1

czw

2025-07-02 f156f02ad009105233eadfedb28938747c60cdc9

 2025Äê6ÔÂ12ÈÕ/AuxAllWCS/Build/Project/´úÂë/VS×Ô¶¨ÒåÀà/AutoThread.cs

@@ -18,6 +18,9 @@
using System.Security.Cryptography;
using System.Windows.Markup;
using static GZ.Projects.AuxAllWCS.EasyPLC;
using static System.Runtime.CompilerServices.RuntimeHelpers;
using ServiceStack.Configuration;
using ServiceStack;

namespace GZ.Projects.AuxAllWCS
{
@@ -113,6 +116,17 @@
                tag.Global.SettingsOver = 1;
                Console.Clear();
            }
        }

        public string WriteLine(string value = "")
        {

            


            // åœ¨è¿™é‡Œæ‹¦æˆªå¤„理输出
            string intercepted = $"[拦截到的输出] {value}";
            return intercepted;
        }

        /// <summary>
@@ -1299,63 +1313,52 @@
            foreach (var ssx in new string[] { "1003", "1005", "1011", "1013" })
            {
                var RArrive = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.RArrive{ssx}"), typeof(System.UInt16));
                var RArriveLast = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.RArrive{ssx}_LAST"), typeof(System.UInt16));
                //var RArriveLast = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.RArrive{ssx}_LAST"), typeof(System.UInt16));
                var wArriveOver = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.wArrive{ssx}Over"), typeof(System.UInt16));
                var rReleaseOver = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.rRelease{ssx}Over"), typeof(System.UInt16));
                var WRelease = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.WRelease{ssx}"), typeof(System.UInt16));
                LogHelper.Info($@" ç©ºåˆ°ä½ RArrive{ssx}>{RArrive} && ç©ºåˆ°ä½å¤„理.RArrive{ssx}_LAST >{RArriveLast} æœºæ¢°æ‰‹æ”¶åˆ°æŽ§åˆ°ä½.wArrive{ssx}Over>{wArriveOver}
                                 é€å‡ºå®Œæˆ.rRelease{ssx}Over>{rReleaseOver}  æ”¾è´§å®Œæˆ.WRelease{ssx}>{WRelease}");
                if (RArrive == 1 && RArriveLast == 0)
                var RtrayCode = (System.String)System.Convert.ChangeType(Conn.默认Redis.GetValue($"SSX1003051113.R{ssx}Barcode"), typeof(System.String));
                var rdisTcode = RedisHelper.Get<string>($"Arrive{ssx}BarcodeLast", out string msg);
                // å†™äº†ç©ºæ¡†åˆ°ä½çš„托盘号记录， å¦‚果下次信号来了，托盘号不一致就写，一致就不写，防止因特殊原因被清除重新触发，导致发送重复的问题。
                LogHelper.Info($@" æ‰˜ç›˜å·ï¼š{RtrayCode} redis托盘号：{rdisTcode} ç©ºåˆ°ä½ RArrive{ssx}>{RArrive} æœºæ¢°æ‰‹æ”¶åˆ°æŽ§åˆ°ä½.wArrive{ssx}Over>{wArriveOver} é€å‡ºå®Œæˆ.rRelease{ssx}Over>{rReleaseOver}  æ”¾è´§å®Œæˆ.WRelease{ssx}>{WRelease}");
                if (RArrive == 1 && WRelease == 0 /*&& RArriveLast == 0*/ && !string.IsNullOrEmpty(RtrayCode) && RtrayCode != rdisTcode)
                {
                    if (ssx == "1005" && tag.SF下料位.WRelease1005 == 0)
                    switch (ssx)
                    {
                        LogHelper.Info($"ssx == 1005 && tag.SF下料位.WRelease1005:{tag.SF下料位.WRelease1005}  å†™f1 2215=1，RArrive1005_LAST=1");
                        tag.FNK1.D2215 = 1;
                        //tag.SF下料位.RArrive1005_LAST = 1;
                        RedisHelper.Add($"FNK1003051113.RArrive1005_LAST", "1", out string msg);

                        //tag.SF下料位.WRelease1005 = 0;
                        //tag.SF下料位.WSafe0305 = 0;
                        case "1003":
                            {
                                LogHelper.Info($"ssx == 1003 && tag.SF下料位.WRelease1003:{tag.SF下料位.WRelease1003}  å†™f1 2210=1，Arrive{ssx}BarcodeLast={RtrayCode}");
                                tag.FNK1.D2210 = 1;
                            }
                            break;
                        case "1005":
                            {
                                LogHelper.Info($"ssx == 1005 && tag.SF下料位.WRelease1005:{tag.SF下料位.WRelease1005}  å†™f1 2215=1，Arrive{ssx}BarcodeLast={RtrayCode}");
                                tag.FNK1.D2215 = 1;
                            }
                            break;
                        case "1011":
                            {
                                LogHelper.Info($"ssx == 1011 && tag.SF下料位.WRelease1011:{tag.SF下料位.WRelease1011}  å†™f2 2210=1，Arrive{ssx}BarcodeLast={RtrayCode}");
                                tag.FNK2.D2210 = 1;
                            }
                            break;
                        case "1013":
                            {
                                LogHelper.Info($"ssx == 1013 && tag.SF下料位.WRelease1013:{tag.SF下料位.WRelease1013}  å†™f2 2215=1，Arrive{ssx}BarcodeLast={RtrayCode}");
                                tag.FNK2.D2215 = 1;
                            }
                            break;
                    }
                    else if (ssx == "1003" && tag.SF下料位.WRelease1003 == 0)
                    {
                        LogHelper.Info($"ssx == 1003 && tag.SF下料位.WRelease1003:{tag.SF下料位.WRelease1003}  å†™f1 2210=1，RArrive1003_LAST=1");
                        tag.FNK1.D2210 = 1;
                        //tag.SF下料位.RArrive1003_LAST = 1;

                        RedisHelper.Add($"FNK1003051113.RArrive1003_LAST", "1", out string msg);

                        //tag.SF下料位.WRelease1003 = 0;
                        //tag.SF下料位.WSafe0305 = 0;
                    }
                    else if (ssx == "1013" && tag.SF下料位.WRelease1013 == 0)
                    {
                        LogHelper.Info($"ssx == 1013 && tag.SF下料位.WRelease1013:{tag.SF下料位.WRelease1013}  å†™f2 2215=1，RArrive1013_LAST=1");
                        tag.FNK2.D2215 = 1;
                        //tag.SF下料位.RArrive1013_LAST = 1;
                        RedisHelper.Add($"FNK1003051113.RArrive1013_LAST", "1", out string msg);

                        //tag.SF下料位.WRelease1013 = 0;
                        //tag.SF下料位.WSafe1113 = 0;
                    }
                    else if (ssx == "1011" && tag.SF下料位.WRelease1011 == 0)
                    {
                        LogHelper.Info($"ssx == 1011 && tag.SF下料位.WRelease1011:{tag.SF下料位.WRelease1011}  å†™f2 2210=1，RArrive1011_LAST=1");
                        tag.FNK2.D2210 = 1;
                        //tag.SF下料位.RArrive1011_LAST = 1;
                        RedisHelper.Add($"FNK1003051113.RArrive1011_LAST", "1", out string msg);

                        //tag.SF下料位.WRelease1011 = 0;
                        //tag.SF下料位.WSafe1113 = 0;
                    }
                    RedisHelper.Add($"Arrive{ssx}BarcodeLast", RtrayCode, out msg);
                }
                else if (RArrive == 0)
                {
                    if (RArriveLast == 1)
                    {
                        LogHelper.Info($"重置 FNK1003051113.RArrive{ssx}_LAST=0");
                        RedisHelper.Add($"FNK1003051113.RArrive{ssx}_LAST", "0", out string msg);
                    }
                    //if (RArriveLast == 1)
                    //{
                    //    LogHelper.Info($"重置 FNK1003051113.RArrive{ssx}_LAST=0");
                    //    RedisHelper.Add($"FNK1003051113.RArrive{ssx}_LAST", "0", out string msg);
                    //}
                    if (wArriveOver == 1)
                    {
                        LogHelper.Info($"重置 FNK1003051113.wArrive{ssx}Over=0");
@@ -1415,8 +1418,9 @@
                tag.SF下料位.WRelease1005 = 1;
                tag.SF下料位.WSafe0305 = 1;
                System.Threading.Thread.Sleep(1000);
                RedisHelper.Add($"FNK1003051113.RArrive1005_LAST", "0", out msg);
                LogHelper.Info($" FN1 .D2217=1,2217_LAST=0 å†™ 2218=1，D2217_LAST=1，WRelease1005=1 RArrive1005_LAST=0");
                //RedisHelper.Add($"FNK1003051113.RArrive1005_LAST", "0", out msg);
                RedisHelper.Add($"Arrive1005BarcodeLast", "0", out msg);
                LogHelper.Info($" FN1 .D2217=1,2217_LAST=0 å†™ 2218=1，D2217_LAST=1，WRelease1005=1 Arrive1005BarcodeLast=0");
            }
            else if (tag.FNK1.D2217 == 0 && tag.FNK1.D2217_LAST == 1)
            {
@@ -1441,8 +1445,9 @@
                tag.SF下料位.WRelease1003 = 1;
                tag.SF下料位.WSafe0305 = 1;
                System.Threading.Thread.Sleep(1000);
                RedisHelper.Add($"FNK1003051113.RArrive1003_LAST", "0", out msg);
                LogHelper.Info($" FN1 .D2212=1,2212_LAST=0 å†™ D2213=1，D2212_LAST=1，WRelease1003=1 RArrive1003_LAST=0");
                //RedisHelper.Add($"FNK1003051113.RArrive1003_LAST", "0", out msg);
                RedisHelper.Add($"Arrive1003BarcodeLast", "0", out msg);
                LogHelper.Info($" FN1 .D2212=1,2212_LAST=0 å†™ D2213=1，D2212_LAST=1，WRelease1003=1 Arrive1003BarcodeLast=0");
            }
            //else if (tag.FNK1.D2211 == 1)
            //    tag.FNK1.D2210 = 0;
@@ -1475,8 +1480,9 @@
                tag.SF下料位.WRelease1013 = 1;
                tag.SF下料位.WSafe1113 = 1;
                System.Threading.Thread.Sleep(1000);
                RedisHelper.Add($"FNK1003051113.RArrive1013_LAST", "0", out msg);
                LogHelper.Info($" FN2 .D2217=1,2217_LAST=0 å†™ 2218=1，D2217_LAST=1，WRelease1013=1 RArrive1013_LAST=0");
                //RedisHelper.Add($"FNK1003051113.RArrive1013_LAST", "0", out msg);
                RedisHelper.Add($"Arrive1013BarcodeLast", "0", out msg);
                LogHelper.Info($" FN2 .D2217=1,2217_LAST=0 å†™ 2218=1，D2217_LAST=1，WRelease1013=1 Arrive1013BarcodeLast=0");
            }
            else if (tag.FNK2.D2217 == 0 && tag.FNK2.D2217_LAST == 1)
            {
@@ -1503,8 +1509,9 @@
                tag.SF下料位.WRelease1011 = 1;
                tag.SF下料位.WSafe1113 = 1;
                System.Threading.Thread.Sleep(1000);
                RedisHelper.Add($"FNK1003051113.RArrive1011_LAST", "0", out msg);
                LogHelper.Info($" FN2 .D2212=1,2212_LAST=0 å†™ 2213=1，D2212_LAST=1，WRelease1011=1 RArrive1011_LAST=0");
                //RedisHelper.Add($"FNK1003051113.RArrive1011_LAST", "0", out msg);
                RedisHelper.Add($"Arrive1011BarcodeLast", "0", out msg);
                LogHelper.Info($" FN2 .D2212=1,2212_LAST=0 å†™ 2213=1，D2212_LAST=1，WRelease1011=1 Arrive1011BarcodeLast=0");
            }
            else if (tag.FNK2.D2212 == 0 && tag.FNK2.D2212_LAST == 1)
            {
@@ -1519,7 +1526,6 @@
                LogHelper.Info($" p发那科2下线 è¯»D2211=1  å†™D2210 =0 å†™æœºæ¢°æ‰‹æ”¶åˆ°ç©ºåˆ°1011 wArrive1011Over=1");
            }
        }



        public void Thread1019Down(Tag tag)
@@ -1544,10 +1550,452 @@
        }
        public void Thread2030Down(Tag tag)
        {

            Console.WriteLine($"SA2030 ä»»åŠ¡çŠ¶æ€ï¼š   =====>");
            Console.WriteLine($"SA2030 ä»»åŠ¡çŠ¶æ€ï¼š{tag.SA2030.RtaskState}- ç©ºé—²{tag.SA2030.R5空闲} - barcode:{tag.SA2030.R托盘码}");
        }

        public void ResolveMesTask()
        {
            TaskRepository taskservice = new TaskRepository();
            var tasks = taskservice.FindList(x => (x.S_B_STATE == "MES" || x.S_B_STATE == "People") && x.N_PRIORITY == -88);
            var VERXs = Settings.deviceInfos?.FindAll(x => x.deviceType == 2);
            //if (VERXs.Any())
            foreach (var task in tasks)
            {
                LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} ");
                var sx = VERXs?.Find(x => x.location.Contains(task.S_END_LOC));
                LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} {(sx == null ? "非" : "是")}总装机器人任务");
                if (sx == null)
                {
                    LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} ç›´æŽ¥ç”Ÿæˆå¯¹åº”任务");
                    //直接生成对应任务。
                    var res = TaskProcess.CreateTask(task.S_TASK_NO, task.S_START_LOC, task.S_END_LOC, task.S_TYPE, 6, task.S_CNTRS?.Split(',').ToList() ?? new List<string>());

                    LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} ç›´æŽ¥ç”Ÿæˆå¯¹åº”任务 ç»“果：{res}");
                    if (res)
                    {
                        LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} ä¿®æ”¹æ ‡è¯†");
                        //task.N_PRIORITY = 0;
                        taskservice.dbcontext.Set<TaskEntity>().Attach(task);
                        taskservice.dbcontext.Entry(task).Property(x => x.N_PRIORITY).CurrentValue = 0;
                        taskservice.dbcontext.Entry(task).Property(x => x.N_PRIORITY).IsModified = true;
                        taskservice.dbcontext.SaveChanges();
                    }
                }
                else
                {
                    var sindex = sx.location.ToList().IndexOf(task.S_END_LOC);
                    LocRepository locRepository = new LocRepository();
                    //生成跳跃任务。  -- æ‰˜ç›˜è´§ä½è¡¨ã€‚ 
                    var t1s = taskservice.FindList(x => x.S_SRC_NO == task.S_TASK_NO);

                    LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} æŸ¥æ‰¾æ˜¯å¦æœ‰å·²ç”Ÿæˆä»»åŠ¡ï¼š{t1s != null}");
                    if (t1s.Any())
                    {
                        var t1 = t1s.OrderBy(x => x.T_CREATE).LastOrDefault();
                        if (t1.S_END_LOC == task.S_END_LOC)
                        {
                            task.N_PRIORITY = 0;
                            task.S_B_STATE = "MES_完成";
                            taskservice.Update(task);
                            continue;
                        }
                        if (t1.S_B_STATE == "完成")
                        {
                            //1.终点是否有托盘。 ä¾æ®æ˜¯ç»ˆç‚¹çš„任务是 ä½œä¸ºç»ˆç‚¹ï¼Œè¿˜æ˜¯èµ·ç‚¹ã€‚
                            //var ec = taskservice.FindList(x => (x.S_START_LOC == task.S_START_LOC || x.S_END_LOC == task.S_END_LOC) /*&& DateTime.Now.Subtract(x.T_CREATE).TotalHours < 5*/).OrderByDescending(x => x.T_CREATE).FirstOrDefault();//($"select top 1 * from TN_TASK WHERE S_START_LOC='{task.S_END_LOC}' OR S_END_LOC='{task.S_END_LOC}' ORDER BY T_CREATE DESC");
                            //var ec = taskservice.FindList(x => x.S_START_LOC == task.S_START_LOC && x.S_END_LOC == task.S_START_LOC, new Common.Data.Pagination
                            //                        {
                            //                            page = 1,
                            //                            sidx = "T_CREATE",
                            //                            sord = "desc",
                            //                            rows = 1
                            //                        }).FirstOrDefault();
                            //TaskEntity ec = null;
                            //var dev = Conn.默认Redis.GetValue(sx.deviceName + "." + (sindex == 0 ? "D1224" : "D1225"));
                            //if (dev?.Trim() == "1")
                            //    ec = taskservice.FindList(x => x.S_END_LOC == task.S_END_LOC && x.S_B_STATE == "完成", new Common.Data.Pagination
                            //    {
                            //        page = 1,
                            //        sidx = "T_CREATE",
                            //        sord = "desc",
                            //        rows = 1
                            //    }).FirstOrDefault();
                            bool canReq = true;
                            var tf = Conn.默认Redis.GetValue(sx.deviceName + ".D1202");
                            var V = sx.location.ToList().FindIndex(x => x == task.S_END_LOC) == 0;
                            var tf2 = int.Parse(string.IsNullOrEmpty(tf) ? "0" : tf);
                            canReq = TcpServer.GetBitdata(tf2, (V ? 2 : 3)) == 1;
                            //if (canReq)
                            //    ec = taskservice.FindList(x => x.S_END_LOC == task.S_END_LOC && x.S_B_STATE == "完成", new Common.Data.Pagination
                            //    {
                            //        page = 1,
                            //        sidx = "T_CREATE",
                            //        sord = "desc",
                            //        rows = 1
                            //    }).FirstOrDefault();
                            if (t1.S_START_LOC == task.S_START_LOC && canReq)//!= task.S_END_LOC)
                            {
                                //第二段。
                                LocEntity endLoc = null;
                                var di = sx;
                                if (di != null)
                                {
                                    //foreach (var ssloc in di.deviceNo)
                                    {
                                        var ssloc = di.deviceNo[1];
                                        var endloc = locRepository.FindEntity(x => x.S_LOC_CODE == ssloc);
                                        if (endloc != null && endloc.N_CURRENT_NUM == 0 && endloc.S_LOCK_STATE.Trim() == "无")
                                        {
                                            endLoc = endloc;
                                            //break;
                                        }
                                    }
                                    if (endLoc != null)
                                    {
                                        var res = TaskProcess.CreateTask(task.S_TASK_NO, task.S_END_LOC, endLoc.S_LOC_CODE, task.S_TYPE + "下空", 7, "NONE".Split(',').ToList());
                                        if (res)
                                        {
                                            task.N_PRIORITY = 0; taskservice.Update(task);
                                        }
                                    }
                                }
                            }
                            else
                            {
                                if (t1.S_START_LOC != task.S_START_LOC)
                                {
                                    t1 = taskservice.FindEntity(x => x.S_SRC_NO == task.S_TASK_NO && x.S_START_LOC == task.S_START_LOC && x.S_B_STATE == "完成");
                                }
                                var res = TaskProcess.CreateTask(task.S_TASK_NO, t1.S_END_LOC, task.S_END_LOC, task.S_TYPE + "补满", 6, task.S_CNTRS.Split(',').ToList());
                                if (res)
                                {
                                    task.N_PRIORITY = 0; taskservice.Update(task);
                                }
                            }
                        }
                    }
                    else
                    {
                        LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} ç­›é€‰ç”Ÿæˆç¬¬ä¸€æ®µ ä»»åŠ¡ã€‚");
                        //生成第一段。
                        LocEntity endLoc = null;
                        var di = sx;
                        if (di != null)
                        {
                            //foreach (var ssloc in di.deviceNo)
                            {
                                var ssloc = di.deviceNo[0];
                                var endloc = locRepository.FindEntity(x => x.S_LOC_CODE == ssloc);
                                if (endloc != null && endloc.N_CURRENT_NUM == 0 && endloc.S_LOCK_STATE.Trim() == "无")
                                {
                                    endLoc = endloc;
                                    //break;
                                }
                            }
                            if (endLoc != null)
                            {
                                LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} åˆ›å»ºç¬¬ä¸€æ®µ ä»»åŠ¡ã€‚");
                                var res = TaskProcess.CreateTask(task.S_TASK_NO, task.S_START_LOC, endLoc.S_LOC_CODE, task.S_TYPE + "满转", 8, task.S_CNTRS.Split(',').ToList());

                                LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} åˆ›å»ºç¬¬ä¸€æ®µ ä»»åŠ¡ã€‚结果：{res}");
                                if (res)
                                {
                                    task.N_PRIORITY = 0; taskservice.Update(task);
                                }
                            }
                        }
                    }

                }
            }
        }


        public HkReturnResult OperateHKTaskStatus(HaiKangOrderInfo model)
        {
            // æŸ¥è¯¢ä»»åŠ¡ï¼šæ ¹æ®ä»»åŠ¡å·
            //var wcsTask = WCSHelper.GetTask(model.taskCode);
            ITaskRepository MainMissionService = new TaskRepository();
            var wcsTask = MainMissionService.FindEntity(x => model.taskCode == x.S_TASK_NO);
            if (wcsTask != null)
            {
                if (!string.IsNullOrWhiteSpace(model.method))
                {
                    ILocRepository locrep = new LocRepository();
                    var startloc = locrep.FindEntity(x => x.S_LOC_CODE == wcsTask.S_START_LOC);
                    var endLoc = locrep.FindEntity(x => x.S_LOC_CODE == wcsTask.S_END_LOC);

                    List<string> cntrs = wcsTask.S_CNTRS.Split(',').ToList();
                    bool bobe = false;
                    //model.method = model.method?.ToLower();
                    switch (model.method)
                    {
                        case "start":
                            LogHelper.Info($"海康车任务状态变更为执行，任务号为：{model.taskCode}", "agv杭叉交互日志");
                            if (wcsTask.S_B_STATE.Trim() == "已推送")
                            {
                                wcsTask.S_B_STATE = "执行中";
                                wcsTask.T_START_TIME = DateTime.Now;
                                MainMissionService.Update(wcsTask);
                                bobe = true;
                            }
                            break;
                        case "outBin":
                        case "outbin":
                            model.method = model.method?.ToLower();
                            LogHelper.Info($"海康车任务状态变更为取货完成，任务号为：{model.taskCode}", "agv杭叉交互日志");
                            wcsTask.S_B_STATE = "取货完成";

                            startloc.N_CURRENT_NUM = 0;
                            startloc.S_LOCK_STATE = "无";
                            startloc.T_MODIFY = DateTime.Now;
                            //ILocContainerRepository locContainerRepository = new LocContainerRepository();
                            ////var cnr = locContainerRepository.FindList(x => cntrs.Contains(x.S_CNTR_CODE.Trim()) && x.S_LOC_CODE == wcsTask.S_START_LOC);
                            //locContainerRepository.Delete(x => cntrs.Contains(x.S_CNTR_CODE.Trim()) && x.S_LOC_CODE == wcsTask.S_START_LOC);
                            MainMissionService.Update(wcsTask);
                            locrep.Update(startloc);

                            bobe = true;
                            var device = Settings.deviceInfos.Find(x => x.location.Contains(wcsTask.S_START_LOC));
                            if (device != null)
                            {
                                if (device.deviceType == 1)
                                {
                                    if (device.deviceName.Contains("维希尔抓臂"))
                                    {  //卸货进行清空，触发扫码
                                        var inde = device.location.ToList().FindIndex(x => x == wcsTask.S_START_LOC) == 0;
                                        string V = inde ? "R05" : "R06";
                                        Conn.默认Redis.SetValue(device.deviceName + "." + V, "true", device.deviceName + "Queue", false);

                                        TcpServer.TrayIps.Remove(device.deviceNo[inde ? 0 : 1]);
                                    }
                                }
                                else if (device.deviceType == 2)
                                {
                                    //Task.Run(() =>
                                    //{
                                    //    var inde = device.location.ToList().FindIndex(x => x == wcsTask.S_START_LOC) == 0;
                                    //    string V = inde ? "D1224" : "D1225";
                                    //    Conn.默认Redis.SetValue(device.deviceName + "." + V, "0", device.deviceName + "Queue");
                                    //});
                                }
                            }
                            //LocationHelper.UnLockLoc(wcsTask.S_START_LOC);
                            break;
                        case "end":
                            LogHelper.Info($"海康车任务状态变更为完成，任务号为：{model.taskCode}", "agv杭叉交互日志");
                            wcsTask.S_B_STATE = "完成";
                            wcsTask.T_END_TIME = DateTime.Now;

                            bobe = true;
                            //ILocContainerRepository locContainerRepository2 = new LocContainerRepository();
                            //List<LocContainerEntity> llls = new List<LocContainerEntity>();
                            //foreach (var c in cntrs)
                            //{
                            //    var action = new LocContainerEntity()
                            //    {
                            //        S_ID = Guid.NewGuid().ToString(),
                            //        S_STATE = "编辑",
                            //        T_CREATE = DateTime.Now,
                            //        T_MODIFY = DateTime.Now,

                            //        S_LOC_CODE = endLoc.S_LOC_CODE,
                            //        S_CNTR_CODE = c,
                            //        S_TYPE = "",
                            //    };
                            //    llls.Add(action);
                            //}

                            endLoc.S_LOCK_STATE = "无";
                            endLoc.N_CURRENT_NUM = 1;
                            endLoc.T_MODIFY = DateTime.Now;
                            MainMissionService.Update(wcsTask);
                            if (Settings.deviceInfos.Find(x => x.deviceType == 2 && (/*x.location.Contains(wcsTask.S_END_LOC)||*/x.deviceNo.Contains(wcsTask.S_END_LOC))) != null)
                                locrep.Update(endLoc);
                            //locContainerRepository2.Insert(llls);

                            var device2 = Settings.deviceInfos.Find(x => x.location.Contains(wcsTask.S_END_LOC));
                            if (device2 != null)
                            {
                                if (device2.deviceType == 1)
                                {
                                    if (device2.deviceName.Contains("维希尔抓臂"))
                                    {
                                        //string V = device2.location.ToList().FindIndex(x => x == wcsTask.S_START_LOC) == 0 ? "R10" : "R11";
                                        //Conn.默认Redis.SetValue(device2.deviceName + "." + V, "true", device2.deviceName + "Queue");
                                        //卸货再写托盘取走。 ç„¶åŽè§¦å‘扫码进行校验。 
                                        var inde = device2.location.ToList().FindIndex(x => x == wcsTask.S_END_LOC) == 0;
                                        //string V = inde ? "R05" : "R06";
                                        //Conn.默认Redis.SetValue(device2.deviceName + "." + V, "true", device2.deviceName + "Queue");
                                        string V2 = inde ? "R10_LAST" : "R11_LAST";
                                        //Conn.默认Redis.SetValue(device2.deviceName + "." + V2, "true", device2.deviceName + "Queue");

                                        GZ.Modular.Redis.RedisHelper.Add(device2.deviceName + "." + V2, "true", out string msg1);
                                        TcpServer.TrayIps.Remove(device2.deviceNo[inde ? 0 : 1]);
                                    }
                                }
                                else if (device2.deviceType == 2)
                                {
                                    if (device2.deviceName.Contains("Js捷顺"))
                                    {
                                        Task.Run(() =>
                                        {
                                            var inde = device2.location.ToList().FindIndex(x => x == wcsTask.S_END_LOC) == 0;
                                            string V = inde ? "D1224" : "D1225";
                                            Conn.默认Redis.SetValue(device2.deviceName + "." + V, "1", device2.deviceName + "Queue");
                                        });

                                        var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/202", JsonConvert.SerializeObject(new
                                        {
                                            sceneType = 3,
                                            cntrCode = cntrs.FirstOrDefault()
                                        }));
                                        //if (device2.deviceName.Contains("1"))
                                        //{
                                        //    if (inde) tag.Js1.D1224 = 1;
                                        //    else tag.Js1.D1225 = 1;
                                        //}else
                                        //{
                                        //    if (inde) tag.Js2.D1224 = 1;
                                        //    else tag.Js2.D1225 = 1;
                                        //}
                                    }
                                    var ssloc = device2.deviceNo[1];
                                    var endloc = locrep.FindEntity(x => x.S_LOC_CODE == ssloc);
                                    LogHelper.Info($"捷顺卸货后， æŸ¥çœ‹ç¼“存位 {ssloc}-{endloc?.N_CURRENT_NUM}>0? åˆ™ç”³è¯·mes搬走。");
                                    if (endloc != null && endloc.N_CURRENT_NUM == 1)
                                    {
                                        var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
                                        {
                                            requestType = 3,
                                            startBit = ssloc
                                        }));
                                        LogHelper.Info($"{ssloc}申请mes任务结果{str}");
                                    }
                                }
                            }

                            //LocationMethod.JudgeLocation(wcsTask);
                            break;
                        case "cancel":
                            LogHelper.Info($"海康车任务状态变更为取消，任务号为：{model.taskCode}", "agv杭叉交互日志");
                            wcsTask.S_B_STATE = "取消";
                            //startloc.S_LOCK_STATE = "无";
                            //endLoc.S_LOCK_STATE = "无";
                            MainMissionService.Update(wcsTask);
                            TaskActRepository taskActRepository = new TaskActRepository();
                            var tare = taskActRepository.FindList(x => x.S_TASK_NO == wcsTask.S_TASK_NO);
                            if (tare.Any())
                            {
                                if (tare.Find(x => x.S_ACTION_CODE == "outbin") == null)
                                {
                                    startloc.S_LOCK_STATE = "无";
                                    endLoc.S_LOCK_STATE = "无";
                                    locrep.Update(startloc);
                                    locrep.Update(endLoc);
                                }
                                else if (tare.Find(x => x.S_ACTION_CODE == "end") == null)
                                {
                                    endLoc.S_LOCK_STATE = "无";
                                    locrep.Update(endLoc);
                                }
                            }

                            //locrep.Update(startloc);
                            //locrep.Update(endLoc);
                            //TaskProcess.OperateStatus(wcsTask, 7);
                            //WCSHelper.Fail(wcsTask);
                            break;
                        case "apply":
                            // åˆ¤æ–­è¯¥ä»»åŠ¡çš„接驳位是否有其他入库或出库任务，如果有，则在等位等待，如果没有，则入
                            //TaskisOk(wcsTask);
                            break;
                    }

                    if (!string.IsNullOrEmpty(wcsTask.S_SRC_NO))
                    {
                        var mestask = MainMissionService.FindEntity(x => x.S_TASK_NO == wcsTask.S_SRC_NO);
                        if (mestask != null && bobe)
                        {
                            if (model.method != "end")
                            {
                                if (mestask.S_START_LOC == wcsTask.S_START_LOC && mestask.S_B_STATE == "MES")
                                    Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/201", JsonConvert.SerializeObject(new
                                    {
                                        reqCode = wcsTask.S_SRC_NO,
                                        model.method
                                    }));
                            }
                            else
                            {
                                if (mestask.S_END_LOC != wcsTask.S_END_LOC)
                                {
                                    LogHelper.Info($"{wcsTask.S_SRC_NO}-{wcsTask.S_TASK_NO} ä¸€é˜¶æ®µå®Œæˆï¼Œé‡ç½®è¿›è¡ŒäºŒé˜¶æ®µã€‚");
                                    mestask.N_PRIORITY = -88;
                                    MainMissionService.Update(mestask);
                                }
                                else if (mestask.S_B_STATE == "MES")
                                {
                                    var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/201", JsonConvert.SerializeObject(new
                                    {
                                        reqCode = wcsTask.S_SRC_NO,
                                        model.method
                                    }));
                                }
                            }

                        }
                        else if (mestask != null && model.method == "cancel")
                        {
                            if (mestask.S_B_STATE == "MES")
                                Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/201", JsonConvert.SerializeObject(new
                                {
                                    reqCode = wcsTask.S_SRC_NO,
                                    model.method
                                }));
                            LogHelper.Info($"{wcsTask.S_SRC_NO}-{wcsTask.S_TASK_NO} ä¸€é˜¶æ®µå–消，重置点，线程处理。");
                            mestask.N_PRIORITY = -1;
                            mestask.S_B_STATE = "MES_取消";
                            MainMissionService.Update(mestask);
                        }
                    }
                    TaskProcess.AddActionRecord(model.taskCode, model.method, model.eqpCode, model.data, wcsTask.S_START_LOC, wcsTask.S_END_LOC);
                    //调用第三方接口（如果有）TaskProcess.ReportStatus
                }
                else
                {
                    // æš‚时设定为0
                    wcsTask.S_B_STATE = "上报状态空";
                    //安全请求等
                    //TaskProcess.OperateReq(model.taskCode, wcsTask.N_B_STATE, model.eqpCode, model.data);
                }
            }
            else
            {
                LogHelper.Info($"当前任务号任务不存在{model.taskCode} agv杭叉交互日志");
                return new HkReturnResult { reqCode = model.reqCode, code = 1, message = "这不是我们的任务。" };
            }
            return new HkReturnResult { reqCode = model.reqCode, code = 0 };
        }


















    }