设备调度实现

src/Khd.Core.EntityFramework/DefaultDbContext.cs

@@ -91,6 +91,7 @@ namespace Khd.Core.EntityFramework
 
 
         public DbSet<WmsWarehouseMaterial> WmsWarehouseMaterial { get; set; }
+        public DbSet<WcsOutstockLock> WcsOutstockLock { get; set; }
 
     }
 }

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

@@ -0,0 +1,45 @@
+
+using System;
+using System.Collections.Generic;
+using System.Globalization;
+using System.Linq;
+using System.Reflection;
+using System.Text;
+using System.Threading.Tasks;
+using System.Linq.Expressions;
+using System.Collections;
+using System.Net;
+using Microsoft.EntityFrameworkCore.Query.Internal;
+using System.Web;
+using Microsoft.EntityFrameworkCore.Storage;
+using Microsoft.Extensions.Hosting;
+using Khd.Core.Wcs.Global;
+//using KingerRobot.WMS.Dao;
+
+namespace Khd.Core.Wcs
+{
+    public class CommFunction
+    {
+        /// <summary>
+        /// 生成任务号
+        /// </summary>
+        /// <returns></returns>
+        public static string CreateSerialNo()
+        {
+            int SerialNo = 0;
+            var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "WCS_SerialNo").FirstOrDefault();
+            if (!dic.updateTime.GetValueOrDefault().ToString("yyyyMMdd").Equals(DateTime.Now.ToString("yyyyMMdd")))
+            {
+                var ss = DateTime.Now.ToString("MMdd") + "00001";
+                SerialNo = Convert.ToInt32(ss);
+            }
+            else
+            {
+                SerialNo = Convert.ToInt32(dic.dicValue) + 1;
+            }
+            dic.updateTime = DateTime.Now;
+            dic.dicValue = SerialNo.ToString();
+            return SerialNo.ToString();
+        }
+    }
+}

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

@@ -48,5 +48,6 @@ namespace Khd.Core.Wcs.Global
         public static List<WcsInWareOrder> WcsInWareOrder = new List<WcsInWareOrder>();
         public static List<WcsOutWareOrder> WcsOutWareOrder = new List<WcsOutWareOrder>();
 
+
     }
 }

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

@@ -96,30 +96,190 @@ namespace Khd.Core.Wcs.Wcs
                 }
             }
         }
-         
+
         private void CreateTask()
         {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+
             try
             {
-                using var scope = _host.Services.CreateScope();
-                using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
-                var rawInstock = dbContext.WcsTask.Where(t => t.customerNo == "1" ).ToList();
-                if (rawInstock.Count>0)
+
+                //入库
+                var rawInstock = dbContext.WmsProductInstock.Where(t => t.taskCode == "1").ToList();
+                if (rawInstock.Count > 0)
                 {
                     foreach (var item in rawInstock)
                     {
-                        WcsTask wcsTask = new WcsTask();
-                        //wcsTask.customerNo = item.palletInfoCode;
-                        dbContext.Add(wcsTask);
-                        dbContext.SaveChanges();
                     }
-                      
-                }   
+
+                }
+
+                //原料&辅料出库
+                CreateMaterialTask();
+                //成品&半成品出库
+                CreateProductTask();
+
             }
             catch (Exception ex)
             {
                 //LogManager.Info($"错误日志输出 >>> OutWarePoint类 WriteMaterialMessage 方法报错  {ex}");
-                LogManager.Error(ex); 
+                LogManager.Error(ex);
+            }
+
+        }
+        /// <summary>
+        /// 成品出库
+        /// </summary>
+        public void CreateProductTask()
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+
+            var proStock = dbContext.WmsProductStock.Where(t => t.activeFlag == "0").ToList();
+            var proOutStock = dbContext.WmsProductOutstock.Where(t => t.executeStatus == "0").ToList();
+            //获取最早入库时间
+            foreach (var item in proOutStock)
+            {
+                //自动获取id
+                Jc.SnowId.JcSnowId id = new Jc.SnowId.JcSnowId(1, 1);
+                var objid = id.NextId();
+                //锁定库存 
+                WcsOutstockLock stockLock = new()
+                {
+                    objid = objid,
+                    materialId = item.productId,
+                    qty = item.applyQty,
+                    warehouseId = item.warehouseId,
+                    wmsOrderId = item.productOutstockId,
+                    wmsOrderDetailId = item.productOutstockId,
+                    createBy = "sys",
+                    createTime = DateTime.Now
+                };
+
+                var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.ud1 == "O" && t.dicField == item.productType).FirstOrDefault();
+                for (int i = 0; i < item.applyQty; i++)
+                {
+                    //获取最早入库时间
+                    var firstDate = proStock.Where(t => t.productId == item.productId && t.warehouseId == item.warehouseId).OrderBy(t => t.createDate).FirstOrDefault();
+                    var rkDate = firstDate.createDate;
+
+                    //创建出库任务
+                    WcsTask newTask = new()
+                    {
+                        objid = objid,
+                        taskType = Convert.ToInt32(dic.dicValue),
+                        containerNo = "",
+                        taskStatus = 0,
+                        materialId = item.warehouseId,
+                        qty = 1,
+                        startPointId = item.warehouseId,
+                        startPointNo = "",
+                        currPointId = item.warehouseId,
+                        currPointNo = "",
+                        endPointId = item.endStationCode,
+                        endPointNo = "",
+                    };
+                    dbContext.Add(newTask);
+                    dbContext.SaveChanges();
+                }
+                //回写出库记录表
+                //item.executeStatus = "1";
+                //item.updateDate = DateTime.Now;
+                //dbContext.WmsProductOutstock.Update(item);
+                //dbContext.SaveChanges();
+                dbContext.WmsProductOutstock.Where(t => t.productOutstockId == item.productOutstockId).Update(t => new WmsProductOutstock()
+                {
+                    executeStatus = "1",
+                    updateDate = DateTime.Now
+                });
+            }
+
+        }
+
+        public void CreateMaterialTask()
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+
+            var rawStock = dbContext.WmsRawStock.Where(t => t.activeFlag == "0").ToList();
+            var rawOutStock = dbContext.WmsRawOutstock.Where(t => t.executeStatus == "0").ToList();
+
+            foreach (var item in rawOutStock)
+            {
+                //自动获取id
+                Jc.SnowId.JcSnowId id = new Jc.SnowId.JcSnowId(1, 1);
+                var objid = id.NextId();
+                long orderID = 0;
+                //插入锁定库存 
+                WcsOutstockLock stockLock = new()
+                {
+                    objid = objid,
+                    materialId = item.productId,
+                    qty = 1,
+                    warehouseId = item.warehouseId,
+                    wmsOrderId = item.rawOutstockId,
+                    wmsOrderDetailId = item.rawOutstockId,
+                    createBy = "sys",
+                    createTime = DateTime.Now
+                };
+                dbContext.Add(stockLock);
+                //var palletInfo = StaticData.MesBasePalletInfo.Where(t => t.materialId == item.productId).FirstOrDefault() ; 
+                if (true)//辅料
+                {
+                    //辅料出库时,需创建订单表数据
+                    orderID = id.NextId();
+                    WcsWarehouseOrder order = new()
+                    {
+                        objid = orderID,
+                        wmsOrderId = item.rawOutstockId,
+                        orderType = Convert.ToInt32(item.taskType),
+                        qty = 1,
+                        createBy = "",
+                        createTime = DateTime.Now
+                    };
+                    dbContext.Add(order);
+                }
+                else
+                {
+                    //半成品
+
+                }
+                var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.ud1 == "O").FirstOrDefault();
+                WcsTask rawTask = new()
+                {
+                    objid = id.NextId(),
+                    orderId = item.rawOutstockId,
+                    masterId = orderID,
+                    taskType = Convert.ToInt32(dic.dicValue),
+                    containerNo = "",
+                    taskStatus = 0,
+                    materialId = item.warehouseId,
+                    qty = 1,
+                    startPointId = item.warehouseId,
+                    startPointNo = "",
+                    currPointId = item.warehouseId,
+                    currPointNo = "",
+                    endPointId = item.endStationCode,
+                    endPointNo = "",
+                };
+                dbContext.Add(rawTask);
+
+
+                //获取最早入库时间
+                var firstDate = rawStock.Where(t => t.materialId == item.productId && t.warehouseId == item.warehouseId).OrderBy(t => t.createDate).FirstOrDefault();
+                var rkDate = firstDate.createDate;
+
+                //回写出库记录表
+                //item.executeStatus = "1";
+                //item.updateDate = DateTime.Now;
+                //dbContext.WmsProductOutstock.Update(item);
+                //dbContext.SaveChanges();
+                dbContext.WmsRawOutstock.Where(t => t.rawOutstockId == item.rawOutstockId).Update(t => new WmsProductOutstock()
+                {
+                    executeStatus = "1",
+                    updateDate = DateTime.Now
+                });
             }
 
         }

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

@@ -0,0 +1,155 @@
+using Khd.Core.Domain.Dto.webapi;
+using Khd.Core.Domain.Models;
+using Khd.Core.EntityFramework;
+using Khd.Core.Wcs.Global;
+using Masuit.Tools.Logging;
+using Microsoft.Extensions.DependencyInjection;
+using Microsoft.Extensions.Hosting;
+using Newtonsoft.Json;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Khd.Core.Wcs.Wcs
+{
+    /// <summary>
+    /// 五楼AGV调度
+    /// </summary>
+    public class FiveFloorAGV
+    {
+        List<BasePlcpoint> ScanPoint { get; set; }//点位信息
+        private readonly IHost _host;
+        private readonly Plc.S7.Plc _plc;
+        BasePlcpoint? LineRFID { get; set; }
+        BasePlcpoint? LineWcsrun { get; set; }
+        BasePlcpoint? LineSignal { get; set; }
+        BasePlcpoint? LineIsPallet { get; set; }
+        BasePlcpoint? LineSerialNO { get; set; }
+        BasePlcpoint? LineFeedSeriaNo { get; set; }
+        Thread FlowPointThread;
+        int FloorNo { get; set; }
+        string EquipNo = "";
+        public FiveFloorAGV(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
+        {
+            this._host = host;
+            this._plc = plc;
+            FloorNo = floor;
+            EquipNo = equipNo;
+
+            //var lineRFID = this._plc.Read(NodeSettingCarNo.plcpointAddress);
+            try
+            {
+                //默认启动,清理plc的上位机写入点位值
+                this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine("楼层" + floor + " 初始化数据异常" + ex.Message);
+                LogManager.Error(ex);
+            }
+        }
+        /// <summary>
+        /// 启动上件扫描监听
+        /// </summary>
+        public void StartPoint()
+        {
+
+            FlowPointThread = new Thread(MonitorInLocatorPoint);
+            FlowPointThread.Start();
+        }
+
+        public void MonitorInLocatorPoint()
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            while (true)
+            {
+                try
+                {
+                    var taskList = GetTask(FloorNo, EquipNo);
+                    if (taskList.Count == 0)
+                    {
+                        LogManager.Info(FloorNo + "楼AGV无任务");
+                    }
+                    foreach (var item in taskList)
+                    {
+                        SendTask(item);
+                    }
+                }
+                catch (Exception ex)
+                {
+                    LogManager.Error(ex);
+                }
+                finally
+                {
+                    Thread.Sleep(1000);
+                }
+            }
+        }
+
+        public List<WcsTask> GetTask(int floorNo, string equipNo)
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            List<WcsTask> wcsTask = new List<WcsTask>();
+            var wareHouseList = StaticData.WmsBaseWarehouse.ToList();
+            var equip = StaticData.BaseEquip.Where(t=>t.floorNo==floorNo && t.equipType==4).FirstOrDefault();
+            //入库类型
+            List<int> taskInType = new List<int> { 1, 3, 5, 7 };
+            List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
+            try
+            {
+                //获取条码号,如果该条码任务存在就继续任务,如果条码不存在,创建入库任务并调度agv
+                var taskList = StaticData.WcsTask.Where(t => t.nextPointId == equip.objid).ToList();
+                if (taskList.Count() == 0)
+                { return null; }
+                wcsTask = taskList;
+            }
+            catch (Exception ex)
+            {
+                LogManager.Info(floorNo + "楼AGV异常"+ ex.Message);
+                throw;
+            }
+            return wcsTask;
+        }
+        /// <summary>
+        /// 下发任务
+        /// </summary>
+        /// <param name="task"></param>
+        public void SendTask(WcsTask task)
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            //获取
+            if (task == null)
+            {
+                return;
+            } 
+                //首先判断是否已下发指令
+                var cmd = StaticData.WcsCmd.Where(t => t.taskId == task.objid).FirstOrDefault();
+                //指令表存在说明已下发
+                if (cmd != null) return;
+                //获取下发agv指令
+                string ip = ""; int port = 0; string url = "";
+                RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
+                agvtask.reqCode = task.serialNo.ToString();
+                var json = JsonConvert.SerializeObject(agvtask);
+                HttpHelper.SendPostMessage(ip, port, url, json);
+                //未下发给agv下发指令
+                WcsCmd taskCmd = new WcsCmd()
+                {
+                    taskId = task.objid,
+                    cmdType = task.taskType,
+                    serialNo = task.serialNo,
+                    equipmentNo = task.equipmentNo,
+                    cmdStatus = 1,
+                    createBy = FloorNo+"楼AGV",
+                    createTime = DateTime.Now,
+                };
+                dbContext.Add(taskCmd);
+                dbContext.SaveChanges();
+        }
+    }
+}

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

@@ -0,0 +1,155 @@
+using Khd.Core.Domain.Dto.webapi;
+using Khd.Core.Domain.Models;
+using Khd.Core.EntityFramework;
+using Khd.Core.Wcs.Global;
+using Masuit.Tools.Logging;
+using Microsoft.Extensions.DependencyInjection;
+using Microsoft.Extensions.Hosting;
+using Newtonsoft.Json;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Khd.Core.Wcs.Wcs
+{
+    /// <summary>
+    /// 五楼CTU调度
+    /// </summary>
+    public class FiveFloorCTU
+    {
+        List<BasePlcpoint> ScanPoint { get; set; }//点位信息
+        private readonly IHost _host;
+        private readonly Plc.S7.Plc _plc;
+        BasePlcpoint? LineRFID { get; set; }
+        BasePlcpoint? LineWcsrun { get; set; }
+        BasePlcpoint? LineSignal { get; set; }
+        BasePlcpoint? LineIsPallet { get; set; }
+        BasePlcpoint? LineSerialNO { get; set; }
+        BasePlcpoint? LineFeedSeriaNo { get; set; }
+        Thread FlowPointThread;
+        int FloorNo { get; set; }
+        string EquipNo = "";
+        public FiveFloorCTU(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
+        {
+            this._host = host;
+            this._plc = plc;
+            FloorNo = floor;
+            EquipNo = equipNo;
+
+            //var lineRFID = this._plc.Read(NodeSettingCarNo.plcpointAddress);
+            try
+            {
+                //默认启动,清理plc的上位机写入点位值
+                this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine("楼层" + floor + " 初始化数据异常" + ex.Message);
+                LogManager.Error(ex);
+            }
+        }
+        /// <summary>
+        /// 启动上件扫描监听
+        /// </summary>
+        public void StartPoint()
+        {
+
+            FlowPointThread = new Thread(MonitorInLocatorPoint);
+            FlowPointThread.Start();
+        }
+
+        public void MonitorInLocatorPoint()
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            while (true)
+            {
+                try
+                {
+                    var taskList = GetTask(FloorNo, EquipNo);
+                    if (taskList.Count == 0)
+                    {
+                        LogManager.Info(FloorNo + "楼CTU无任务");
+                    }
+                    foreach (var item in taskList)
+                    {
+                        SendTask(item);
+                    }
+                }
+                catch (Exception ex)
+                {
+                    LogManager.Error(ex);
+                }
+                finally
+                {
+                    Thread.Sleep(1000);
+                }
+            }
+        }
+
+        public List<WcsTask> GetTask(int floorNo, string equipNo)
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            List<WcsTask> wcsTask = new List<WcsTask>();
+            var wareHouseList = StaticData.WmsBaseWarehouse.ToList();
+            var equip = StaticData.BaseEquip.Where(t=>t.floorNo==floorNo && t.equipType==4).FirstOrDefault();
+            //入库类型
+            List<int> taskInType = new List<int> { 1, 3, 5, 7 };
+            List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
+            try
+            {
+                //获取条码号,如果该条码任务存在就继续任务,如果条码不存在,创建入库任务并调度agv
+                var taskList = StaticData.WcsTask.Where(t => t.nextPointId == equip.objid).ToList();
+                if (taskList.Count() == 0)
+                { return null; }
+                wcsTask = taskList;
+            }
+            catch (Exception ex)
+            {
+                LogManager.Info(floorNo + "楼CTU异常" + ex.Message);
+                throw;
+            }
+            return wcsTask;
+        }
+        /// <summary>
+        /// 下发任务
+        /// </summary>
+        /// <param name="task"></param>
+        public void SendTask(WcsTask task)
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            //获取
+            if (task == null)
+            {
+                return;
+            } 
+                //首先判断是否已下发指令
+                var cmd = StaticData.WcsCmd.Where(t => t.taskId == task.objid).FirstOrDefault();
+                //指令表存在说明已下发
+                if (cmd != null) return;
+                //获取下发agv指令
+                string ip = ""; int port = 0; string url = "";
+                RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
+                agvtask.reqCode = task.serialNo.ToString();
+                var json = JsonConvert.SerializeObject(agvtask);
+                HttpHelper.SendPostMessage(ip, port, url, json);
+                //未下发给agv下发指令
+                WcsCmd taskCmd = new WcsCmd()
+                {
+                    taskId = task.objid,
+                    cmdType = task.taskType,
+                    serialNo = task.serialNo,
+                    equipmentNo = task.equipmentNo,
+                    cmdStatus = 1,
+                    createBy = FloorNo+"楼AGV",
+                    createTime = DateTime.Now,
+                };
+                dbContext.Add(taskCmd);
+                dbContext.SaveChanges();
+        }
+    }
+}

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

@@ -0,0 +1,187 @@
+using Khd.Core.Domain.Dto.webapi;
+using Khd.Core.Domain.Models;
+using Khd.Core.EntityFramework;
+using Khd.Core.Wcs.Global;
+using Masuit.Tools.Logging;
+using Microsoft.Extensions.DependencyInjection;
+using Microsoft.Extensions.Hosting;
+using Newtonsoft.Json;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Khd.Core.Wcs.Wcs
+{
+    /// <summary>
+    /// 五楼人工分拣输送线
+    /// </summary>
+    public class FiveFloorLine
+    {
+        List<BasePlcpoint> ScanPoint { get; set; }//点位信息
+        private readonly IHost _host;
+        private readonly Plc.S7.Plc _plc;
+        BasePlcpoint? LineRFID { get; set; }
+        BasePlcpoint? IsArrive { get; set; }
+        BasePlcpoint? IsPut { get; set; }
+        Thread FlowPointThread;
+        int FloorNo { get; set; }
+        string EquipNo = "";
+        public FiveFloorLine(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
+        {
+            this._host = host;
+            this._plc = plc;
+            FloorNo = floor;
+            EquipNo = equipNo;
+            this.ScanPoint = StaticData.BasePlcpointList.Where(t => t.floorNo == floor).ToList();//加载当前站点所对应的点位
+            this.LineRFID = this.ScanPoint.FirstOrDefault(t => t.plcpointNo=="RFID5001");
+            this.IsArrive = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("isarrive"));
+            this.IsPut = this.ScanPoint.FirstOrDefault(t => t.plcpointNo=="isput");
+
+            //var lineRFID = this._plc.Read(NodeSettingCarNo.plcpointAddress);
+            try
+            {
+                //默认启动,清理plc的上位机写入点位值
+                this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine("楼层" + floor + " 初始化数据异常" + ex.Message);
+                LogManager.Error(ex);
+            }
+        }
+        /// <summary>
+        /// 启动上件扫描监听
+        /// </summary>
+        public void StartPoint()
+        {
+
+            FlowPointThread = new Thread(MonitorInLocatorPoint);
+            FlowPointThread.Start();
+        }
+
+        public void MonitorInLocatorPoint()
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            while (true)
+            {
+                try
+                {
+                    
+                    var rfid = this._plc.Read(LineRFID.plcpointAddress);
+                    var isarrive = this._plc.Read(IsArrive.plcpointAddress);
+                    
+                    if (rfid != null && isarrive != null)
+                    {
+                        //正常读到输送线信息 有到位信号,并且有托盘,获取条码信息
+                        if (Convert.ToInt32(isarrive) ==1)
+                        {
+                            //获取条码信息
+                            var palletNo = Convert.ToString(rfid);
+                            //获取辅料料箱回库任务
+                            var wcsTask = GetTask(palletNo, FloorNo, EquipNo);
+                        }
+                    }
+
+                }
+                catch (Exception ex)
+                {
+                    LogManager.Error(ex);
+                }
+                finally
+                {
+                    Thread.Sleep(1000);
+                }
+            }
+        }
+
+        public WcsTask GetTask(string containerNo, int floorNo, string equipNo)
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            var wcsTask = new WcsTask();
+            var wareHouseList = StaticData.WmsBaseWarehouse.ToList();
+            try
+            {
+                var cmd = StaticData.WcsCmd.Where(t => t.containerNo == containerNo).FirstOrDefault();
+                if (cmd == null) return null;
+                //获取条码号,如果该条码任务存在就继续任务,如果条码不存在,创建入库任务并调度agv
+                var task = StaticData.WcsTask.Where(t => t.objid == cmd.taskId).FirstOrDefault();
+                if (task != null)
+                {
+                    //下发继续执行任务
+                    //更新任务点位
+                    task.currPointId = cmd.currPointId;
+                    task.currPointNo= cmd.currPointNo;
+                    task.nextPointId= cmd.nextPointId;
+                    task.nextPointNo= cmd.nextPointNo;
+                }
+                else
+                {
+                    wcsTask = StaticData.WcsTask.Where(t => t.currPointNo == equipNo).FirstOrDefault();
+                }
+            }
+            catch (Exception ex)
+            {
+                LogManager.Info(floorNo + "楼接驳位异常"+ ex.Message);
+                throw;
+            }
+            return wcsTask;
+        }
+        /// <summary>
+        /// 下发任务
+        /// </summary>
+        /// <param name="task"></param>
+        public void SendTask(WcsTask task)
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            //入库类型
+            List<int> taskInType = new List<int> { 1, 3, 5, 7 };
+            List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
+            try
+            {
+                //获取
+                if (task == null) return;
+                if (taskInType.Contains(task.taskType.GetValueOrDefault()))
+                {
+                    //首先判断是否已下发指令
+                    var cmd = StaticData.WcsCmd.Where(t => t.taskId == task.objid).FirstOrDefault();
+                    //指令表存在说明已下发
+                    if (cmd != null) return;
+                    //获取下发agv指令
+                    string ip = ""; int port = 0; string url = "";
+                    RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
+                    agvtask.reqCode = task.serialNo.ToString();
+                    var json = JsonConvert.SerializeObject(agvtask);
+                    HttpHelper.SendPostMessage(ip, port, url, json);
+                    //未下发给agv下发指令
+                    WcsCmd taskCmd = new WcsCmd()
+                    {
+                        taskId = task.objid,
+                        cmdType = task.taskType,
+                        serialNo = task.serialNo,
+                        equipmentNo = task.equipmentNo,
+                        cmdStatus = 1,
+                        createBy = "",
+                        createTime = DateTime.Now,
+                    };
+                    dbContext.Add(taskCmd);
+                    dbContext.SaveChanges();
+                }
+                else
+                {
+
+                }
+
+            }
+            catch (Exception)
+            {
+
+                throw;
+            }
+        }
+    }
+}

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

@@ -0,0 +1,239 @@
+using Khd.Core.Domain.Dto.webapi;
+using Khd.Core.Domain.Models;
+using Khd.Core.EntityFramework;
+using Khd.Core.Wcs.Global;
+using Masuit.Tools.Logging;
+using Microsoft.Extensions.DependencyInjection;
+using Microsoft.Extensions.Hosting;
+using Newtonsoft.Json;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Khd.Core.Wcs.Wcs
+{
+    /// <summary>
+    /// 五楼接驳位调度
+    /// </summary>
+    public class FiveFloorPoint
+    {
+        List<BasePlcpoint> ScanPoint { get; set; }//点位信息
+        private readonly IHost _host;
+        private readonly Plc.S7.Plc _plc;
+        BasePlcpoint? LineRFID { get; set; }
+        BasePlcpoint? LineWcsrun { get; set; }
+        BasePlcpoint? LineSignal { get; set; }
+        BasePlcpoint? LineIsPallet { get; set; }
+        BasePlcpoint? LineSerialNO { get; set; }
+        BasePlcpoint? LineFeedSeriaNo { get; set; }
+        Thread FlowPointThread;
+        int FloorNo { get; set; }
+        string EquipNo = "";
+        public FiveFloorPoint(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
+        {
+            this._host = host;
+            this._plc = plc;
+            FloorNo = floor;
+            EquipNo = equipNo;
+            this.ScanPoint = StaticData.BasePlcpointList.Where(t => t.floorNo == floor).ToList();//加载当前站点所对应的点位
+            this.LineRFID = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("RFID"));
+            this.LineWcsrun = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("wcsrun"));
+            this.LineSignal = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("linesignal"));
+            this.LineIsPallet = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("ispallet"));
+            this.LineSerialNO = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("serialno"));
+            this.LineFeedSeriaNo = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("feedserialno"));
+
+            //var lineRFID = this._plc.Read(NodeSettingCarNo.plcpointAddress);
+            try
+            {
+                //默认启动,清理plc的上位机写入点位值
+                this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine("楼层" + floor + " 初始化数据异常" + ex.Message);
+                LogManager.Error(ex);
+            }
+        }
+        /// <summary>
+        /// 启动上件扫描监听
+        /// </summary>
+        public void StartPoint()
+        {
+
+            FlowPointThread = new Thread(MonitorInLocatorPoint);
+            FlowPointThread.Start();
+        }
+
+        public void MonitorInLocatorPoint()
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            while (true)
+            {
+                try
+                {
+                    //入库任务
+                    var rfid = this._plc.Read(LineRFID.plcpointAddress);
+                    var isSignal = this._plc.Read(LineSignal.plcpointAddress);
+                    var isPallet = this._plc.Read(LineIsPallet.plcpointAddress);
+                    if (rfid != null && isSignal != null && isPallet != null)
+                    {
+                        //正常读到输送线信息 有到位信号,并且有托盘,获取条码信息
+                        if (Convert.ToInt32(isSignal) > 0 && Convert.ToInt32(isPallet) == 1)
+                        {
+                            //获取条码信息
+                            var palletNo = Convert.ToString(rfid);
+                            //获取入库任务
+                            var wcsTask = GetTask(palletNo, FloorNo, EquipNo);
+                            //判断是否为出库任务
+                            if (wcsTask.taskType == 2 || wcsTask.taskType == 3)
+                            {
+                                this._plc.Write(LineWcsrun.plcpointAddress, 1);
+                                //更新任务下一点位为提升机
+                                wcsTask.nextPointId = 6;
+                                wcsTask.nextPointNo = "T01";
+                                wcsTask.updateTime=DateTime.Now;
+                                dbContext.Update(wcsTask);
+                                dbContext.SaveChanges();
+                            }
+                            else
+                            {
+                                //入库任务
+                                //下发agv任务
+                                SendTask(wcsTask);
+                            }
+                        }
+                    }
+
+                }
+                catch (Exception ex)
+                {
+                    LogManager.Error(ex);
+                }
+                finally
+                {
+                    Thread.Sleep(1000);
+                }
+            }
+        }
+
+        public WcsTask GetTask(string containerNo, int floorNo, string equipNo)
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            var wcsTask = new WcsTask();
+            var wareHouseList = StaticData.WmsBaseWarehouse.ToList();
+            try
+            {
+                //获取条码号,如果该条码任务存在就继续任务,如果条码不存在,创建入库任务并调度agv
+                var task = StaticData.WcsTask.Where(t => t.containerNo == containerNo).FirstOrDefault();
+                if (task == null)
+                {
+                    var palletInfo = StaticData.MesBasePalletInfo.Where(t => t.palletInfoCode == containerNo).FirstOrDefault();
+                    //查询该条码绑定的物料信息
+                    var material = StaticData.WmsWarehouseMaterial.Where(t => t.storageId == palletInfo.materialId).FirstOrDefault();
+                    var wareHouse = wareHouseList.Where(t => t.warehouseId == material.warehouseId).FirstOrDefault();
+                    var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.ud1 == "I" && t.dicField == wareHouse.warehouseInstockType).FirstOrDefault();
+                    var equip = StaticData.BaseEquip.ToList();
+                    var startEquip = equip.Where(t => t.equipNo == equipNo).FirstOrDefault();
+                    var endPoint = wareHouseList.Where(t => t.warehouseFloor == floorNo).FirstOrDefault();
+                    //var currEquip=
+                    if (palletInfo != null)
+                    {
+                        //自动获取id
+                        Jc.SnowId.JcSnowId id = new Jc.SnowId.JcSnowId(1, 1);
+                        var objid = id.NextId();
+                        WcsTask newTask = new()
+                        {
+                            objid = objid,
+                            taskType = Convert.ToInt32(dic.dicValue),
+                            containerNo = containerNo,
+                            taskStatus = 0,
+                            materialId = material.storageId,
+                            qty = Convert.ToInt32(palletInfo.bindAmount),
+                            startPointId = startEquip.objid,
+                            startPointNo = equipNo,
+                            currPointId = startEquip.objid,
+                            currPointNo = equipNo,
+                            endPointId = endPoint.warehouseId,
+                            endPointNo = endPoint.warehouseCode,
+                        };
+                        dbContext.Add(newTask);
+                        dbContext.SaveChanges();
+                        wcsTask = newTask;
+                    }
+                    else
+                    {
+                        LogManager.Info(floorNo + "楼接驳位,托盘"+ containerNo + "未绑定!" );
+                    }
+                }
+                else
+                {
+                    wcsTask = StaticData.WcsTask.Where(t => t.currPointNo == equipNo).FirstOrDefault();
+                }
+            }
+            catch (Exception ex)
+            {
+                LogManager.Info(floorNo + "楼接驳位异常"+ ex.Message);
+                throw;
+            }
+            return wcsTask;
+        }
+        /// <summary>
+        /// 下发任务
+        /// </summary>
+        /// <param name="task"></param>
+        public void SendTask(WcsTask task)
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            //入库类型
+            List<int> taskInType = new List<int> { 1, 3, 5, 7 };
+            List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
+            try
+            {
+                //获取
+                if (task == null) return;
+                if (taskInType.Contains(task.taskType.GetValueOrDefault()))
+                {
+                    //首先判断是否已下发指令
+                    var cmd = StaticData.WcsCmd.Where(t => t.taskId == task.objid).FirstOrDefault();
+                    //指令表存在说明已下发
+                    if (cmd != null) return;
+                    //获取下发agv指令
+                    string ip = ""; int port = 0; string url = "";
+                    RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
+                    agvtask.reqCode = task.serialNo.ToString();
+                    var json = JsonConvert.SerializeObject(agvtask);
+                    HttpHelper.SendPostMessage(ip, port, url, json);
+                    //未下发给agv下发指令
+                    WcsCmd taskCmd = new WcsCmd()
+                    {
+                        taskId = task.objid,
+                        cmdType = task.taskType,
+                        serialNo = task.serialNo,
+                        equipmentNo = task.equipmentNo,
+                        cmdStatus = 1,
+                        createBy = "",
+                        createTime = DateTime.Now,
+                    };
+                    dbContext.Add(taskCmd);
+                    dbContext.SaveChanges();
+                }
+                else
+                {
+
+                }
+
+            }
+            catch (Exception)
+            {
+
+                throw;
+            }
+        }
+    }
+}

src/Khd.Core.Wcs/Wcs/SecondFloor.cs

@@ -1,7 +1,11 @@
-using Khd.Core.Domain.Models;
+using Khd.Core.Domain.Dto.webapi;
+using Khd.Core.Domain.Models;
+using Khd.Core.EntityFramework;
 using Khd.Core.Wcs.Global;
 using Masuit.Tools.Logging;
+using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
+using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -26,12 +30,14 @@ namespace Khd.Core.Wcs.Wcs
         BasePlcpoint? LineFeedSeriaNo { get; set; }
         Thread FlowPointThread;
         int FloorNo { get; set; }
-        public SecondFloor(IHost host, Plc.S7.Plc plc, int floor)
+        string EquipNo = "";
+        public SecondFloor(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
         {
             this._host = host;
             this._plc = plc;
             FloorNo = floor;
-            this.ScanPoint = StaticData.BasePlcpointList.Where(t=>t.floorNo== floor).ToList();//加载当前站点所对应的点位
+            EquipNo = equipNo;
+            this.ScanPoint = StaticData.BasePlcpointList.Where(t => t.floorNo == floor).ToList();//加载当前站点所对应的点位
             this.LineRFID = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("RFID"));
             this.LineWcsrun = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("wcsrun"));
             this.LineSignal = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("linesignal"));
@@ -63,30 +69,45 @@ namespace Khd.Core.Wcs.Wcs
 
         public void MonitorInLocatorPoint()
         {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
             while (true)
             {
                 try
                 {
+                    //入库任务
                     var rfid = this._plc.Read(LineRFID.plcpointAddress);
                     var isSignal = this._plc.Read(LineSignal.plcpointAddress);
                     var isPallet = this._plc.Read(LineIsPallet.plcpointAddress);
-                    if (rfid != null && isSignal != null && isPallet != null )
+                    if (rfid != null && isSignal != null && isPallet != null)
                     {
                         //正常读到输送线信息 有到位信号,并且有托盘,获取条码信息
                         if (Convert.ToInt32(isSignal) > 0 && Convert.ToInt32(isPallet) == 1)
                         {
                             //获取条码信息
                             var palletNo = Convert.ToString(rfid);
-                            //var carRun = GetTask(palletNo, FloorNo);
-                            //if (string.IsNullOrEmpty(carRun))
-                            //{
-                            //    Console.WriteLine($" FlowPoint类GetTargetTo方法去向返回{carRun},查看错误日志内容!");
-                            //    Thread.Sleep(1000);
-                            //    continue;
-                            //}
-                            //var ToInt16carRun = MainCentralControl.getValue("2", carRun);
+                            //获取入库任务
+                            var wcsTask = GetTask(palletNo, FloorNo, EquipNo);
+                            //判断是否为出库任务
+                            if (wcsTask.taskType == 2 || wcsTask.taskType == 3)
+                            {
+                                this._plc.Write(LineWcsrun.plcpointAddress, 1);
+                                //更新任务下一点位为提升机
+                                wcsTask.nextPointId = 6;
+                                wcsTask.nextPointNo = "T01";
+                                wcsTask.updateTime=DateTime.Now;
+                                dbContext.Update(wcsTask);
+                                dbContext.SaveChanges();
+                            }
+                            else
+                            {
+                                //入库任务
+                                //下发agv任务
+                                SendTask(wcsTask);
+                            }
                         }
                     }
+
                 }
                 catch (Exception ex)
                 {
@@ -99,37 +120,120 @@ namespace Khd.Core.Wcs.Wcs
             }
         }
 
-        public string GetTask(string customerNo,int floorNo,string equipNo)
+        public WcsTask GetTask(string containerNo, int floorNo, string equipNo)
         {
-            //获取条码号,如果该条码任务存在就继续任务,如果条码不存在,创建入库任务并调度agv
-            var task = StaticData.WcsTask.Where(t => t.customerNo == customerNo).FirstOrDefault();
-            if (task == null)
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            var wcsTask = new WcsTask();
+            var wareHouseList = StaticData.WmsBaseWarehouse.ToList();
+            try
             {
-                var palletInfo = StaticData.MesBasePalletInfo.Where(t => t.palletInfoCode == customerNo).FirstOrDefault();
-                //查询该条码绑定的物料信息
-                var material = StaticData.WmsWarehouseMaterial.Where(t=>t.storageId== palletInfo.materialId).FirstOrDefault();
-                var wareHouse = StaticData.WmsBaseWarehouse.Where(t => t.warehouseId == material.warehouseId).FirstOrDefault();
-                var dic = StaticData.BaseDictionary.Where(t=>t.dicKey== "TaskType" && t.ud1 == "I" && t.dicField== wareHouse.warehouseInstockType).FirstOrDefault();
-                var equip = StaticData.BaseEquip.ToList();
-                var startEquip = equip.Where(t => t.equipNo == equipNo).FirstOrDefault();
-                //var currEquip=
-                if (palletInfo != null)
+                //获取条码号,如果该条码任务存在就继续任务,如果条码不存在,创建入库任务并调度agv
+                var task = StaticData.WcsTask.Where(t => t.containerNo == containerNo).FirstOrDefault();
+                if (task == null)
                 {
-                    WcsTask newTask = new()
+                    var palletInfo = StaticData.MesBasePalletInfo.Where(t => t.palletInfoCode == containerNo).FirstOrDefault();
+                    //查询该条码绑定的物料信息
+                    var material = StaticData.WmsWarehouseMaterial.Where(t => t.storageId == palletInfo.materialId).FirstOrDefault();
+                    var wareHouse = wareHouseList.Where(t => t.warehouseId == material.warehouseId).FirstOrDefault();
+                    var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.ud1 == "I" && t.dicField == wareHouse.warehouseInstockType).FirstOrDefault();
+                    var equip = StaticData.BaseEquip.ToList();
+                    var startEquip = equip.Where(t => t.equipNo == equipNo).FirstOrDefault();
+                    var endPoint = wareHouseList.Where(t => t.warehouseFloor == floorNo).FirstOrDefault();
+                    //var currEquip=
+                    if (palletInfo != null)
                     {
-                        objid = Guid.NewGuid(),
-                        taskType = Convert.ToInt32(dic.dicValue),
-                        customerNo = customerNo,
-                        taskStatus = 0,
-                        materialId = material.storageId,
-                        qty = Convert.ToInt32(palletInfo.bindAmount),
-                        startPointId = startEquip.objid,
-                        startPointNo = equipNo,
-                        //endPointId = wareHouse.warehouseId,
-                    };
-                } 
+                        //自动获取id
+                        Jc.SnowId.JcSnowId id = new Jc.SnowId.JcSnowId(1, 1);
+                        var objid = id.NextId();
+                        WcsTask newTask = new()
+                        {
+                            objid = objid,
+                            taskType = Convert.ToInt32(dic.dicValue),
+                            containerNo = containerNo,
+                            taskStatus = 0,
+                            materialId = material.storageId,
+                            qty = Convert.ToInt32(palletInfo.bindAmount),
+                            startPointId = startEquip.objid,
+                            startPointNo = equipNo,
+                            currPointId = startEquip.objid,
+                            currPointNo = equipNo,
+                            endPointId = endPoint.warehouseId,
+                            endPointNo = endPoint.warehouseCode,
+                        };
+                        dbContext.Add(newTask);
+                        dbContext.SaveChanges();
+                        wcsTask = newTask;
+                    }
+                    else
+                    {
+                        LogManager.Info(floorNo + "楼接驳位,托盘"+ containerNo + "未绑定!" );
+                    }
+                }
+                else
+                {
+                    wcsTask = StaticData.WcsTask.Where(t => t.currPointNo == equipNo).FirstOrDefault();
+                }
+            }
+            catch (Exception ex)
+            {
+                LogManager.Info(floorNo + "楼接驳位异常"+ ex.Message);
+                throw;
+            }
+            return wcsTask;
+        }
+        /// <summary>
+        /// 下发任务
+        /// </summary>
+        /// <param name="task"></param>
+        public void SendTask(WcsTask task)
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            //入库类型
+            List<int> taskInType = new List<int> { 1, 3, 5, 7 };
+            List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
+            try
+            {
+                //获取
+                if (task == null) return;
+                if (taskInType.Contains(task.taskType.GetValueOrDefault()))
+                {
+                    //首先判断是否已下发指令
+                    var cmd = StaticData.WcsCmd.Where(t => t.taskId == task.objid).FirstOrDefault();
+                    //指令表存在说明已下发
+                    if (cmd != null) return;
+                    //获取下发agv指令
+                    string ip = ""; int port = 0; string url = "";
+                    RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
+                    agvtask.reqCode = task.serialNo.ToString();
+                    var json = JsonConvert.SerializeObject(agvtask);
+                    HttpHelper.SendPostMessage(ip, port, url, json);
+                    //未下发给agv下发指令
+                    WcsCmd taskCmd = new WcsCmd()
+                    {
+                        taskId = task.objid,
+                        cmdType = task.taskType,
+                        serialNo = task.serialNo,
+                        equipmentNo = task.equipmentNo,
+                        cmdStatus = 1,
+                        createBy = "",
+                        createTime = DateTime.Now,
+                    };
+                    dbContext.Add(taskCmd);
+                    dbContext.SaveChanges();
+                }
+                else
+                {
+
+                }
+
+            }
+            catch (Exception)
+            {
+
+                throw;
             }
-            return "";
         }
     }
 }

src/Khd.Core.Wcs/Wcs/SecondThirdFloorAGV.cs

@@ -0,0 +1,194 @@
+using Khd.Core.Domain.Dto.webapi;
+using Khd.Core.Domain.Models;
+using Khd.Core.EntityFramework;
+using Khd.Core.Wcs.Global;
+using Masuit.Tools.Logging;
+using Microsoft.Extensions.DependencyInjection;
+using Microsoft.Extensions.Hosting;
+using Newtonsoft.Json;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Khd.Core.Wcs.Wcs
+{
+    /// <summary>
+    /// 二楼调度
+    /// </summary>
+    public class SecondThirdFloorAGV
+    {
+        List<BasePlcpoint> ScanPoint { get; set; }//点位信息
+        private readonly IHost _host;
+        private readonly Plc.S7.Plc _plc;
+        BasePlcpoint? LineRFID { get; set; }
+        BasePlcpoint? LineWcsrun { get; set; }
+        BasePlcpoint? LineSignal { get; set; }
+        BasePlcpoint? LineIsPallet { get; set; }
+        BasePlcpoint? LineSerialNO { get; set; }
+        BasePlcpoint? LineFeedSeriaNo { get; set; }
+        Thread FlowPointThread;
+        int FloorNo { get; set; }
+        string EquipNo = "";
+        public SecondThirdFloorAGV(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
+        {
+            this._host = host;
+            this._plc = plc;
+            FloorNo = floor;
+            EquipNo = equipNo;
+            //this.ScanPoint = StaticData.BasePlcpointList.Where(t => t.floorNo == floor).ToList();//加载当前站点所对应的点位
+            //this.LineRFID = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("RFID"));
+            //this.LineWcsrun = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("wcsrun"));
+            //this.LineSignal = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("linesignal"));
+            //this.LineIsPallet = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("ispallet"));
+            //this.LineSerialNO = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("serialno"));
+            //this.LineFeedSeriaNo = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("feedserialno"));
+
+            //var lineRFID = this._plc.Read(NodeSettingCarNo.plcpointAddress);
+            try
+            {
+                //默认启动,清理plc的上位机写入点位值
+                this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine("楼层" + floor + " 初始化数据异常" + ex.Message);
+                LogManager.Error(ex);
+            }
+        }
+        /// <summary>
+        /// 启动上件扫描监听
+        /// </summary>
+        public void StartPoint()
+        {
+
+            FlowPointThread = new Thread(MonitorInLocatorPoint);
+            FlowPointThread.Start();
+        }
+
+        public void MonitorInLocatorPoint()
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            while (true)
+            {
+                try
+                {
+                    var taskList = GetTask(FloorNo, EquipNo);
+                    if (taskList.Count == 0)
+                    {
+                        LogManager.Info(FloorNo + "楼AGV无任务");
+                    }
+                    foreach (var item in taskList)
+                    {
+                        SendTask(item);
+                    }
+                }
+                catch (Exception ex)
+                {
+                    LogManager.Error(ex);
+                }
+                finally
+                {
+                    Thread.Sleep(1000);
+                }
+            }
+        }
+
+        public List<WcsTask> GetTask(int floorNo, string equipNo)
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            List<WcsTask> wcsTask = new List<WcsTask>();
+            var wareHouseList = StaticData.WmsBaseWarehouse.ToList();
+            var equip = StaticData.BaseEquip.Where(t=>t.floorNo==floorNo && t.equipType==4).FirstOrDefault();
+            try
+            {
+                //获取条码号,如果该条码任务存在就继续任务,如果条码不存在,创建入库任务并调度agv
+                var taskList = StaticData.WcsTask.Where(t => t.nextPointId == equip.objid).ToList();
+                if (taskList.Count() == 0)
+                { return null; }
+                wcsTask = taskList;
+            }
+            catch (Exception ex)
+            {
+                LogManager.Info(floorNo + "楼AGV异常"+ ex.Message);
+                throw;
+            }
+            return wcsTask;
+        }
+        /// <summary>
+        /// 下发任务
+        /// </summary>
+        /// <param name="task"></param>
+        public void SendTask(WcsTask task)
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            //入库类型
+            List<int> taskInType = new List<int> { 1, 3, 5, 7 };
+            List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
+            //获取
+            if (task == null)  return;
+            if (taskInType.Contains(task.taskType.GetValueOrDefault()))//入库
+            {
+                //首先判断是否已下发指令
+                var cmd = StaticData.WcsCmd.Where(t => t.taskId == task.objid).FirstOrDefault();
+                //指令表存在说明已下发
+                if (cmd != null) return;
+                //获取下发agv指令
+                string ip = ""; int port = 0; string url = "";
+                RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
+                agvtask.reqCode = task.serialNo.ToString();
+                var json = JsonConvert.SerializeObject(agvtask);
+                HttpHelper.SendPostMessage(ip, port, url, json);
+                //未下发给agv下发指令
+                WcsCmd taskCmd = new WcsCmd()
+                {
+                    taskId = task.objid,
+                    cmdType = task.taskType,
+                    serialNo = task.serialNo,
+                    equipmentNo = task.equipmentNo,
+                    cmdStatus = 1,
+                    createBy = FloorNo + "楼AGV",
+                    createTime = DateTime.Now,
+                };
+                dbContext.Add(taskCmd);
+                dbContext.SaveChanges();
+            }
+            else
+            {
+                //出库
+                if (task.taskType == 6)//成品出库
+                {
+                    //获取库存
+                    var proStock = dbContext.WmsProductStock.Where(t=>t.activeFlag=="1"&& t.stockType == "3" && t.productId==task.materialId).ToList();
+                    var loc = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1" ).ToList() ;
+
+                    var stockList = from t in proStock
+                                    join b in loc on t.locationCode equals b.locationCode
+                                    into temp
+                                    from newStock in temp.DefaultIfEmpty()
+                                    select new
+                                    { 
+                                        proID=t.productId,
+                                        layerNum = newStock.layerNum,
+                                        locColumn= newStock.locColumn,
+                                        locRow = newStock.locRow,
+                                        locDeep=newStock.locDeep,
+                                        create =newStock.createTime,
+                                    };
+
+
+                }
+                else if (task.taskType == 2)//原材料出库
+                { 
+                
+                }
+
+
+            }
+        }
+    }
+}

src/Khd.Core.Wcs/Wcs/SecondThirdFloorPoint.cs

@@ -0,0 +1,246 @@
+using Khd.Core.Domain.Dto.webapi;
+using Khd.Core.Domain.Models;
+using Khd.Core.EntityFramework;
+using Khd.Core.Wcs.Global;
+using Masuit.Tools.Logging;
+using Microsoft.Extensions.DependencyInjection;
+using Microsoft.Extensions.Hosting;
+using Newtonsoft.Json;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Khd.Core.Wcs.Wcs
+{
+    /// <summary>
+    /// 二楼调度
+    /// </summary>
+    public class SecondThirdFloorPoint
+    {
+        List<BasePlcpoint> ScanPoint { get; set; }//点位信息
+        private readonly IHost _host;
+        private readonly Plc.S7.Plc _plc;
+        BasePlcpoint? LineRFID { get; set; }
+        BasePlcpoint? LineWcsrun { get; set; }
+        BasePlcpoint? LineSignal { get; set; }
+        BasePlcpoint? LineIsPallet { get; set; }
+        BasePlcpoint? LineSerialNO { get; set; }
+        BasePlcpoint? LineFeedSeriaNo { get; set; }
+        Thread FlowPointThread;
+        int FloorNo { get; set; }
+        string EquipNo = "";
+        public SecondThirdFloorPoint(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
+        {
+            this._host = host;
+            this._plc = plc;
+            FloorNo = floor;
+            EquipNo = equipNo;
+            this.ScanPoint = StaticData.BasePlcpointList.Where(t => t.floorNo == floor).ToList();//加载当前站点所对应的点位
+            this.LineRFID = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("RFID"));
+            this.LineWcsrun = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("wcsrun"));
+            this.LineSignal = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("linesignal"));
+            this.LineIsPallet = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("ispallet"));
+            this.LineSerialNO = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("serialno"));
+            this.LineFeedSeriaNo = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("feedserialno"));
+
+            //var lineRFID = this._plc.Read(NodeSettingCarNo.plcpointAddress);
+            try
+            {
+                //默认启动,清理plc的上位机写入点位值
+                this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine("楼层" + floor + " 初始化数据异常" + ex.Message);
+                LogManager.Error(ex);
+            }
+        }
+        /// <summary>
+        /// 启动上件扫描监听
+        /// </summary>
+        public void StartPoint()
+        {
+
+            FlowPointThread = new Thread(MonitorInLocatorPoint);
+            FlowPointThread.Start();
+        }
+
+        public void MonitorInLocatorPoint()
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            while (true)
+            {
+                try
+                {
+                    //入库任务
+                    var rfid = this._plc.Read(LineRFID.plcpointAddress);
+                    var isSignal = this._plc.Read(LineSignal.plcpointAddress);
+                    var isPallet = this._plc.Read(LineIsPallet.plcpointAddress);
+                    if (rfid != null && isSignal != null && isPallet != null)
+                    {
+                        //正常读到输送线信息 有到位信号,并且有托盘,获取条码信息
+                        if (Convert.ToInt32(isSignal) > 0 && Convert.ToInt32(isPallet) == 1)
+                        {
+                            //获取条码信息
+                            var palletNo = Convert.ToString(rfid);
+                            //获取入库任务
+                            var wcsTask = GetTask(palletNo, FloorNo, EquipNo);
+                            //判断是否为出库任务
+                            if (wcsTask.taskType == 2 || wcsTask.taskType == 3)
+                            {
+                                this._plc.Write(LineWcsrun.plcpointAddress, 1);
+                                //更新任务下一点位为提升机
+                                wcsTask.nextPointId = 6;
+                                wcsTask.nextPointNo = "T01";
+                                wcsTask.updateTime=DateTime.Now;
+                                dbContext.Update(wcsTask);
+                                dbContext.SaveChanges();
+                            }
+                            else
+                            {
+                                var nextEquip = StaticData.BaseEquip.Where(t=>t.floorNo==FloorNo && t.equipType==4).FirstOrDefault();
+                                //更新任务下一点位为AGV
+                                wcsTask.nextPointId = nextEquip.objid;
+                                wcsTask.nextPointNo = nextEquip.equipNo;
+                                wcsTask.updateTime = DateTime.Now;
+                                wcsTask.updateBy = FloorNo+"楼输送线";
+                                dbContext.Update(wcsTask);
+                                dbContext.SaveChanges();
+                                ////入库任务
+                                ////下发agv任务
+                                //SendTask(wcsTask);
+                            }
+                        }
+                    }
+                }
+                catch (Exception ex)
+                {
+                    LogManager.Error(ex);
+                }
+                finally
+                {
+                    Thread.Sleep(1000);
+                }
+            }
+        }
+        //获取输送线上的任务
+        public WcsTask GetTask(string containerNo, int floorNo, string equipNo)
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            var wcsTask = new WcsTask();
+            var wareHouseList = StaticData.WmsBaseWarehouse.ToList();
+            try
+            {
+                //获取条码号,如果该条码任务存在就继续任务,如果条码不存在,创建入库任务并调度agv
+                var task = StaticData.WcsTask.Where(t => t.containerNo == containerNo).FirstOrDefault();
+                if (task == null)
+                {
+                    var palletInfo = StaticData.MesBasePalletInfo.Where(t => t.palletInfoCode == containerNo).FirstOrDefault();
+                    //查询该条码绑定的物料信息
+                    var material = StaticData.WmsWarehouseMaterial.Where(t => t.storageId == palletInfo.materialId).FirstOrDefault();
+                    var wareHouse = wareHouseList.Where(t => t.warehouseId == material.warehouseId).FirstOrDefault();
+                    var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.ud1 == "I" && t.dicField == wareHouse.warehouseInstockType).FirstOrDefault();
+                    var equip = StaticData.BaseEquip.ToList();
+                    var startEquip = equip.Where(t => t.equipNo == equipNo).FirstOrDefault();
+                    var endPoint = wareHouseList.Where(t => t.warehouseFloor == floorNo).FirstOrDefault();
+                    //var currEquip=
+                    if (palletInfo != null)
+                    {
+                        //自动获取id
+                        Jc.SnowId.JcSnowId id = new Jc.SnowId.JcSnowId(1, 1);
+                        var objid = id.NextId();
+                        WcsTask newTask = new()
+                        {
+                            objid = objid,
+                            taskType = Convert.ToInt32(dic.dicValue),
+                            containerNo = containerNo,
+                            taskStatus = 0,
+                            materialId = material.storageId,
+                            qty = Convert.ToInt32(palletInfo.bindAmount),
+                            startPointId = startEquip.objid,
+                            startPointNo = equipNo,
+                            currPointId = startEquip.objid,
+                            currPointNo = equipNo,
+                            endPointId = endPoint.warehouseId,
+                            endPointNo = endPoint.warehouseCode,
+                        };
+                        dbContext.Add(newTask);
+                        dbContext.SaveChanges();
+                        wcsTask = newTask;
+                    }
+                    else
+                    {
+                        LogManager.Info(floorNo + "楼接驳位,托盘"+ containerNo + "未绑定!" );
+                    }
+                }
+                else
+                {
+                    wcsTask = StaticData.WcsTask.Where(t => t.currPointNo == equipNo).FirstOrDefault();
+                }
+            }
+            catch (Exception ex)
+            {
+                LogManager.Info(floorNo + "楼接驳位异常"+ ex.Message);
+                throw;
+            }
+            return wcsTask;
+        }
+        /// <summary>
+        /// 下发任务
+        /// </summary>
+        /// <param name="task"></param>
+        public void SendTask(WcsTask task)
+        {
+            using var scope = _host.Services.CreateScope();
+            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
+            //入库类型
+            List<int> taskInType = new List<int> { 1, 3, 5, 7 };
+            List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
+            try
+            {
+                //获取
+                if (task == null) return;
+                if (taskInType.Contains(task.taskType.GetValueOrDefault()))
+                {
+                    //首先判断是否已下发指令
+                    var cmd = StaticData.WcsCmd.Where(t => t.taskId == task.objid).FirstOrDefault();
+                    //指令表存在说明已下发
+                    if (cmd != null) return;
+                    //获取下发agv指令
+                    string ip = ""; int port = 0; string url = "";
+                    RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
+                    agvtask.reqCode = task.serialNo.ToString();
+                    var json = JsonConvert.SerializeObject(agvtask);
+                    HttpHelper.SendPostMessage(ip, port, url, json);
+                    //未下发给agv下发指令
+                    WcsCmd taskCmd = new WcsCmd()
+                    {
+                        taskId = task.objid,
+                        cmdType = task.taskType,
+                        serialNo = task.serialNo,
+                        equipmentNo = task.equipmentNo,
+                        cmdStatus = 1,
+                        createBy = "",
+                        createTime = DateTime.Now,
+                    };
+                    dbContext.Add(taskCmd);
+                    dbContext.SaveChanges();
+                }
+                else
+                {
+
+                }
+
+            }
+            catch (Exception)
+            {
+
+                throw;
+            }
+        }
+    }
+}