty_Click"/>
+                                                <Button x:Name="SomeIn" Background="#346DFF" Foreground="White" Content="入一螺空托盘" Grid.Column="0" Grid.ColumnSpan="2" Grid.Row="2" HorizontalAlignment="Center" VerticalAlignment="Center" Width="500" Height="150" FontSize="75" Click="SomeIn_Click"/>
+                                                <Button x:Name="OneOut" Background="#346DFF" Foreground="White" Content="出一个空托盘" Grid.Column="2" Grid.ColumnSpan="2" Grid.Row="1" HorizontalAlignment="Center" VerticalAlignment="Center" Width="500" Height="150" FontSize="75" Click="OneOut_Click"/>
+                                                <Button x:Name="SomeOut" Background="#346DFF" Foreground="White" Content="出一螺空托盘" Grid.Column="2" Grid.ColumnSpan="2" Grid.Row="2" HorizontalAlignment="Center" VerticalAlignment="Center" Width="500" Height="150" FontSize="75" Click="SomeOut_Click"/>
+                                            </Grid>
+                                        </Border>
+                                        <Border Grid.Row="1" BorderBrush="White" BorderThickness="2" Height="300">
+                                            <Grid>
+                                                <Grid.RowDefinitions>
+                                                    <RowDefinition Height='*'/>
+                                                    <RowDefinition Height='*'/>
+                                                </Grid.RowDefinitions>
+                                                <TextBlock Text="一楼接驳位确认入库(托盘上次绑定物料与这次相同需确认)" FontSize="50" VerticalAlignment="Center" HorizontalAlignment="Center"/>
+                                                <StackPanel Orientation="Horizontal" Grid.Row="1" HorizontalAlignment="Center">
+                                                    <TextBlock Text="RFID:" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="50" Margin="10"/>
+                                                    <TextBlock x:Name="firstRFID" Width="500" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="50" Margin="20,0,0,0"/>
+                                                    <Button x:Name="querenruku" Content="确认入库" Background="#346DFF" Foreground="White" Width="150" Height="75" FontSize="30" Margin="30" Click="querenruku_Click"/>
+                                                </StackPanel>
+                                            </Grid>
+                                        </Border>
                                     </Grid>
                                 </TabItem>
-                                <TabItem Header="PLC信息" Style="{StaticResource DefaultItem}"  FontSize="25" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" Background="#213269"  Foreground="White" Width="160" Height="125"  Margin="5">
+                                <TabItem x:Name="PlcManager" Header="PLC信息" Style="{StaticResource DefaultItem}"  FontSize="25" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" Background="#213269"  Foreground="White" Width="160" Height="100"  Margin="5">
                                     <StackPanel x:Name="splPlcMessage" Height="1060" Width="1729"  Background="#213269" Canvas.Left="175" Canvas.Top="110"  Orientation="Horizontal">
                                         <StackPanel Orientation="Horizontal" Width="1750">
                                             <StackPanel Orientation="Vertical" Margin="20,5,0,0">
@@ -2030,6 +2180,157 @@
                                         </StackPanel>
                                     </StackPanel>
                                 </TabItem>
+                                <TabItem 
+                                    x:Name="AgvManager" Header="Agv信息" Style="{StaticResource DefaultItem}"  FontSize="25" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" Background="#213269"  Foreground="White" Width="160" Height="100"  Margin="5" >
+                                    <DataGrid 
+                                        x:Name="AgvDataGrid"
+                                        AlternationCount="2"
+                                        AutoGenerateColumns="False"
+                                        Background="#172557"
+                                        CanUserAddRows="False"
+                                        CanUserReorderColumns="False"
+                                        CanUserResizeColumns="False"
+                                        CanUserResizeRows="False"
+                                        Focusable="False"
+                                        HeadersVisibility="Column"
+                                        IsReadOnly="True"
+                                        LoadingRow="dgData_LoadingRow"
+                                        RowHeaderWidth="0"
+                                        SelectionMode="Single" FontSize="16" HorizontalAlignment="Left" Height="1100" Width="1700" Margin="0,0,0,10" 
+                                        >
+                                    </DataGrid>
+                                </TabItem>
+                                <TabItem x:Name="AuthManager" Header="权限控制" Style="{StaticResource DefaultItem}"  FontSize="25" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" Background="#213269"  Foreground="White" Width="160" Height="100"  Margin="5" >
+                                    <Grid Height="1100" Width="1700">
+                                        <Grid.RowDefinitions>
+                                            <RowDefinition Height="auto"/>
+                                            <RowDefinition Height="*"/>
+                                        </Grid.RowDefinitions>
+                                        <StackPanel Orientation="Horizontal">
+                                            <TextBlock Text="用户名:" Margin="10" FontSize="30" VerticalAlignment="Center" HorizontalAlignment="Center"/>
+                                            <TextBox x:Name="LoginName" Margin="10" Width="200" Height="50" VerticalAlignment="Center"/>
+                                            <Button x:Name="SelectUser" Content="搜索" Width="100" Margin="10" Height="50" FontSize="25" Foreground="White" Background="#346DFF" Click="SelectUser_Click"/>
+                                            <Button x:Name="AddUser" Content="添加" Width="100" Margin="10" Height="50" FontSize="25" Foreground="White" Background="#346DFF" Click="AddUser_Click"/>
+                                        </StackPanel>
+                                        <DataGrid 
+                                               Grid.Row="1"
+                                               AlternationCount="2"
+                                               AutoGenerateColumns="False"
+                                               Background="#172557"
+                                               CanUserAddRows="False"
+                                               CanUserReorderColumns="False"
+                                               CanUserResizeColumns="False"
+                                               CanUserResizeRows="False"
+                                               Focusable="False"
+                                               HeadersVisibility="Column"
+                                               IsReadOnly="True"
+                                               RowHeaderWidth="0"
+                                               SelectionMode="Single"
+                                               x:Name="UserData"
+                                               LoadingRow="dgData_LoadingRow"
+                                            MinRowHeight="50" HorizontalAlignment="Stretch" VerticalAlignment="Stretch"
+                                            >
+                                            <DataGrid.Columns>
+                                                <DataGridTemplateColumn
+                                                    Width="100"
+                                                    MinWidth="10"
+                                                    Header=" 序号"
+                                                    IsReadOnly="True">
+                                                    <DataGridTemplateColumn.CellTemplate>
+                                                        <DataTemplate>
+                                                            <TextBlock
+                                                            Margin="0"
+                                                            HorizontalAlignment="Center"
+                                                            VerticalAlignment="Center"
+                                                            Focusable="False"
+                                                            FontSize="20"
+                                                            Text="{Binding Header, RelativeSource={RelativeSource AncestorType={x:Type DataGridRow}, Mode=FindAncestor}}" />
+                                                        </DataTemplate>
+                                                    </DataGridTemplateColumn.CellTemplate>
+                                                </DataGridTemplateColumn>
+                                                <DataGridTextColumn
+                                                    Width="180*"
+                                                    Binding="{Binding UserName}"
+                                                    CanUserSort="False"
+                                                    ElementStyle="{StaticResource dgCell}"
+                                                    FontSize="20"
+                                                    Header="用户名"
+                                                    IsReadOnly="True" />
+                                                <DataGridTextColumn
+                                                    Width="180*"
+                                                    Binding="{Binding NickName}"
+                                                    CanUserSort="False"
+                                                    ElementStyle="{StaticResource dgCell}"
+                                                    FontSize="20"
+                                                    Header="别名"
+                                                    IsReadOnly="True" />
+                                                <DataGridTextColumn
+                                                    Width="180*"
+                                                    Binding="{Binding createBy}"
+                                                    CanUserSort="False"
+                                                    ElementStyle="{StaticResource dgCell}"
+                                                    FontSize="20"
+                                                    Header="创建者"
+                                                    IsReadOnly="True" />
+                                                <DataGridTextColumn
+                                                    Width="180*"
+                                                    Binding="{Binding createTime,StringFormat='{}{0:yyyy-MM-dd HH:mm:ss}'}"
+                                                    CanUserSort="False"
+                                                    ElementStyle="{StaticResource dgCell}"
+                                                    FontSize="20"
+                                                    Header="创建时间"
+                                                    IsReadOnly="True" />
+                                                <DataGridTemplateColumn
+                                                        Width="300"
+                                                        MinWidth="10"
+                                                        Header=" 操作"
+                                                        IsReadOnly="True">
+                                                    <DataGridTemplateColumn.CellTemplate>
+                                                        <DataTemplate>
+                                                            <StackPanel Orientation="Horizontal">
+                                                                <Button Content="删除" Style="{StaticResource ButtonPrimary}" FontSize="25" Width="125" Height="75" Click="deleteUser"/>
+                                                                <Button Content="绑定菜单" Style="{StaticResource ButtonPrimary}" FontSize="25" Width="125" Height="75" Click="SelectUserRole"/>
+                                                            </StackPanel>
+                                                        </DataTemplate>
+                                                    </DataGridTemplateColumn.CellTemplate>
+                                                </DataGridTemplateColumn>
+                                            </DataGrid.Columns>
+                                            <DataGrid.CellStyle>
+                                                <Style TargetType="{x:Type DataGridCell}">
+                                                    <Setter Property="Background" Value="#213269" />
+                                                    <Setter Property="Foreground" Value="White" />
+                                                    <Setter Property="HorizontalContentAlignment" Value="Center" />
+                                                </Style>
+
+                                            </DataGrid.CellStyle>
+                                            <DataGrid.RowStyle>
+                                                <Style TargetType="{x:Type DataGridRow}">
+                                                    <Setter Property="Background" Value="#213269" />
+                                                    <Setter Property="Foreground" Value="White" />
+                                                    <Setter Property="Height" Value="65"/>
+                                                </Style>
+                                            </DataGrid.RowStyle>
+                                            <DataGrid.RowHeaderStyle>
+                                                <Style TargetType="{x:Type DataGridRowHeader}">
+                                                    <Setter Property="Background" Value="#213269" />
+                                                    <Setter Property="Foreground" Value="White" />
+                                                    <Setter Property="HorizontalContentAlignment" Value="Center" />
+                                                </Style>
+                                            </DataGrid.RowHeaderStyle>
+                                            <DataGrid.ColumnHeaderStyle>
+                                                <Style TargetType="{x:Type DataGridColumnHeader}">
+                                                    <Setter Property="Background" Value="#172560" />
+                                                    <Setter Property="Foreground" Value="White" />
+                                                    <Setter Property="HorizontalContentAlignment" Value="Center" />
+                                                    <Setter Property="Margin" Value="0,0,0,0" />
+                                                    <Setter Property="BorderThickness" Value="5" />
+                                                    <Setter Property="BorderBrush" Value="#172540" />
+                                                    <Setter Property="FontSize" Value="30" />
+                                                </Style>
+                                            </DataGrid.ColumnHeaderStyle>
+                                        </DataGrid>
+                                    </Grid>
+                                </TabItem>
                             </TabControl>
                         </Grid>
                     </Canvas>
@@ -2042,12 +2343,8 @@
                     HorizontalAlignment="Left"
                     Background="#213269"
                     Orientation="Horizontal">
-                    <StackPanel Orientation ="Horizontal" Width="700">
-                        <Image
-                        Width="160"
-                        Height="100"
-                        Margin="0,0,0,0"
-                        Source="../Resources/amma3.png" />
+                    <StackPanel Orientation ="Horizontal" Width="489">
+
                         <Label
                         Background="Transparent"
                         BorderThickness="0"
@@ -2060,7 +2357,7 @@
                         HorizontalContentAlignment="Center"
                         VerticalContentAlignment="Center"/>
                     </StackPanel>
-                    <StackPanel Orientation="Horizontal" Margin="-100,0,0,0" Width="1100">
+                    <StackPanel Orientation="Horizontal" Margin="-100,0,0,0" >
                         <Image
                         Width="40"
                         Height="40"
@@ -2086,6 +2383,8 @@
                             Width="170"
                         Foreground="White" VerticalAlignment="Center" HorizontalAlignment="Center"/>
                         <Button Content="打开键盘" Background="#346DFF" Foreground="White" Width="150" Height="75" FontSize="25" Click="Button_Click"/>
+                        <Button Content="最小化" Background="#346DFF" Foreground="White" Width="100" Margin="20,0,0,0" Height="75" FontSize="25" Click="WindowHidden_Click"/>
+                        <Button Content="退出" Background="#346DFF" Foreground="White" Width="100" Margin="20,0,0,0" Height="75" FontSize="25" Click="WindowClose_Click"/>
                     </StackPanel>
                 </StackPanel>
             </Grid>

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

@@ -1,41 +1,34 @@
-using Khd.Core.Domain.Models;
+using HandyControl.Tools.Extension;
+using Jc.SnowId;
+using Khd.Core.Domain.Auth;
+using Khd.Core.Domain.Dto.webapi;
+using Khd.Core.Domain.Models;
 using Khd.Core.EntityFramework;
-using Microsoft.EntityFrameworkCore;
+using Khd.Core.Library.Mapper;
+using Khd.Core.Plc;
+using Khd.Core.Plc.S7;
+using Khd.Core.Wpf.dto;
+using Khd.Core.Wpf.Scan;
+using Khd.Core.Wpf.TaskForm;
+using Masuit.Tools;
+using Masuit.Tools.Logging;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
+using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
 using System.Data;
+using System.Diagnostics;
+using System.IO.Ports;
 using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
 using System.Windows;
 using System.Windows.Controls;
+using System.Windows.Input;
 using System.Windows.Threading;
 using Z.EntityFramework.Plus;
-using Masuit.Tools;
-using System.Windows.Input;
-using Khd.Core.Wpf.Scan;
-using System.IO.Ports;
-using System.Threading;
-using System.Diagnostics;
-using Jc.SnowId;
-using System.IO;
-using System.Runtime.InteropServices;
-using System.Windows.Media;
-using HandyControl.Tools.Extension;
-using Khd.Core.Wpf.TaskForm;
-using Microsoft.IdentityModel.Tokens;
-using Khd.Core.Plc;
-using Khd.Core.Plc.S7;
-using System.Threading.Tasks;
-using System.Windows.Media.Media3D;
-using Masuit.Tools.Logging;
-using Khd.Core.Library.Mapper;
-using System.Windows.Markup;
-using System.Security.Cryptography.Xml;
-using Newtonsoft.Json;
-using Khd.Core.Domain.Dto.webapi;
-using System.Text;
-using AngleSharp.Common;
 
 namespace Khd.Core.Wpf.Form
 {
@@ -44,6 +37,8 @@ namespace Khd.Core.Wpf.Form
     /// </summary>
     public partial class FormBoardT : Window
     {
+
+        public static long? UserId = 1;
         public static readonly JcSnowId _jcSnowId = new JcSnowId();
         private readonly IHost _host;
         private Khd.Core.Plc.S7.Plc _plc;
@@ -111,6 +106,8 @@ namespace Khd.Core.Wpf.Form
         {
             try
             {
+                GetMenu();
+
                 DispatcherTimer dispatcherTimer = new DispatcherTimer();
                 dispatcherTimer.Tick += new EventHandler(ShowTime); //委托刷新时间方法
                 dispatcherTimer.Interval = new TimeSpan(0, 0, 0, 0, 1000);
@@ -131,7 +128,6 @@ namespace Khd.Core.Wpf.Form
                     using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
                     SystemData.BasePlcpoints = dbContext.BasePlcpoint.ToList();
                     SystemData.BaseDictionary = dbContext.BaseDictionary.ToList();
-                    SystemData.BaseEquip = dbContext.BaseEquip.ToList();
                     SystemData.BaseWareHouse = dbContext.WmsBaseWarehouse.ToList();
                     SystemData.MesBaseMaterialInfo = dbContext.MesBaseMaterialInfo.Take(100).ToList();
                     Dispatcher.Invoke(() =>
@@ -259,9 +255,12 @@ namespace Khd.Core.Wpf.Form
                     lock (updateLock)
                     {
                         dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
-                        BaseEquip baseEquip = dbContext.BaseEquip.First(t => t.objid == 40);
+                        SystemData.BaseEquip = dbContext.BaseEquip.ToList();
+                        BaseEquip baseEquip = SystemData.BaseEquip.First(t => t.objid == 40);
                         Dispatcher.Invoke(() =>
                         {
+                            EquipListSelectDy.ItemsSource = SystemData.BaseEquip.Where(t => t.equipType == 2 || t.equipType == 4 || t.equipType == 5 || t.equipType == 6 || t.equipType == 11);
+                            this.firstRFID.Text = SystemData.BaseEquip.First(t => t.objid == 1).containerNo;
                             this.DDJEmptyCount.Text = baseEquip.emptyCount.ToString();
                             if (baseEquip.emptyCount == 0)
                             {
@@ -284,6 +283,19 @@ namespace Khd.Core.Wpf.Form
                                 this.OneOut.IsEnabled = true;
                                 this.SomeOut.IsEnabled = true;
                             }
+                            this.EmptyEquip.ItemsSource = SystemData.BaseEquip.Where(t => t.equipType == 20 || t.equipType == 21).Select(
+                                t => new BaseEquip
+                                {
+                                    objid = t.objid,
+                                    equipName = t.equipName,
+                                    emptyCount = t.emptyCount,
+                                    equipType = t.equipType,
+                                    ud3 = t.ud3 == "0" ? "空" : t.ud3 == "1" ? "托盘" : t.ud3 == "2" ? "废料" : "未知",
+                                    equipNo = t.equipNo,
+                                    floorNo = t.floorNo,
+                                }
+                            ).OrderBy(t => t.equipNo);
+                            this.EmptyEquip.Items.Refresh();
                         });
                     }
                 }
@@ -314,7 +326,10 @@ namespace Khd.Core.Wpf.Form
         /// <param name="sender"></param>
         /// <param name="e"></param>
         private void dgData_LoadingRow(object sender, DataGridRowEventArgs e)
-        { e.Row.Header = e.Row.GetIndex() + 1; }
+        {
+            e.Row.Header = e.Row.GetIndex() + 1;
+        }
+
         /// <summary>
         /// 点击退出按钮
         /// </summary>
@@ -327,11 +342,13 @@ namespace Khd.Core.Wpf.Form
                 System.Environment.Exit(System.Environment.ExitCode);
             }
         }
+
         private void Close(object sender, EventArgs e)
         {
             System.Environment.Exit(System.Environment.ExitCode);
         }
         public int i = 0;
+
         /// <summary>
         /// 查询任务
         /// </summary>
@@ -392,14 +409,30 @@ namespace Khd.Core.Wpf.Form
             using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
             var equipCode = lba_ThrifTtitle1.Text;
             var palletNo = lba_ThrifTtitle2.Text;
-            var data = dbContext.WcsTask.Where(t => t.containerNo.Contains(palletNo) && t.equipmentNo.Contains(equipCode)).ToList();
+            long? nextPointId = 0;
+            if (this.EquipListSelectDy.SelectedItem is BaseEquip baseEquip)
+            {
+                nextPointId = baseEquip.objid;
+            }
+            var data = dbContext.WcsTask
+                .WhereIf(nextPointId != 0, t => t.nextPointId == nextPointId)
+                .Where(t => t.containerNo.Contains(palletNo) && t.equipmentNo.Contains(equipCode)).ToList();
+            List<taskModel> taskModel = CoreMapper.Map<List<taskModel>>(data);
             SelectedItem.Clear();
-            foreach (var item in data)
+            foreach (var item in taskModel)
             {
                 SelectedItem.Add(item.objid, false);
+                if (item.nextPointId == 6)
+                {
+                    item.isShow = Visibility.Visible;
+                }
+                else
+                {
+                    item.isShow = Visibility.Collapsed;
+                }
             }
             this.LoadMaterial0.ItemsSource = null;
-            this.LoadMaterial0.ItemsSource = data;
+            this.LoadMaterial0.ItemsSource = taskModel;
             this.LoadMaterial0.Items.Refresh();
             if (data.Count == 0)
             {
@@ -434,6 +467,7 @@ namespace Khd.Core.Wpf.Form
                     }
                     BaseEquip agvEquip = SystemData.BaseEquip.First(t => t.objid == 10);
                     List<WcsCmd> wcsCmds = dbContext.WcsCmd.Where(t => ids.Contains(t.taskId)).ToList();
+                    List<WcsTask> wcsTasks = dbContext.WcsTask.Where(t => ids.Contains(t.objid)).ToList();
                     foreach (var item in wcsCmds)
                     {
                         var cancelTask = new
@@ -441,19 +475,32 @@ namespace Khd.Core.Wpf.Form
                             reqCode = Global.SnowId.NextId().ToString(),
                             taskCode = item.taskCode
                         };
-                        string reponse = HttpHelper.SendPostMessage(agvEquip.serverIp, agvEquip.serverPort.Value, "", cancelTask.ToJsonString());
+                        string reponse = HttpHelper.SendPostMessage(agvEquip.serverIp, agvEquip.serverPort.Value, "rcms/services/rest/hikRpcService/cancelTask", cancelTask.ToJsonString());
                         var result = JsonConvert.DeserializeObject<ReponseMessage>(reponse);
                         if (result != null && result.code == "0")
                         {
+                            WcsTask? wcsTask = wcsTasks.Where(t => t.objid == item.taskId).FirstOrDefault();
+                            if (wcsTask != null)
+                            {
+                                dbContext.Remove(wcsTask);
+                            }
                             ids.Remove(item.taskId);
-                            dbContext.WcsCmd.Where(t => t.objid == item.objid).Delete();
-                            dbContext.WcsTask.Where(t => t.objid == item.taskId).Delete();
-                            dbContext.WcsTaskLog.Where(t => t.objid == item.taskId).Update(t => new WcsTaskLog { IsDelete = 1 });
+                            dbContext.Remove(item);
+                            dbContext.WcsTaskLog.Where(t => ids.Contains(t.objid)).Update(t => new WcsTaskLog { IsDelete = 1 });
+                            dbContext.SaveChanges();
+                        }
+                        else
+                        {
+                            MessageBoxResult messageBoxResult1 = MessageBox.Show("取消小车端任务失败，是否继续删除调度任务?", "提示信息", MessageBoxButton.YesNo, MessageBoxImage.Warning);
+                            if (messageBoxResult1 == MessageBoxResult.Yes)
+                            {
+                                ids.Remove(item.taskId);
+                                dbContext.Remove(item);
+                                dbContext.WcsTaskLog.Where(t => ids.Contains(t.objid)).Update(t => new WcsTaskLog { IsDelete = 1 });
+                                dbContext.SaveChanges();
+                            }
                         }
                     }
-                    dbContext.WcsTask.Where(t => ids.Contains(t.objid)).Delete();
-                    dbContext.WcsTaskLog.Where(t => ids.Contains(t.objid)).Update(t => new WcsTaskLog { IsDelete = 1 });
-                    dbContext.SaveChanges();
                     GetTask();
                 }
                 else
@@ -513,9 +560,12 @@ namespace Khd.Core.Wpf.Form
         private void btnGetStocK_Click(object sender, RoutedEventArgs e)
         {
             Pagination1.PageIndex = 1;
+            this.EquipListSelectDy.SelectedIndex = -1;
             GetBaseLocations();
         }
-
+        /// <summary>
+        /// 获取库位信息
+        /// </summary>
         private void GetBaseLocations()
         {
             if (WarehourseId.SelectedItem is WmsBaseWarehouse warehouse)
@@ -559,7 +609,6 @@ namespace Khd.Core.Wpf.Form
                 return;
             }
         }
-
         ///// <summary>
         ///// 查询指令信息
         ///// </summary>
@@ -1550,21 +1599,8 @@ namespace Khd.Core.Wpf.Form
                 var wcsTask = dbContext.WcsTask.Where(t => t.containerNo == txtOutBox.Text).FirstOrDefault();
                 if (wcsTask == null)
                 {
-                    wmsRawStock.occupyAmount -= outScan;
-                    wmsRawStock.totalAmount -= outScan;
-                    if (wmsRawStock.totalAmount == 0)
-                    {
-                        dbContext.WmsRawStock.Where(t => t.rawStockId == wmsRawStock.rawStockId).Delete();
-                    }
-                    else
-                    {
-                        dbContext.WmsRawStock.Update(wmsRawStock);
-                        dbContext.SaveChanges();
-                    }
-                    txtOutScan.Text = string.Empty;
-                    txtOutBarCode.Text = string.Empty;
-                    txtOutBarCode.Focus();
-                    MessageBox.Show("出库成功!");
+                    MessageBox.Show("出库失败，非CTU出库任务，无法出库!");
+                    return;
                 }
                 else
                 {
@@ -1576,7 +1612,7 @@ namespace Khd.Core.Wpf.Form
                         {
                             wmsRawOutstock.executeStatus = "2";
                         }
-                        wmsRawStock.occupyAmount -= outScan;
+
                         wmsRawStock.totalAmount -= outScan;
                         if (wmsRawStock.totalAmount == 0)
                         {
@@ -1593,7 +1629,6 @@ namespace Khd.Core.Wpf.Form
                     }
                     else
                     {
-                        wmsRawStock.occupyAmount -= outScan;
                         wmsRawStock.totalAmount -= outScan;
                         if (wmsRawStock.totalAmount == 0)
                         {
@@ -1694,21 +1729,23 @@ namespace Khd.Core.Wpf.Form
                 var bills = bill.GroupBy(t => new { t.baseLocationId, t.palletInfoCode, t.locationCode, t.IsSelected })
                     .Select(t => new
                     {
-                        baseLocationId=t.Key.baseLocationId,
+                        baseLocationId = t.Key.baseLocationId,
                         palletInfoCode = t.Key.palletInfoCode,
                         locationCode = t.Key.locationCode,
                         IsSelected = t.Key.IsSelected,
                         totalAmount = string.Join("\n", t.Select(x => x.totalAmount)),
                         frozenAmount = string.Join("\n", t.Select(x => x.frozenAmount)),
                         materialId = string.Join("\n", t.Select(x => x.materialId)),
-                        materialName = string.Join("\n", t.Select(x => x.materialName)),
-                        materialSpec = string.Join("\n", t.Select(x => x.materialSpec)),
+                        materialName = string.Join("\n", t.Select(x => x.materialName[..(x.materialName.Length > 20 ? 20 : x.materialName.Length)])),
+                        materialNameSrc = string.Join("\n", t.Select(x => x.materialName)),
+                        materialSpec = string.Join("\n", t.Select(x => x.materialSpec[..(x.materialSpec.Length > 20 ? 20 : x.materialSpec.Length)])),
+                        materialSpecSrc = string.Join("\n", t.Select(x => x.materialSpec))
                     }).ToList();
                 bills = bills.OrderBy(t => t.palletInfoCode).ThenBy(t => t.materialId).ToList();
                 PersonCallMaterial.ItemsSource = bills.Skip((this.Pagination2.PageIndex - 1) * this.pageCount).Take(this.pageCount);
                 int sum = bills.Count();
                 Pagination2.MaxPageCount = (sum / pageCount) + (sum % pageCount == 0 ? 0 : 1);
-                if (bills.Count() == 0)
+                if (bills.Count == 0)
                 {
                     MessageBox.Show("未查询到数据");
                 }
@@ -1952,8 +1989,6 @@ namespace Khd.Core.Wpf.Form
                 {
                     MessageBox.Show("PLC连接失败!");
                 }
-
-
             }
         }
 
@@ -1962,23 +1997,29 @@ namespace Khd.Core.Wpf.Form
             TextBoxGetFocus();
         }
 
+        #region 清除按钮
         private void barClear_Click(object sender, RoutedEventArgs e)
         {
             txtInBarCode.Text = string.Empty;
         }
+
         private void boxOutClear_Click(object sender, RoutedEventArgs e)
         {
             txtOutBox.Text = string.Empty;
         }
+
         private void boxClear_Click(object sender, RoutedEventArgs e)
         {
             txtInBox.Text = string.Empty;
         }
+
         private void barOutClear_Click(object sender, RoutedEventArgs e)
         {
             txtOutBarCode.Text = string.Empty;
         }
+        #endregion
 
+        #region 托盘库进出
         private void OneIn_Click(object sender, RoutedEventArgs e)
         {
             try
@@ -2145,7 +2186,9 @@ namespace Khd.Core.Wpf.Form
                 LogManager.Error(ex);
             }
         }
+        #endregion
 
+        #region 修改托盘库
         private void UpdateEmpty_Click(object sender, RoutedEventArgs e)
         {
             try
@@ -2169,6 +2212,349 @@ namespace Khd.Core.Wpf.Form
             catch
             {
 
+            }
+        }
+        #endregion
+
+        private void WindowHidden_Click(object sender, RoutedEventArgs e)
+        {
+            this.WindowState = WindowState.Minimized;
+        }
+
+        private void btnSendTrayToTurnover_Click(object sender, RoutedEventArgs e)
+        {
+            try
+            {
+                using var scope = _host.Services.CreateScope();
+                using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+                var baseEquip = SystemData.BaseEquip.First(t => t.objid == 38);
+                var agvEquip = SystemData.BaseEquip.First(t => t.objid == 8);
+                bool hasTask = dbContext.WcsTask.Where(t => t.endPointId == baseEquip.objid || t.currPointId == baseEquip.objid).Any();
+                bool hasTaskManual = dbContext.WcsTaskManual.Where(t => t.endPointId == baseEquip.objid || t.currPointId == baseEquip.objid).Any();
+                if (hasTask || hasTaskManual)
+                {
+                    MessageBox.Show("有任务正在执行，请等待任务完成后再执行此操作!");
+                    return;
+                }
+                else
+                {
+                    var endEquip = dbContext.BaseEquip.FirstOrDefault(t => t.equipType == 20 && t.equipStatus == 0 && t.emptyCount == 0);
+                    if (endEquip == null)
+                    {
+                        MessageBox.Show("没有空箱库位!");
+                        return;
+                    }
+                    else
+                    {
+                        WcsTaskManual task = new()
+                        {
+                            objid = Global.SnowId.NextId(),
+                            taskType = 56,
+                            containerNo = "00000000",
+                            currPointId = baseEquip.objid,
+                            currPointNo = baseEquip.equipNo,
+                            nextPointId = agvEquip.objid,
+                            nextPointNo = agvEquip.equipNo,
+                            endPointId = endEquip.objid,
+                            endPointNo = endEquip.equipNo,
+                            createTime = DateTime.Now,
+                            taskStatus = 0,
+                            useFlag = 1,
+                            floorNo = 2,
+                            fromFloorNo = 2,
+                            createBy = "WPF",
+                            isEmpty = "0",
+                        };
+                        dbContext.Add(task);
+                        dbContext.SaveChanges();
+                        MessageBox.Show("任务生成成功!");
+                    }
+                }
+            }
+            catch (Exception ex)
+            {
+                LogManager.Error(ex);
+            }
+        }
+
+        private void btnSendEmptyTray_Click(object sender, RoutedEventArgs e)
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            var baseEquip = SystemData.BaseEquip.First(t => t.objid == 38);
+            var agvEquip = SystemData.BaseEquip.First(t => t.objid == 8);
+            bool hasTask = dbContext.WcsTask.Where(t => t.endPointId == baseEquip.objid || t.currPointId == baseEquip.objid).Any();
+            bool hasTaskManual = dbContext.WcsTaskManual.Where(t => t.endPointId == baseEquip.objid || t.currPointId == baseEquip.objid).Any();
+            if (hasTask || hasTaskManual)
+            {
+                MessageBox.Show("有任务正在执行，请等待任务完成后再执行此操作!");
+                return;
+            }
+            else
+            {
+                var startEquip = dbContext.BaseEquip.FirstOrDefault(t => t.equipType == 20 && t.equipStatus == 1 && t.emptyCount == 1);
+                if (startEquip == null)
+                {
+                    BaseEquip firstEmptyEquip = dbContext.BaseEquip.First(t => t.objid == 40);
+                    if (firstEmptyEquip.emptyCount > 0)
+                    {
+                        MessageBoxResult messageBoxResult = MessageBox.Show("二楼未找到一个托盘的库位，是否从一楼调取？", "提示", MessageBoxButton.OKCancel);
+                        if (messageBoxResult == MessageBoxResult.OK)
+                        {
+                            if (ReadEmptyLocation())
+                            {
+                                BasePlcpoint oneOutPoint = SystemData.BasePlcpoints.First(t => t.plcpointNo == "oneOut");
+                                SystemData.PlcDic[0].WriteToPoint(oneOutPoint.plcpointAddress, "1", oneOutPoint.plcpointLength.ToString());
+                                firstEmptyEquip.emptyCount -= 1;
+                                dbContext.Update(firstEmptyEquip);
+                                dbContext.SaveChanges();
+                                MessageBox.Show("下发成功");
+                            }
+                            else
+                            {
+                                MessageBox.Show("一楼托盘库忙碌中，请稍后再试!");
+                            }
+                        }
+                    }
+                    else
+                    {
+                        MessageBox.Show("未找到一个托盘的库位");
+                        return;
+                    }
+                }
+                else
+                {
+                    WcsTaskManual task = new()
+                    {
+                        objid = Global.SnowId.NextId(),
+                        taskType = 56,
+                        containerNo = "0",
+                        currPointId = startEquip.objid,
+                        currPointNo = startEquip.equipNo,
+                        nextPointId = agvEquip.objid,
+                        nextPointNo = agvEquip.equipNo,
+                        endPointId = baseEquip.objid,
+                        endPointNo = baseEquip.equipNo,
+                        createTime = DateTime.Now,
+                        taskStatus = 0,
+                        useFlag = 1,
+                        floorNo = 2,
+                        fromFloorNo = 2,
+                        createBy = "WPF",
+                        isEmpty = "0",
+                    };
+                    dbContext.Add(task);
+                    dbContext.SaveChanges();
+                    MessageBox.Show("任务生成成功!");
+                }
+            }
+        }
+
+        /// <summary>
+        /// 读取一楼托盘库位是否空闲
+        /// </summary>
+        /// <returns></returns>
+        private bool ReadEmptyLocation()
+        {
+            var oneOutPoint = SystemData.BasePlcpoints.First(t => t.plcpointNo == "oneOut");
+            var someOutPoint = SystemData.BasePlcpoints.First(t => t.plcpointNo == "someOut");
+            var oneInPoint = SystemData.BasePlcpoints.First(t => t.plcpointNo == "oneIn");
+            var someInPoint = SystemData.BasePlcpoints.First(t => t.plcpointNo == "someIn");
+            var oneOutValue = SystemData.PlcDic[0].Read(oneOutPoint.plcpointAddress);
+            var someOutValue = SystemData.PlcDic[0].Read(someOutPoint.plcpointAddress);
+            var oneInValue = SystemData.PlcDic[0].Read(oneInPoint.plcpointAddress);
+            var someInValue = SystemData.PlcDic[0].Read(someInPoint.plcpointAddress);
+            if (oneOutValue != null && someOutValue != null && oneInValue != null && someInValue != null)
+            {
+                if (Convert.ToInt32(oneOutValue) == 0 && Convert.ToInt32(someOutValue) == 0 && Convert.ToInt32(oneInValue) == 0 && Convert.ToInt32(someInValue) == 0)
+                {
+                    return true;
+                }
+            }
+            return false;
+        }
+
+        private void clearLocation_Click(object sender, RoutedEventArgs e)
+        {
+            if (this.EmptyEquip.SelectedItem is BaseEquip equip)
+            {
+                MessageBoxResult messageBoxResult = MessageBox.Show($"是否清除{equip.equipName}的托盘信息？", "提示", MessageBoxButton.OKCancel);
+                if (messageBoxResult == MessageBoxResult.OK)
+                {
+                    using var scope = _host.Services.CreateScope();
+                    using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+                    BaseEquip baseEquip = dbContext.BaseEquip.First(t => t.objid == equip.objid);
+                    baseEquip.emptyCount = 0;
+                    baseEquip.equipStatus = 0;
+                    dbContext.Update(baseEquip);
+                    dbContext.SaveChanges();
+                    MessageBox.Show("清除成功");
+                }
+            }
+        }
+
+        private void outLocation_Click(object sender, RoutedEventArgs e)
+        {
+            if (this.EmptyEquip.SelectedItem is BaseEquip equip)
+            {
+                using var scope = _host.Services.CreateScope();
+                using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+                BaseEquip baseEquip = dbContext.BaseEquip.First(t => t.objid == equip.objid);
+                if (baseEquip.emptyCount > 0)
+                {
+                    FloorForm floorForm = new FloorForm(new List<int>() { 1, 3 });
+                    floorForm.ShowDialog();
+                    if (FloorForm.SelecetedFloorNo != 0)
+                    {
+                        //WcsTaskManual task = new()
+                        //{
+                        //    objid = Global.SnowId.NextId(),
+                        //    taskType = 56,
+                        //    containerNo = "00000000",
+                        //    currPointId = baseEquip.objid,
+                        //    currPointNo = baseEquip.equipNo,
+                        //};
+                    }
+                    MessageBox.Show("下发成功");
+                }
+                else
+                {
+                    MessageBox.Show("库位已空!");
+                }
+            }
+        }
+
+        /// <summary>
+        /// 任务完成
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void taskCompeleted_Click(object sender, RoutedEventArgs e)
+        {
+
+        }
+
+        private void querenruku_Click(object sender, RoutedEventArgs e)
+        {
+            if (!string.IsNullOrEmpty(this.firstRFID.Text))
+            {
+                using var scope = _host.Services.CreateScope();
+                using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+                BaseEquip baseEquip = dbContext.BaseEquip.First(t => t.objid == 1);
+                baseEquip.containerNo = "0";
+                dbContext.Update(baseEquip);
+                dbContext.SaveChanges();
+                MessageBox.Show("确认入库成功!");
+            }
+            else
+            {
+                MessageBox.Show("未扫描到RFID！");
+            }
+        }
+
+        /// <summary>
+        /// 删除用户
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void deleteUser(object sender, RoutedEventArgs e)
+        {
+            try
+            {
+                if (UserData.SelectedItem is SysUser user)
+                {
+                    if (user.OBJID == 1)
+                    {
+                        MessageBox.Show("不能删除根用户!");
+                        return;
+                    }
+                    using var scope = _host.Services.CreateScope();
+                    using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+                    dbContext.SysUser.Remove(user);
+                    dbContext.SaveChanges();
+                    MessageBox.Show("删除成功!");
+                    GetMenu();
+                }
+            }
+            catch
+            {
+
+            }
+        }
+
+        /// <summary>
+        /// 搜索
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void SelectUser_Click(object sender, RoutedEventArgs e)
+        {
+            GetUser();
+        }
+
+        private void GetUser()
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            UserData.ItemsSource = dbContext.SysUser.WhereIf(!string.IsNullOrEmpty(LoginName.Text), t => t.UserName.Contains(LoginName.Text)).ToList();
+        }
+
+        /// <summary>
+        /// 添加用户
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void AddUser_Click(object sender, RoutedEventArgs e)
+        {
+
+        }
+
+        private void GetMenu()
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            var sysMenus = dbContext.SysMenu.Where(t => t.MenuVisble == 1).ToList();
+            var sysRoles = dbContext.SysRole.Where(t => t.UserId == UserId).ToList();
+            List<long?> roleIds = sysRoles.Select(t => t.RoleId).ToList();
+            foreach (var menu in sysMenus)
+            {
+                if (FindName(menu.MenuName) is TabItem tabItem)
+                {
+                    if (roleIds.Contains(menu.OBJID))
+                    {
+                        tabItem.Visibility = Visibility.Visible;
+                    }
+                    else
+                    {
+                        tabItem.Visibility = Visibility.Collapsed;
+                    }
+                }
+            }
+            if (sysRoles.Count() == 0)
+            {
+                TabControl.SelectedIndex = 0;
+            }
+        }
+
+        private void SelectUserRole(object sender, RoutedEventArgs e)
+        {
+            try
+            {
+                if (UserData.SelectedItem is SysUser user)
+                {
+                    //if (user.OBJID == 1)
+                    //{
+                    //    MessageBox.Show("不能修改根用户!");
+                    //    return;
+                    //}
+                    MenuList menuList = new MenuList(_host, user.OBJID);
+                    menuList.ShowDialog();
+                    GetMenu();
+                }
+            }
+            catch
+            {
+
             }
         }
     }

src/Khd.Core.Wpf/HttpHelper.cs

@@ -9,7 +9,7 @@ namespace Khd.Core.Wpf
     public class HttpHelper
     {
 
-        public static string SendPostMessage(string ip, int port, string url, string message,string contentType="application/Text")
+        public static string SendPostMessage(string ip, int port, string url, string message, string contentType = "application/Text")
         {
             string retsult = HttpPost("http://" + ip + ":" + port + "/" + url, message, contentType, 30, null);
             return retsult;

src/Khd.Core.Wpf/Scan/SerialPortHelper.cs

@@ -1,12 +1,7 @@
 using Masuit.Tools.Logging;
 using System;
-using System.Collections.Generic;
 using System.IO.Ports;
-using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
-using System.Windows;
-using System.Windows.Threading;
 
 namespace Khd.Core.Wpf.Scan
 {
@@ -78,17 +73,17 @@ namespace Khd.Core.Wpf.Scan
                 ReceiveData += Encoding.UTF8.GetString(result);
                 if (ReceiveData.Contains('\r'))
                 {
-                    message = ReceiveData.Replace("\r","").Trim();
+                    message = ReceiveData.Replace("\r", "").Trim();
                     SystemData.message = message;
                     ReceiveData = "";
                 }
                 SystemData.isUpdate = true;
             }
-            catch(Exception ex) 
+            catch (Exception ex)
             {
                 LogManager.Error(ex);
             }
-           
+
         }
 
         /// <summary>

src/Khd.Core.Wpf/SystemData.cs

@@ -1,9 +1,5 @@
 using Khd.Core.Domain.Models;
-using System;
 using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using System.Windows.Media;
 
 namespace Khd.Core.Wpf
@@ -83,10 +79,10 @@ namespace Khd.Core.Wpf
         public static List<BasePlcpoint> BasePlcpoints { get; set; }
         public static List<BaseEquip> BaseEquip { get; internal set; }
         public static List<WmsBaseWarehouse> BaseWareHouse { get; internal set; }
-        public static List<MesBaseMaterialInfo> MesBaseMaterialInfo { get;  set; }
+        public static List<MesBaseMaterialInfo> MesBaseMaterialInfo { get; set; }
 
-        public static List<BaseDictionary> BaseDictionary =new List<BaseDictionary>();
-        public static List<PlcConfig> PlcConfigs =new List<PlcConfig>();
-        public static Dictionary<int,Plc.S7.Plc> PlcDic=new Dictionary<int, Plc.S7.Plc>();
+        public static List<BaseDictionary> BaseDictionary = new List<BaseDictionary>();
+        public static List<PlcConfig> PlcConfigs = new List<PlcConfig>();
+        public static Dictionary<int, Plc.S7.Plc> PlcDic = new Dictionary<int, Plc.S7.Plc>();
     }
 }

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

@@ -82,18 +82,17 @@ namespace Khd.Core.Wpf.TaskForm
 
                         if (!string.IsNullOrEmpty(rfid))
                         {
-                            WcsTask? task = dbContext.WcsTask.FirstOrDefault(t => t.containerNo == rfid);
-                            if (task == null)
+                            MesBasePalletInfo? mesBasePalletInfo = dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == rfid).FirstOrDefault();
+                            if (mesBasePalletInfo != null)
                             {
-                                if (endEquip.equipType == 1)//入库
+                                WcsTask? task = dbContext.WcsTask.FirstOrDefault(t => t.containerNo == rfid);
+                                if (task == null)
                                 {
                                     BaseEquip baseEquip = baseEquips.First(t => t.equipType == 2);//提升机
                                     WcsTask wcsTask = new()
                                     {
                                         objid = FormBoardT._jcSnowId.NextId(),
                                         taskType = 99,
-                                        startPointId = startEquip.Id,
-                                        startPointNo = startEquip.equipNo,
                                         currPointId = startEquip.Id,
                                         currPointNo = startEquip.equipNo,
                                         nextPointId = baseEquip.objid,
@@ -102,51 +101,29 @@ namespace Khd.Core.Wpf.TaskForm
                                         endPointNo = endEquip.equipNo,
                                         fromFloorNo = startEquip.floorNo,
                                         floorNo = endEquip.floorNo,
-                                        taskStatus = -1,
+                                        materialBarcode = mesBasePalletInfo.materialBarcode,
+                                        materialId = mesBasePalletInfo.materialId,
+                                        taskStatus = 0,
                                         createBy = "人工",
                                         createTime = DateTime.Now,
                                         equipmentNo = startEquip.equipNo,
-                                        useFlag = 1,
-                                        isEmpty = EmptyCount.SelectedItem.ToString()
+                                        useFlag = 0,
+                                        qty = Convert.ToInt32(EmptyCount.SelectedItem),
+                                        isEmpty = "1"
                                     };
-                                    WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
                                     dbContext.Add(wcsTask);
+                                    WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
                                     dbContext.Add(wcsTaskLog);
                                     dbContext.SaveChanges();
                                 }
-                                else if (endEquip.equipType == 15)//空托盘到三楼
+                                else
                                 {
-                                    BaseEquip baseEquip = baseEquips.First(t => t.equipType == 2);//提升机
-                                    WcsTask wcsTask = new()
-                                    {
-                                        objid = FormBoardT._jcSnowId.NextId(),
-                                        taskType = 99,
-                                        startPointId = startEquip.Id,
-                                        startPointNo = startEquip.equipNo,
-                                        currPointId = startEquip.Id,
-                                        currPointNo = startEquip.equipNo,
-                                        nextPointId = baseEquip.objid,
-                                        nextPointNo = baseEquip.equipNo,
-                                        endPointId = endEquip.Id,
-                                        endPointNo = endEquip.equipNo,
-                                        fromFloorNo = startEquip.floorNo,
-                                        floorNo = endEquip.floorNo,
-                                        taskStatus = -1,
-                                        createBy = "人工",
-                                        createTime = DateTime.Now,
-                                        equipmentNo = startEquip.equipNo,
-                                        useFlag = 1,
-                                        isEmpty = EmptyCount.SelectedItem.ToString()
-                                    };
-                                    WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
-                                    dbContext.Add(wcsTask);
-                                    dbContext.Add(wcsTaskLog);
-                                    dbContext.SaveChanges();
+                                    MessageBox.Show("该RFID的任务已经存在！");
                                 }
                             }
                             else
                             {
-                                MessageBox.Show("该RFID的任务已经存在！");
+                                MessageBox.Show("未找到该托盘信息！");
                             }
                         }
                         else

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

@@ -6,7 +6,7 @@
         xmlns:local="clr-namespace:Khd.Core.Wpf.TaskForm"
         mc:Ignorable="d"
         WindowStartupLocation="CenterScreen"
-         Background="#333333"
+        Background="#333333"
         Height="450" Width="800">
     <Grid>
         <Grid.RowDefinitions>

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

@@ -1,16 +1,6 @@
 using System;
 using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using System.Windows;
-using System.Windows.Controls;
-using System.Windows.Data;
-using System.Windows.Documents;
-using System.Windows.Input;
-using System.Windows.Media;
-using System.Windows.Media.Imaging;
-using System.Windows.Shapes;
 
 namespace Khd.Core.Wpf.TaskForm
 {
@@ -21,11 +11,11 @@ namespace Khd.Core.Wpf.TaskForm
     {
         public static int EmptyTaskCount = 0;
         public static bool IsSelect = false;
-        public EmptyCountForm(int min,int max)
+        public EmptyCountForm(int min, int max)
         {
             InitializeComponent();
             List<int> ints = new List<int>();
-            for(int i = min; i<= max; i++)
+            for (int i = min; i <= max; i++)
             {
                 ints.Add(i);
             }

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

@@ -0,0 +1,32 @@
+<Window x:Class="Khd.Core.Wpf.TaskForm.FloorForm"
+        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+        xmlns:local="clr-namespace:Khd.Core.Wpf.TaskForm"
+        mc:Ignorable="d"
+        Background="#333333"
+        WindowStartupLocation="CenterScreen"
+         Height="450" Width="800">
+    <Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="*"/>
+            <RowDefinition Height="*"/>
+            <RowDefinition Height="*"/>
+            <RowDefinition Height="*"/>
+        </Grid.RowDefinitions>
+        <Grid.ColumnDefinitions>
+            <ColumnDefinition Width="*"/>
+            <ColumnDefinition Width="*"/>
+            <ColumnDefinition Width="*"/>
+            <ColumnDefinition Width="*"/>
+            <ColumnDefinition Width="*"/>
+        </Grid.ColumnDefinitions>
+        <TextBlock Text="选择楼层" Foreground="White" Grid.Column="1" Grid.Row="1" HorizontalAlignment="Center" VerticalAlignment="Center" FontSize="30"/>
+        <ComboBox x:Name="FloorNo" FontSize="30" Grid.Column="2" Grid.Row="1" Grid.ColumnSpan="2" HorizontalAlignment="Left" VerticalAlignment="Center" Width="300" Height="75"/>
+        <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center" Orientation="Horizontal" Grid.Column="0" Grid.Row="2" Grid.ColumnSpan="5">
+            <Button Content="保存" Width="150" Height="75" FontSize="50" Background="#2196F3" Foreground="White" Click="Button_Click"/>
+            <Button Content="取消" Margin="200,0,0,0" Width="150" Height="75" FontSize="50" Background="#F44336" Foreground="White" Click="Button_Click_1"/>
+        </StackPanel>
+    </Grid>
+</Window>

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

@@ -0,0 +1,32 @@
+using System.Collections.Generic;
+using System.Windows;
+
+namespace Khd.Core.Wpf.TaskForm
+{
+    /// <summary>
+    /// FloorForm.xaml 的交互逻辑
+    /// </summary>
+    public partial class FloorForm : Window
+    {
+        public static int SelecetedFloorNo = 0;
+
+        public FloorForm(List<int> floorList)
+        {
+            InitializeComponent();
+            this.FloorNo.ItemsSource = floorList;
+            this.FloorNo.SelectedIndex = 0;
+            SelecetedFloorNo = 0;
+        }
+
+        private void Button_Click(object sender, RoutedEventArgs e)
+        {
+            SelecetedFloorNo = (int)FloorNo.SelectedItem;
+            this.Close();
+        }
+
+        private void Button_Click_1(object sender, RoutedEventArgs e)
+        {
+            this.Close();
+        }
+    }
+}

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

@@ -0,0 +1,113 @@
+<Window x:Class="Khd.Core.Wpf.TaskForm.MenuList"
+        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+        xmlns:local="clr-namespace:Khd.Core.Wpf.TaskForm"
+        mc:Ignorable="d"
+        Background="#333333"
+        Loaded="Window_Loaded"
+        WindowStyle="None"
+        WindowStartupLocation="CenterScreen"
+         Height="600" Width="400">
+    <Window.Resources>
+        <ResourceDictionary>
+            <ResourceDictionary.MergedDictionaries>
+                <!--<hc:ThemeResources/>
+               <hc:Theme/>-->
+                <ResourceDictionary Source="/CSS/SearchBtnClass.xaml" />
+                <ResourceDictionary Source="/CSS/SearchTextClass.xaml" />
+            </ResourceDictionary.MergedDictionaries>
+            <Style x:Key="dgCell" TargetType="TextBlock" BasedOn="{x:Null}">
+                <Setter Property="TextAlignment" Value="Center" />
+                <Setter Property="HorizontalAlignment" Value="Center" />
+                <Setter Property="VerticalAlignment" Value="Center" />
+            </Style>
+        </ResourceDictionary>
+    </Window.Resources>
+    <Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="*" />
+            <RowDefinition Height="auto" />
+        </Grid.RowDefinitions>
+        <DataGrid Background="Transparent" x:Name="MenuListData" 
+               AlternationCount="2"
+               AutoGenerateColumns="False"
+               CanUserAddRows="False"
+               CanUserReorderColumns="False"
+               CanUserResizeColumns="False"
+               CanUserResizeRows="False"
+               Focusable="False"
+               HeadersVisibility="Column"
+               IsReadOnly="True"
+               RowHeaderWidth="0"
+               SelectionMode="Single"
+            MinRowHeight="50" HorizontalAlignment="Stretch" VerticalAlignment="Stretch"
+                  >
+            <DataGrid.Columns>
+                <DataGridTemplateColumn Width="130*" Header="选择">
+                    <DataGridTemplateColumn.CellTemplate>
+                        <DataTemplate>
+                            <Grid>
+                                <Grid.Tag>
+                                    <Binding Path="IsSeleted"/>
+                                </Grid.Tag>
+                                <CheckBox 
+                                  IsChecked="{Binding Tag, RelativeSource={RelativeSource AncestorType=Grid}}"
+                                  Click="CheckBox_Click"
+                                  VerticalAlignment="Center"
+                                  HorizontalAlignment="Center"
+                                  Width="40"
+                                  Height="40" />
+                            </Grid>
+                        </DataTemplate>
+                    </DataGridTemplateColumn.CellTemplate>
+                </DataGridTemplateColumn>
+                <DataGridTextColumn
+                    Width="200*"
+                    Binding="{Binding MenuName}"
+                    CanUserSort="False"
+                    FontSize="20"
+                    ElementStyle="{StaticResource dgCell}"
+                    Header="菜单名称"
+                    IsReadOnly="True" />
+
+            </DataGrid.Columns>
+            <DataGrid.CellStyle>
+                <Style TargetType="{x:Type DataGridCell}">
+                    <Setter Property="Foreground" Value="White" />
+                    <Setter Property="Background" Value="#333333" />
+                    <Setter Property="HorizontalContentAlignment" Value="Center" />
+                </Style>
+            </DataGrid.CellStyle>
+            <DataGrid.RowStyle>
+                <Style TargetType="{x:Type DataGridRow}">
+                    <Setter Property="Foreground" Value="White" />
+                    <Setter Property="Background" Value="#333333" />
+                </Style>
+            </DataGrid.RowStyle>
+            <DataGrid.RowHeaderStyle>
+                <Style TargetType="{x:Type DataGridRowHeader}">
+                    <Setter Property="Foreground" Value="White" />
+                    <Setter Property="Background" Value="#333333" />
+                    <Setter Property="HorizontalContentAlignment" Value="Center" />
+                </Style>
+            </DataGrid.RowHeaderStyle>
+            <DataGrid.ColumnHeaderStyle>
+                <Style TargetType="{x:Type DataGridColumnHeader}">
+                    <Setter Property="Foreground" Value="White" />
+                    <Setter Property="Background" Value="#333333" />
+                    <Setter Property="HorizontalContentAlignment" Value="Center" />
+                    <Setter Property="Margin" Value="0,0,0,0" />
+                    <Setter Property="BorderThickness" Value="5" />
+                    <Setter Property="BorderBrush" Value="Transparent" />
+                    <Setter Property="FontSize" Value="30" />
+                </Style>
+            </DataGrid.ColumnHeaderStyle>
+        </DataGrid>
+        <StackPanel Grid.Row="1" Orientation="Horizontal" VerticalAlignment="Center" HorizontalAlignment="Center">
+            <Button Content="保存" Background="#346DFF" Foreground="White" Width="100" Height="40" FontSize="25" Click="Button_Click"/>
+            <Button Content="取消" Click="Button1_Click" Margin="50,20,20,20" Background="#346DFF" Foreground="White" Width="100" Height="40" FontSize="25"/>
+        </StackPanel>
+    </Grid>
+</Window>

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

@@ -0,0 +1,101 @@
+using Khd.Core.Domain.Auth;
+using Khd.Core.EntityFramework;
+using Khd.Core.Library.Mapper;
+using Microsoft.Extensions.DependencyInjection;
+using Microsoft.Extensions.Hosting;
+using System.Collections.Generic;
+using System.Linq;
+using System.Windows;
+using System.Windows.Controls;
+
+namespace Khd.Core.Wpf.TaskForm
+{
+    /// <summary>
+    /// MenuList.xaml 的交互逻辑
+    /// </summary>
+    public partial class MenuList : Window
+    {
+        public List<MenuListData> MenuListDatas = new List<MenuListData>();
+        private readonly long? _userId;
+        private readonly IHost _host;
+        public MenuList(IHost host, long? userId)
+        {
+            InitializeComponent();
+            _host = host;
+            _userId = userId;
+        }
+
+        private void Window_Loaded(object sender, RoutedEventArgs e)
+        {
+            try
+            {
+                using var scope = this._host.Services.CreateScope();
+                var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+                var sysMenus = dbContext.SysMenu.Where(t => t.MenuVisble == 1).ToList();
+                var sysRoles = dbContext.SysRole.Where(t => t.UserId == _userId).ToList();
+                MenuListDatas = CoreMapper.Map<List<MenuListData>>(sysMenus);
+                MenuListDatas.ForEach(t =>
+                {
+                    t.IsSeleted = sysRoles.Any(r => r.RoleId == t.OBJID);
+                });
+                this.MenuListData.ItemsSource = MenuListDatas;
+            }
+            catch
+            {
+                MessageBox.Show("加载菜单列表失败");
+                this.Close();
+            }
+        }
+
+        private void CheckBox_Click(object sender, RoutedEventArgs e)
+        {
+            if (sender is CheckBox checkBox && this.MenuListData.SelectedItem is MenuListData menuListData)
+            {
+                MenuListData data = MenuListDatas.Where(t => t.OBJID == menuListData.OBJID).First();
+                data.IsSeleted = checkBox.IsChecked ?? false;
+            }
+        }
+
+        private void Button_Click(object sender, RoutedEventArgs e)
+        {
+            try
+            {
+                using var scope = this._host.Services.CreateScope();
+                var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+                var sysRoles = dbContext.SysRole.Where(t => t.UserId == _userId).ToList();
+                dbContext.RemoveRange(sysRoles);
+                List<MenuListData> menuListDatas = MenuListDatas.Where(t => t.IsSeleted).ToList();
+                List<SysRole> sysRolesToAdd = new List<SysRole>();
+                foreach (var item in menuListDatas)
+                {
+                    sysRolesToAdd.Add(new SysRole
+                    {
+                        OBJID = Global.SnowId.NextId(),
+                        RoleId = item.OBJID,
+                        UserId = _userId,
+                    });
+                }
+                dbContext.AddRange(sysRolesToAdd);
+                dbContext.SaveChanges();
+                MessageBox.Show("保存成功");
+                this.Close();
+            }
+            catch
+            {
+
+            }
+        }
+
+        private void Button1_Click(object sender, RoutedEventArgs e)
+        {
+            this.Close();
+        }
+    }
+
+    public class MenuListData
+    {
+        public long OBJID { get; set; }
+        public string MenuName { get; set; }
+        public bool IsSeleted { get; set; }
+    }
+}

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

@@ -0,0 +1,51 @@
+<Window x:Class="Khd.Core.Wpf.TaskForm.RawMessageShow"
+        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+        xmlns:local="clr-namespace:Khd.Core.Wpf.TaskForm"
+        mc:Ignorable="d"
+        Background="#333333"
+        Loaded="Window_Loaded"
+        Height="450" Width="800" >
+    <Grid>
+        <DataGrid Background="#333333" AutoGenerateColumns="False">
+            <DataGrid.Columns>
+                <DataGridTextColumn Header="料箱号" Width="*" Binding="{Binding palletInfoCode}" Foreground="White" />
+                <DataGridTextColumn Header="物料Id" Width="*" Binding="{Binding materialId}" Foreground="White" />
+                <DataGridTextColumn Header="物料名称" Width="*" Binding="{Binding materialName}" Foreground="White" />
+                <DataGridTextColumn Header="物料规格" Width="*"  Binding="{Binding materialSpec}" Foreground="White" />
+                <DataGridTextColumn Header="总数" Width="*" Binding="{Binding totalAmount}" Foreground="White" />
+                <DataGridTextColumn Header="冻结数量" Width="*"  Binding="{Binding frozenAmount}" Foreground="White" />
+            </DataGrid.Columns>
+            <DataGrid.CellStyle>
+                <Style TargetType="{x:Type DataGridCell}">
+                    <Setter Property="Foreground" Value="White" />
+                    <Setter Property="HorizontalContentAlignment" Value="Center" />
+                </Style>
+
+            </DataGrid.CellStyle>
+            <DataGrid.RowStyle>
+                <Style TargetType="{x:Type DataGridRow}">
+                    <Setter Property="Foreground" Value="White" />
+                </Style>
+            </DataGrid.RowStyle>
+            <DataGrid.RowHeaderStyle>
+                <Style TargetType="{x:Type DataGridRowHeader}">
+                    <Setter Property="Foreground" Value="White" />
+                    <Setter Property="HorizontalContentAlignment" Value="Center" />
+                </Style>
+            </DataGrid.RowHeaderStyle>
+            <DataGrid.ColumnHeaderStyle>
+                <Style TargetType="{x:Type DataGridColumnHeader}">
+                    <Setter Property="Foreground" Value="White" />
+                    <Setter Property="HorizontalContentAlignment" Value="Center" />
+                    <Setter Property="Margin" Value="0,0,0,0" />
+                    <Setter Property="BorderThickness" Value="5" />
+                    <Setter Property="BorderBrush" Value="#333333" />
+                    <Setter Property="FontSize" Value="20" />
+                </Style>
+            </DataGrid.ColumnHeaderStyle>
+        </DataGrid>
+    </Grid>
+</Window>

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

@@ -0,0 +1,45 @@
+using Khd.Core.EntityFramework;
+using Microsoft.Extensions.DependencyInjection;
+using Microsoft.Extensions.Hosting;
+using System.Linq;
+using System.Windows;
+
+namespace Khd.Core.Wpf.TaskForm
+{
+    /// <summary>
+    /// RawMessageShow.xaml 的交互逻辑
+    /// </summary>
+    public partial class RawMessageShow : Window
+    {
+        private IHost host;
+        private string locationCode;
+        public RawMessageShow(IHost host, string locationCode)
+        {
+            InitializeComponent();
+            this.locationCode = locationCode;
+            this.host = host;
+        }
+
+        private void Window_Loaded(object sender, RoutedEventArgs e)
+        {
+            try
+            {
+                using var scope = host.Services.CreateScope();
+                using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+                var wmsRawStocks = dbContext.WmsRawStock
+                    .Where(t => t.locationCode == this.locationCode)
+                    .GroupBy(t => t.locationCode)
+                    .Select(t => new
+                    {
+
+                    })
+                    .ToList();
+
+            }
+            catch
+            {
+
+            }
+        }
+    }
+}

src/Khd.Core.Wpf/dto/taskModel.cs

@@ -0,0 +1,70 @@
+using System;
+using System.Windows;
+
+namespace Khd.Core.Wpf.dto
+{
+    public class taskModel
+    {
+        public int? fromFloorNo { get; set; }
+
+
+        public long objid { get; set; }
+
+        public long? masterId { get; set; }
+
+        public long? orderId { get; set; }
+
+        public long? serialNo { get; set; }
+
+        public string equipmentNo { get; set; }
+
+        public string containerNo { get; set; }
+
+        public int? taskType { get; set; }
+
+        public int? taskStatus { get; set; }
+
+        public long? materialId { get; set; }
+
+        public string? materialNo { get; set; }
+
+        public int? qty { get; set; }
+
+        public string currPointNo { get; set; }
+
+        public long? currPointId { get; set; }
+
+        public long? nextPointId { get; set; }
+
+        public string nextPointNo { get; set; }
+
+        public string endPointNo { get; set; }
+
+        public long? endPointId { get; set; }
+
+        public int? floorNo { get; set; }
+
+        public int? useFlag { get; set; }
+
+        public string createBy { get; set; }
+
+        public DateTime? createTime { get; set; }
+
+        public string updateBy { get; set; }
+
+        public DateTime? updateTime { get; set; }
+
+        public string CTUExecute { get; set; }
+
+        public string isEmpty { get; set; }
+
+        public string ud3 { get; set; }
+
+        public int? ud1 { get; set; }
+
+        public string ud2 { get; set; }
+
+        public string remark { get; set; }
+        public Visibility isShow { get; set; }
+    }
+}

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

@@ -3,8 +3,6 @@ using System;
 using System.Collections.Generic;
 using System.Globalization;
 using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using System.Windows;
 using System.Windows.Controls;
 using System.Windows.Data;
@@ -39,7 +37,7 @@ namespace Khd.Core.Wpf.myConverter
                     {3,"已到达起始地" },
                     {4,"起始地继续任务" },
                     {5,"已到达目的地" },
-                    {6,"任务结束" } 
+                    {6,"任务结束" }
                 }
             },
             {
@@ -87,10 +85,10 @@ namespace Khd.Core.Wpf.myConverter
             WcsTask? wcsTask = value as WcsTask;
             if (wcsTask != null)
             {
-                BaseEquip baseEquip = SystemData.BaseEquip.First(t=>t.objid==wcsTask.nextPointId);
+                BaseEquip baseEquip = SystemData.BaseEquip.First(t => t.objid == wcsTask.nextPointId);
                 if (dic.TryGetValue(baseEquip.equipType, out var taskStatusDic))
                 {
-                    if(taskStatusDic.TryGetValue(wcsTask.taskStatus,out var taskStatus))
+                    if (taskStatusDic.TryGetValue(wcsTask.taskStatus, out var taskStatus))
                     {
                         return taskStatus;
                     }

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

@@ -1,12 +1,4 @@
-using System;
-using System.Collections.Generic;
-using System.Globalization;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-using System.Windows.Data;
-
-namespace Khd.Core.Wpf.myConverter
+namespace Khd.Core.Wpf.myConverter
 {
     //public class CtuTaskStatusConverter : IValueConverter
     //{

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

@@ -1,9 +1,6 @@
 using System;
-using System.Collections.Generic;
 using System.Globalization;
 using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using System.Windows.Data;
 
 namespace Khd.Core.Wpf.myConverter

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

@@ -1,9 +1,6 @@
 using System;
 using System.Collections.Generic;
 using System.Globalization;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using System.Windows.Data;
 
 namespace Khd.Core.Wpf.myConverter

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

@@ -1,9 +1,6 @@
 using System;
-using System.Collections.Generic;
 using System.Globalization;
 using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using System.Windows.Data;
 
 namespace Khd.Core.Wpf.myConverter