fix

WCS.WorkEngineering/Systems/AgvSystems.cs

@@ -30,8 +30,9 @@ namespace WCS.WorkEngineering.Systems
 
         public AgvSystems()
         {
-            devs = Device.All.Where(v => v.HasFlag(DeviceFlags.入库, DeviceFlags.巷道口)).Select(v => new Station(v, this.World)).ToList();
-            srms = Device.All.Where(v => v.HasProtocol(typeof(ISRM520))).Select(v => new SRM(v, this.World)).ToList();
+            var stations = new List<string>() { "1011", "1012", "1013", "1014", "1015", "1016", "1021", "1022", "1023", "1024", "1025", "1026" };
+            devs = Device.All.Where(v => stations.Contains(v.Code)).Select(v => new Station(v, this.World)).ToList();
+            srms = Device.All.Where(v => v.Code is "SRM1" or "SRM2" or "SRM3").Select(v => new SRM(v, this.World)).ToList();
         }
 
         public override void Do(Station obj)
@@ -65,7 +66,7 @@ namespace WCS.WorkEngineering.Systems
                                 {
                                     var taskInfo = db.Default.Queryable<WCS_TaskInfo>().First(v => v.AgvTaskID == agv.ID);
                                     agv.Status = AGVTaskStatus.Complete2;
-                                    db.Default.Updateable(agv).SplitTable().ExecuteCommand();
+                                    db.Default.Updateable(agv).SplitTable(x => x.Take(2)).ExecuteCommand();
                                     taskInfo.AddWCS_TASK_DTL(db, "agv", $"允许AGV任务{agv.ID}在站台{agv.Station}取货");
                                     AgvApi.ContinueTask(agv.AgvID, agv.Station);
                                 }
@@ -78,7 +79,7 @@ namespace WCS.WorkEngineering.Systems
                                         if (taskInfo == null) throw new Exception($"未找到AGV任务{agv.ID}对应WCS任务");
                                         //更新AGV任务状态
                                         agv.Status = AGVTaskStatus.MissionCompleted;
-                                        db.Default.Updateable(agv).SplitTable().ExecuteCommand();
+                                        db.Default.Updateable(agv).SplitTable(x => x.Take(2)).ExecuteCommand();
                                         //更新WCS任务状态
                                         taskInfo.Status = Entity.TaskStatus.Finish;
                                         taskInfo.EedTime = DateTime.Now;
@@ -90,7 +91,7 @@ namespace WCS.WorkEngineering.Systems
                                     else
                                     {
                                         agv.Status = AGVTaskStatus.MissionCompleted;
-                                        db.Default.Updateable(agv).SplitTable().ExecuteCommand();
+                                        db.Default.Updateable(agv).SplitTable(x => x.Take(2)).ExecuteCommand();
                                     }
                                 }
                             });
@@ -130,16 +131,21 @@ namespace WCS.WorkEngineering.Systems
                             SqlSugarHelper.Do(db =>
                             {
                                 //找到对应WCS任务
-                                var task = db.Default.Queryable<WCS_TaskInfo>().First(v => v.AgvTaskID == agv.ID);
-                                if (task == null) throw new Exception($"AGV任务{agv.ID}未找到对应WCS任务");
+                                //var task = db.Default.Queryable<WCS_TaskInfo>().First(v => v.AgvTaskID == agv.ID);
+                                //if (task == null) throw new Exception($"AGV任务{agv.ID}未找到对应WCS任务");
+                               var agvInfo = db.Default.Queryable<WCS_AgvTaskInfo>().Where(x => x.ID == agv.ID).SplitTable(s => s.Take(3)).First();
                                 #region 开始跟据AGV状态做出处理
                                 //巷道分配
-                                if (agv.AgvStatus == AGVTaskStatus.RequestOrPermission1 && agv.Status != AGVTaskStatus.Complete1)
+                                if (agvInfo.AgvStatus == AGVTaskStatus.RequestOrPermission1 && agvInfo.Status != AGVTaskStatus.Complete1)
                                 {
-                                    this.ExRecord(obj.Entity.Code, $"AGV任务{agv.ID}开始进行巷道分配");
+
+                                    //找到对应WCS任务
+                                    var task = db.Default.Queryable<WCS_TaskInfo>().First(v => v.AgvTaskID == agvInfo.ID);
+                                    if (task == null) throw new Exception($"AGV任务{agvInfo.ID}未找到对应WCS任务");
+                                    this.ExRecord(obj.Entity.Code, $"AGV任务{agvInfo.ID}开始进行巷道分配");
                                     //向WMS获取巷道优先级'
                                     var res = WmsApi.GetTunnelPriorityList(task.ID);
-                                    this.ExRecord(obj.Entity.Code, $"AGV任务{agv.ID},WMS返回巷道优先级{res.ResData}");
+                                    this.ExRecord(obj.Entity.Code, $"AGV任务{agvInfo.ID},WMS返回巷道优先级{res.ResData}");
                                     var tunnelNo = res.ResData.Split(",").Select(v => "SRM" + v).ToList();
 
                                     //开始获取堆垛机与可用站台信息
@@ -149,11 +155,16 @@ namespace WCS.WorkEngineering.Systems
                                     {
                                         //一楼三个入库口
                                         stations = devs.Where(v => v.Entity.Code is "1011" or "1013" or "1015").ToList();
+
+                                        //过滤有任务的站台
+                                        var taskinstations = db.Default.Queryable<WCS_AgvTaskInfo>().Where(v => v.TaskType == AGVTaskType.EnterDepot && v.Status < AGVTaskStatus.MissionCompleted && (v.Position == "1011" || v.Position == "1013" || v.Position == "1015")).SplitTable(v => v.Take(2)).Select(v => v.Position).ToList();
+                                        stations = stations.Where(p => !taskinstations.Contains(p.Entity.Code)).ToList();
+
                                         //筛选出可用站台
                                         stations = stations.Where(v => v.Data.VoucherNo == v.Data2.VoucherNo && v.Data3.Status.HasFlag(StatusEunm.Auto))
                                                            .Where(v => !v.Data3.Status.HasFlag(StatusEunm.PH_Status) && !v.Data3.Status.HasFlag(StatusEunm.OT_Status))
                                                            .Where(v => !v.Data3.Status.HasFlag(StatusEunm.Run)).ToList(); // 筛选出可用站台
-                                        this.ExRecord(obj.Entity.Code, $"AGV任务{agv.ID},可用放货站台", stations.Select(v => v.Entity.Code).ToList());
+                                        this.ExRecord(obj.Entity.Code, $"AGV任务{agvInfo.ID},可用放货站台", stations.Select(v => v.Entity.Code).ToList());
                                         //可用堆垛机
                                         srm = stations.Select(v => v.Entity.Sources).SelectMany(v => v).Where(v => v.IsTunnel()) //上一个地址是巷道的
                                                       .Select(v => v.Sources).SelectMany(v => v).Where(v => v.HasProtocol(typeof(ISRM520))) //筛选出堆垛机
@@ -166,11 +177,15 @@ namespace WCS.WorkEngineering.Systems
                                     {
                                         //二楼三个入库口
                                         stations = devs.Where(v => v.Entity.Code is "1021" or "1023" or "1025").ToList();
+                                        //过滤有任务的站台
+                                        var taskinstations = db.Default.Queryable<WCS_AgvTaskInfo>().Where(v => v.TaskType == AGVTaskType.EnterDepot && v.Status < AGVTaskStatus.MissionCompleted && (v.Position == "1021" || v.Position == "1023" || v.Position == "1025")).SplitTable(v => v.Take(2)).Select(v => v.Position).ToList();
+                                        stations = stations.Where(p => !taskinstations.Contains(p.Entity.Code)).ToList();
+
                                         //筛选出可用站台
                                         stations = stations.Where(v => v.Data.VoucherNo == v.Data2.VoucherNo && v.Data3.Status.HasFlag(StatusEunm.Auto))
                                                            .Where(v => !v.Data3.Status.HasFlag(StatusEunm.PH_Status) && !v.Data3.Status.HasFlag(StatusEunm.OT_Status))
                                                            .Where(v => !v.Data3.Status.HasFlag(StatusEunm.Run)).ToList(); // 筛选出可用站台
-                                        this.ExRecord(obj.Entity.Code, $"AGV任务{agv.ID},可用放货站台", stations.Select(v => v.Entity.Code).ToList());
+                                        this.ExRecord(obj.Entity.Code, $"AGV任务{agvInfo.ID},可用放货站台", stations.Select(v => v.Entity.Code).ToList());
                                         //可用堆垛机
                                         srm = stations.Select(v => v.Entity.Sources).SelectMany(v => v).Where(v => v.IsTunnel()) //上一个地址是巷道的
                                                       .Select(v => v.Sources).SelectMany(v => v).Where(v => v.HasProtocol(typeof(ISRM520))) //筛选出堆垛机
@@ -180,20 +195,20 @@ namespace WCS.WorkEngineering.Systems
                                                       .MinBy(v => tunnelNo.IndexOf(v.Entity.Code));//按照巷道优先级排序
 
                                     }
-                                    if (srm == null) throw new Exception($"agv任务{agv.ID}无可用堆垛机");
+                                    if (srm == null) throw new Exception($"agv任务{agvInfo.ID}无可用堆垛机");
 
                                     //筛选出堆垛机的放货站台
                                     var nextPos = stations.FirstOrDefault(v => v.Entity.Sources.Where(t => t.IsTunnel()).Select(t => t.Sources).SelectMany(v => v) //获取所有巷道
                                                                                                .Where(t => t.HasProtocol(typeof(ISRM520)))//筛选出堆垛机
                                                                                                .SelectMany(v => v.Sources).Any(t => t.Code == srm.Entity.Parent.Code));
-                                    this.ExRecord(obj.Entity.Code, $"AGV任务{agv.ID},放货站台{nextPos}");
+                                    this.ExRecord(obj.Entity.Code, $"AGV任务{agvInfo.ID},放货站台{nextPos}");
 
                                     bool flag = false;
-                                    if (((task.BusType == "二楼湿拉线退料回立库" || task.BusType == "二楼湿拉线余料回立库") && task.Floor == 2))
-                                    {
-                                        flag = true;
-                                        nextPos.Entity.Code = "1025";
-                                    }
+                                    //if (((task.BusType == "二楼湿拉线退料回立库" || task.BusType == "二楼湿拉线余料回立库") && task.Floor == 2))
+                                    //{
+                                    //    flag = true;
+                                    //    nextPos.Entity.Code = "1025";
+                                    //}
                                     var agvs = db.Default.Queryable<WCS_AgvTaskInfo>().Where(v => v.Status < AGVTaskStatus.MissionCompleted && v.Position == nextPos.Entity.Code).SplitTable(v => v.Take(2)).ToList();
                                     if (agvs.Any())
                                     {
@@ -204,55 +219,67 @@ namespace WCS.WorkEngineering.Systems
                                         }
                                         throw new Exception(msg);
                                     }
+                                    //wcs任务状态卡控，防止因光电异常误判                                   
+                                    if (db.Default.Queryable<WCS_TaskInfo>().Any(v => v.AddrNext == nextPos.Entity.Code && v.Status == Entity.TaskStatus.ConveyorExecution)) return;
+
 
-                                                                       
                                     //更新AGV任务状态
-                                    agv.Status = AGVTaskStatus.Complete1;
-                                    agv.Position = flag == true ? "1025" : nextPos.Entity.Code;
-                                    db.Default.Updateable(agv).SplitTable().ExecuteCommand();
+                                    agvInfo.Status = AGVTaskStatus.Complete1;
+                                    //agv.Position = flag == true ? "1025" : nextPos.Entity.Code;
+                                    agvInfo.Position = nextPos.Entity.Code;
+                                    db.Default.Updateable(agvInfo).SplitTable(x => x.Take(2)).ExecuteCommand();
                                     //更新WCS任务状态
-                                    if (flag)
+                                    //if (flag)
+                                    //{
+                                    //    srm.Entity.Code = "SRM3";
+                                    //    task.Device = srm.Entity.Code;
+                                    //    task.Tunnel = "3";
+                                    //    task.AddrNext = "1025";
+                                    //    task.SrmStation = "1025";
+                                    //}
+                                    //else
                                     {
-                                        srm.Entity.Code = "SRM3";
-                                        task.Device = srm.Entity.Code;
-                                        task.Tunnel = "3";
-                                        task.AddrNext = "1025";
-                                    }
-                                    else {
                                         task.Device = srm.Entity.Code;
                                         task.Tunnel = task.Device.GetLastDigit().ToString();
-                                        task.AddrNext = agv.Position;
-                                    }                                   
-                                    db.Default.Updateable(task).ExecuteCommand();                                    
+                                        task.AddrNext = agvInfo.Position;
+                                        task.SrmStation = nextPos.Entity.Code;
+                                    }
+                                    db.Default.Updateable(task).ExecuteCommand();
                                     task.AddWCS_TASK_DTL(db, "AGV巷道分配点", nextPos.Entity.Code, $"任务分配至堆垛机:{srm.Entity.Code}");
-                                    this.ExRecord(obj.Entity.Code, $"AGV任务{agv.ID}分配至堆垛机:{srm.Entity.Code}");
+                                    this.ExRecord(obj.Entity.Code, $"AGV任务{agvInfo.ID}分配至堆垛机:{srm.Entity.Code}");
                                     //调继续执行任务接口
-                                    AgvApi.ContinueTask(agv.AgvID, nextPos.Entity.Code);
+                                    AgvApi.ContinueTask(agvInfo.AgvID, nextPos.Entity.Code);
                                 }
                                 //放货站点安全交互
-                                else if (agv.AgvStatus == AGVTaskStatus.RequestOrPermission2 && agv.Status != AGVTaskStatus.Complete2)
+                                else if (agvInfo.AgvStatus == AGVTaskStatus.RequestOrPermission2 && agvInfo.Status != AGVTaskStatus.Complete2)
                                 {
-                                    if (agv.Position.IsNullOrEmpty()) throw new Exception($"无有效放货地址");
-                                    var dev = devs.Find(v => v.Entity.Code == agv.Position);
+                                    //找到对应WCS任务
+                                    var task = db.Default.Queryable<WCS_TaskInfo>().First(v => v.AgvTaskID == agvInfo.ID);
+                                    if (task == null) throw new Exception($"AGV任务{agvInfo.ID}未找到对应WCS任务");
+
+                                    if (agvInfo.Position.IsNullOrEmpty()) throw new Exception($"无有效放货地址");
+
+                                    if (db.Default.Queryable<WCS_TaskInfo>().Any(v => v.AddrNext == agvInfo.Position && v.Status == Entity.TaskStatus.ConveyorExecution)) throw new Exception($"AGV请求放货，但{agvInfo.Position}上任务状态异常"); ;
+                                    var dev = devs.Find(v => v.Entity.Code == agvInfo.Position);
 
                                     if (dev.Data.VoucherNo != dev.Data2.VoucherNo) throw new Exception($"AGV请求放货，但{dev.Entity.Code}凭证号不一致");
                                     if (!dev.Data3.Status.HasFlag(StatusEunm.Auto)) throw new Exception($"AGV请求放货，但{dev.Entity.Code}不在自动状态");
                                     if (dev.Data3.Status.HasFlag(StatusEunm.PH_Status)) throw new Exception($"AGV请求放货，但{dev.Entity.Code}光电有货");
                                     if (dev.Data3.Status.HasFlag(StatusEunm.OT_Status)) throw new Exception($"AGV请求放货，但{dev.Entity.Code}任务有货");
                                     if (dev.Data3.Status.HasFlag(StatusEunm.Run)) throw new Exception($"AGV请求放货，但{dev.Entity.Code}在运行状态");
-                                    agv.Status = AGVTaskStatus.Complete2;
-                                    db.Default.Updateable(agv).SplitTable().ExecuteCommand();
+                                    agvInfo.Status = AGVTaskStatus.Complete2;
+                                    db.Default.Updateable(agvInfo).SplitTable(x => x.Take(2)).ExecuteCommand();
 
                                     //调继续执行任务接口
-                                    AgvApi.ContinueTask(agv.AgvID, dev.Entity.Code);
+                                    AgvApi.ContinueTask(agvInfo.AgvID, dev.Entity.Code);
 
                                     dev.Data.TaskNumber = task.ID;
                                 }
                                 //完成任务
-                                else if (agv.AgvStatus == AGVTaskStatus.MissionCompleted && agv.Status != AGVTaskStatus.MissionCompleted)
+                                else if (agvInfo.AgvStatus == AGVTaskStatus.MissionCompleted && agvInfo.Status != AGVTaskStatus.MissionCompleted)
                                 {
-                                    agv.Status = AGVTaskStatus.MissionCompleted;
-                                    db.Default.Updateable(agv).SplitTable().ExecuteCommand();
+                                    agvInfo.Status = AGVTaskStatus.MissionCompleted;
+                                    db.Default.Updateable(agvInfo).SplitTable(x => x.Take(2)).ExecuteCommand();
                                 }
 
                                 #endregion 开始跟据AGV状态做出处理

WCS.WorkEngineering/Systems/NoInteractionSystems.cs

@@ -100,6 +100,22 @@ namespace WCS.WorkEngineering.Systems
                                             db.Default.Insertable(agvTask).SplitTable().ExecuteCommand();
                                             task.AgvTaskID = agvTask.ID;
                                         }
+                                        else if (task.Floor == 1 && task.BusType == "一楼出满轮")
+                                        {
+                                            //创建AGV任务
+                                            var agvTask = new WCS_AgvTaskInfo()
+                                            {
+                                                ID = db.GetAGVTaskId(),
+                                                TaskType = AGVTaskType.CallMaterial,
+                                                Status = AGVTaskStatus.NewBuild,
+                                                Station = task.SrmStation,
+                                                Position = task.AddrTo,
+                                                WorkShop = 111,
+                                                AddWho = "WCS"
+                                            };
+                                            db.Default.Insertable(agvTask).SplitTable().ExecuteCommand();
+                                            task.AgvTaskID = agvTask.ID;
+                                        }
 
                                         #endregion 二楼非半自动手动出库任务需要创建AGV任务
 
@@ -172,24 +188,29 @@ namespace WCS.WorkEngineering.Systems
                         {
                             SqlSugarHelper.Do(db =>
                             {
+                                string barCode = "";
                                 var agv = db.Default.Queryable<WCS_AgvTaskInfo>().Where(t => t.ID == item.ID).SplitTable(v => v.Take(2)).First() ?? throw new Exception($"未找到对应的AGV任务:{item.ID}");
                                 //获取对应wcs任务
-                                var wcs = db.Default.Queryable<WCS_TaskInfo>().Where(t => t.AgvTaskID == agv.ID && t.Status == Entity.TaskStatus.WaitingToExecute).First() ?? throw new Exception($"AGV任务[{item.ID}]未找到对应的WCS任务");
-
+                                var wcs = db.Default.Queryable<WCS_TaskInfo>().Where(t => t.AgvTaskID == agv.ID && t.Status == Entity.TaskStatus.WaitingToExecute).First() ?? throw new Exception($"AGV任务[{item.ID}]未找到对应的WCS任务");                               
                                 switch (wcs.Floor)
                                 {
                                     case 1: //一楼下发AGV任务
                                         var res = AgvApi.满轮入库(wcs.BarCode, agv.Station, Guid.NewGuid().ToString().Replace("-", ""), "1");
                                         agv.Status = AGVTaskStatus.Confirm;
                                         agv.AgvID = res.data;
-                                        db.Default.Updateable(agv).SplitTable().ExecuteCommand();
+                                        db.Default.Updateable(agv).SplitTable(x => x.Take(2)).ExecuteCommand();
                                         break;
 
                                     case 2:
-                                        var agvRes = IwmsApi.空轮回库(wcs.MatCode, wcs.SrmStation, wcs.IsSurplus, wcs.IsRework, agv.ID, wcs.BarCode);
+                                        barCode = wcs.BarCode;
+                                        if (!string.IsNullOrEmpty(wcs.BarCode) && wcs.BarCode.Contains("-"))
+                                        {
+                                            barCode = wcs.BarCode.Substring(0, wcs.BarCode.IndexOf("-"));
+                                        }                                       
+                                        var agvRes = IwmsApi.空轮回库(wcs.MatCode, wcs.SrmStation, wcs.IsSurplus, wcs.IsRework, agv.ID, barCode);
                                         agv.Status = AGVTaskStatus.Confirm;
                                         agv.AgvID = agvRes.data;
-                                        db.Default.Updateable(agv).SplitTable().ExecuteCommand();
+                                        db.Default.Updateable(agv).SplitTable(x => x.Take(2)).ExecuteCommand();
                                         break;
 
                                     default:
@@ -238,7 +259,7 @@ namespace WCS.WorkEngineering.Systems
                                 res = AgvApi.机台补空(agv.Station, Guid.NewGuid().ToString().Replace("-", ""), "1");
                                 agv.Status = AGVTaskStatus.Confirm;
                                 agv.AgvID = res.data;
-                                db.Default.Updateable(agv).SplitTable().ExecuteCommand();
+                                db.Default.Updateable(agv).SplitTable(x => x.Take(2)).ExecuteCommand();
 
                                 wcs.Status = Entity.TaskStatus.AGVExecution;
                                 db.Default.Updateable(wcs).ExecuteCommand();

WCS.WorkEngineering/Systems/SrmSystems.cs

@@ -155,7 +155,8 @@ namespace WCS.WorkEngineering.Systems
                 if (taskInfo.Status == TaskStatus.Finish) WmsApi.CompleteTask(taskInfo.ID);
                 if (taskInfo.Type == TaskType.OutDepot && taskInfo.Status == TaskStatus.ConveyorExecution) WmsApi.SrmPickOutCompleted(taskInfo.ID);
 
-                World.Log($"堆垛机任务处理:结束--完成任务{obj.Data2.TaskFinishiId}", LogLevelEnum.Mid);
+                
+
             }
 
             #endregion 处理完成任务
@@ -179,6 +180,9 @@ namespace WCS.WorkEngineering.Systems
                 //任务集合是否有处于堆垛机执行状态的任务
                 if (tasks.Any(v => v.Status == Entity.TaskStatus.StackerExecution)) throw new KnownException($"有任务处于堆垛机执行状态", LogLevelEnum.High);
 
+                ////判断是否存在调整优先级任务
+                //if (!tasks.Any(v => v.Type != TaskType.TransferDepot && v.Status < Entity.TaskStatus.StackerExecution && v.Priority > 0))
+                //{
                 //不存在调整优先级任务,判断是否存在移库任务
                 isTransfer = tasks.Any(v => v.Type == TaskType.TransferDepot && v.Status == Entity.TaskStatus.NewBuild);
                 //}
@@ -195,207 +199,214 @@ namespace WCS.WorkEngineering.Systems
                         enterOrOut = enterPriority > outPriorityNewBuild ? 2 : 3;
                     }
                 }
-            });
 
-            #region 移库
+                #region 移库
 
-            if (isTransfer)
-            {
-                WCS_TaskInfo taskInfo = null;
-                SqlSugarHelper.Do(db =>
-                   {
-                       //获取一条当前堆垛机优先级最高的新建移库任务
-                       var task = db.Default.Queryable<WCS_TaskInfo>().Where(v => v.Device == obj.Entity.Code && v.Type == TaskType.TransferDepot && v.Status == Entity.TaskStatus.NewBuild)
-                                                                      .OrderByDescending(v => v.Priority)
-                                                                      .First() ?? throw new KnownException("未找到移库任务", LogLevelEnum.High);
-                       //任务状态改为堆垛机执行中
-                       task.Status = Entity.TaskStatus.StackerExecution;
-                       task.StartTime = DateTime.Now;
-                       db.Default.Updateable(task).ExecuteCommand();
-                       task.AddWCS_TASK_DTL(db, task.AddrFrom, task.Device, $"堆垛机{obj.Entity.Code}开始执行任务");
-                       taskInfo = task;
-                   });
-                if (taskInfo == null) throw new KnownException("数据更新错误", LogLevelEnum.High);
-                var addrFrom = taskInfo.AddrFrom.Split("-");
-                var addrTo = taskInfo.AddrTo.Split("-");
-                World.Log($"堆垛机任务处理:开始--下发移库任务[{obj.Data.TaskNumber}][{obj.Data.SLine}][{obj.Data.SCol}][{obj.Data.SLayer}][{obj.Data.ELine}][{obj.Data.ECol}][{obj.Data.ELayer}][{obj.Data.TaskType}][{obj.Data.VoucherNo}]", LogLevelEnum.Mid);
-                //下发任务
-                obj.Data.TaskNumber = taskInfo.ID;
-                obj.Data.SLine = addrFrom[0].ToShort();
-                obj.Data.SCol = addrFrom[1].ToShort();
-                obj.Data.SLayer = addrFrom[2].ToShort();
-                obj.Data.ELine = addrTo[0].ToShort();
-                obj.Data.ECol = addrTo[1].ToShort();
-                obj.Data.ELayer = addrTo[2].ToShort();
-                obj.Data.TaskType = SrmTaskTypeEnum.MoveGoods;
-                obj.Data.VoucherNo++;
-                World.Log($"堆垛机任务处理:结束---下发移库任务[{obj.Data.TaskNumber}][{obj.Data.SLine}][{obj.Data.SCol}][{obj.Data.SLayer}][{obj.Data.ELine}][{obj.Data.ECol}][{obj.Data.ELayer}][{obj.Data.TaskType}][{obj.Data.VoucherNo}]", LogLevelEnum.Mid);
-            }
+                if (isTransfer)
+                {
+                    WCS_TaskInfo taskInfo = null;
+                    SqlSugarHelper.Do(db =>
+                    {
+                        //获取一条当前堆垛机优先级最高的新建移库任务
+                        var task = db.Default.Queryable<WCS_TaskInfo>().Where(v => v.Device == obj.Entity.Code && v.Type == TaskType.TransferDepot && v.Status == Entity.TaskStatus.NewBuild)
+                                                                       .OrderByDescending(v => v.Priority)
+                                                                       .First() ?? throw new KnownException("未找到移库任务", LogLevelEnum.High);
+                        //任务状态改为堆垛机执行中
+                        task.Status = Entity.TaskStatus.StackerExecution;
+                        task.StartTime = DateTime.Now;
+                        db.Default.Updateable(task).ExecuteCommand();
+                        task.AddWCS_TASK_DTL(db, task.AddrFrom, task.Device, $"堆垛机{obj.Entity.Code}开始执行任务");
+                        taskInfo = task;
+                    });
+                    if (taskInfo == null) throw new KnownException("数据更新错误", LogLevelEnum.High);
+                    var addrFrom = taskInfo.AddrFrom.Split("-");
+                    var addrTo = taskInfo.AddrTo.Split("-");
+                    World.Log($"堆垛机任务处理:开始--下发移库任务[{obj.Data.TaskNumber}][{obj.Data.SLine}][{obj.Data.SCol}][{obj.Data.SLayer}][{obj.Data.ELine}][{obj.Data.ECol}][{obj.Data.ELayer}][{obj.Data.TaskType}][{obj.Data.VoucherNo}]", LogLevelEnum.Mid);
+                    //下发任务
+                    obj.Data.TaskNumber = taskInfo.ID;
+                    obj.Data.SLine = addrFrom[0].ToShort();
+                    obj.Data.SCol = addrFrom[1].ToShort();
+                    obj.Data.SLayer = addrFrom[2].ToShort();
+                    obj.Data.ELine = addrTo[0].ToShort();
+                    obj.Data.ECol = addrTo[1].ToShort();
+                    obj.Data.ELayer = addrTo[2].ToShort();
+                    obj.Data.TaskType = SrmTaskTypeEnum.MoveGoods;
+                    obj.Data.VoucherNo++;
+                    World.Log($"堆垛机任务处理:结束---下发移库任务[{obj.Data.TaskNumber}][{obj.Data.SLine}][{obj.Data.SCol}][{obj.Data.SLayer}][{obj.Data.ELine}][{obj.Data.ECol}][{obj.Data.ELayer}][{obj.Data.TaskType}][{obj.Data.VoucherNo}]", LogLevelEnum.Mid);
+                }
 
-            #endregion 移库
+                #endregion 移库
 
-            #region 出入库
+                #region 出入库
 
-            //上一个周期是不是出库任务 第一次获取返回结果会是false
-            var lastIsOut = obj.Entity.GetFlag<bool>("LastIsOut");
-            obj.Entity.SetFlag("LastIsOut", !lastIsOut);
+                //上一个周期是不是出库任务 第一次获取返回结果会是false
+                var lastIsOut = obj.Entity.GetFlag<bool>("LastIsOut");
+                obj.Entity.SetFlag("LastIsOut", !lastIsOut);
 
-            //入库任务优先 或 上一个周期是出库任务并且出库任务无优先
-            if (enterOrOut == 2 || (lastIsOut && enterOrOut == 1)) //入库任务
-            {
-                //判断本次优先执行楼层,并设置下次执行时优先楼层
-                var floor = obj.Entity.GetFlag<int>("FloorIn");
-                floor = floor % 2 + 1;
-                obj.Entity.SetFlag("FloorIn", floor);
-
-                //获取当前堆垛机所有的取货站台
-                var arrIn = PickUpDevices.First(v => v.Key == obj.Entity.Code).Value;
-                if (!arrIn.Any()) throw new KnownException($"堆垛机{obj.Entity.Code}无取货路径点", LogLevelEnum.High);
-
-                //获取有货的设备
-                arrIn = arrIn.Where(v => v.Data.TaskNumber > 0 && v.Data3.Status.HasFlag(StatusEunm.PH_Status) && !v.Data3.Status.HasFlag(StatusEunm.Run)).ToList();
-                if (!arrIn.Any()) throw new KnownException($"[{obj.Entity.Code}]等待入库任务输送到位", LogLevelEnum.Mid);
-                WCS_TaskInfo taskInfo = null;
-                Station station = null;
-                SqlSugarHelper.Do(db =>
+                //入库任务优先 或 上一个周期是出库任务并且出库任务无优先
+                if (enterOrOut == 2 || (lastIsOut && enterOrOut == 1)) //入库任务
                 {
-                    //根据有货设备的任务号获取所有类型为入库状态为输送机执行中的任务
-                    var tasks = db.Default.Queryable<WCS_TaskInfo>().Where(v => (v.Type == TaskType.EnterDepot || v.Type == TaskType.EmptyInit)
-                                                                              && v.Status == TaskStatus.ConveyorExecution
-                                                                              && arrIn.Select(p => p.Data.TaskNumber).Contains(v.ID) && v.Device == obj.Entity.Code);
-                    //按条件先后排序获取一条排序后第一条结果1.优先级2.所在楼层与本次优先执行楼层 TODO:待验证排序结果
-                    var task = tasks.OrderByDescending(v => v.Priority).OrderByDescending(v => v.Floor == floor ? 1 : 0).First() ?? throw new KnownException($"{obj.Entity.Code}未找到入库任务", LogLevelEnum.High);
-
-                    //获取任务所有设备
-                    station = arrIn.First(v => v.Data.TaskNumber == task.ID);
-                    //获取当前货物巷道
-                    var res = WmsApi.GetLocalIn(task.ID, task.Device, station.Entity.Code);
-                    var loc = res.ResData.CellNo.Split("-");
-                    task.Status = TaskStatus.StackerExecution;
-                    task.AddrTo = $"{loc[0]}-{loc[1]}-{loc[2]}";
-                    task.LastInteractionPoint = station.Entity.Code;
-                    task.EditWho = "WCS";
-                    db.Default.Updateable(task).ExecuteCommand();
-                    task.AddWCS_TASK_DTL(db, station.Entity.Code, task.AddrTo, "任务下发堆垛机执行");
+                    //判断本次优先执行楼层,并设置下次执行时优先楼层
+                    var floor = obj.Entity.GetFlag<int>("FloorIn");
+                    floor = floor % 2 + 1;
+                    obj.Entity.SetFlag("FloorIn", floor);
+
+                    //获取当前堆垛机所有的取货站台
+                    var arrIn = PickUpDevices.First(v => v.Key == obj.Entity.Code).Value;
+                    if (!arrIn.Any()) throw new KnownException($"堆垛机{obj.Entity.Code}无取货路径点", LogLevelEnum.High);
+
+                    //获取有货的设备
+                    arrIn = arrIn.Where(v => v.Data.TaskNumber > 0 && v.Data3.Status.HasFlag(StatusEunm.PH_Status) && !v.Data3.Status.HasFlag(StatusEunm.Run)).ToList();
+                    if (!arrIn.Any()) throw new KnownException($"[{obj.Entity.Code}]等待入库任务输送到位", LogLevelEnum.Low);
+                    WCS_TaskInfo taskInfo = null;
+                    Station station = null;
+                    SqlSugarHelper.Do(db =>
+                    {
+                        //根据有货设备的任务号获取所有类型为入库状态为输送机执行中的任务
+                        var tasks = db.Default.Queryable<WCS_TaskInfo>().Where(v => (v.Type == TaskType.EnterDepot || v.Type == TaskType.EmptyInit)
+                                                                                  && v.Status == TaskStatus.ConveyorExecution
+                                                                                  && arrIn.Select(p => p.Data.TaskNumber).Contains(v.ID) && v.Device == obj.Entity.Code);
+                        //按条件先后排序获取一条排序后第一条结果1.优先级2.所在楼层与本次优先执行楼层 TODO:待验证排序结果
+                        var task = tasks.OrderByDescending(v => v.Priority).OrderByDescending(v => v.Floor == floor ? 1 : 0).First() ?? throw new KnownException($"{obj.Entity.Code}未找到入库任务", LogLevelEnum.High);
+
+                        //获取任务所有设备
+                        station = arrIn.First(v => v.Data.TaskNumber == task.ID);
+                        //获取当前货物巷道
+                        var res = WmsApi.GetLocalIn(task.ID, task.Device, station.Entity.Code);
+                        var loc = res.ResData.CellNo.Split("-");
+                        task.Status = TaskStatus.StackerExecution;
+                        task.AddrTo = $"{loc[0]}-{loc[1]}-{loc[2]}";
+                        task.LastInteractionPoint = station.Entity.Code;
+                        task.EditWho = "WCS";
+                        db.Default.Updateable(task).ExecuteCommand();
+                        task.AddWCS_TASK_DTL(db, station.Entity.Code, task.AddrTo, "任务下发堆垛机执行");
+
+                        taskInfo = task;
+                    });
+
+                    if (taskInfo == null) throw new KnownException("数据更新错误", LogLevelEnum.High);
+                    var addrTo = taskInfo.AddrTo.Split("-");
+                    World.Log($"堆垛机任务处理:开始--下发入库任务[{obj.Data.TaskNumber}][{obj.Data.SLine}][{obj.Data.SCol}][{obj.Data.SLayer}][{obj.Data.ELine}][{obj.Data.ECol}][{obj.Data.ELayer}][{obj.Data.TaskType}][{obj.Data.VoucherNo}]", LogLevelEnum.Mid);
+                    //下发任务
+                    obj.Data.TaskNumber = taskInfo.ID;
+                    obj.Data.TaskType = SrmTaskTypeEnum.Default;
+                    obj.Data.SLine = station.Entity.Code.ToShort();
+                    obj.Data.SCol = 0;
+                    obj.Data.SLayer = 0;
+                    obj.Data.ELine = addrTo[0].ToShort();
+                    obj.Data.ECol = addrTo[1].ToShort();
+                    obj.Data.ELayer = addrTo[2].ToShort();
+                    obj.Data.VoucherNo++;
+                    World.Log($"堆垛机任务处理:结束---下发入库任务[{obj.Data.TaskNumber}][{obj.Data.SLine}][{obj.Data.SCol}][{obj.Data.SLayer}][{obj.Data.ELine}][{obj.Data.ECol}][{obj.Data.ELayer}][{obj.Data.TaskType}][{obj.Data.VoucherNo}]", LogLevelEnum.Mid);
+                }
+                else if (enterOrOut == 3 || !lastIsOut) //出库任务
+                {
+                    //判断本次优先执行楼层,并设置下次执行时优先楼层
 
-                    taskInfo = task;
-                });
+                    var floor = obj.Entity.GetFlag<int>("FloorOut");
 
-                if (taskInfo == null) throw new KnownException("数据更新错误", LogLevelEnum.High);
-                var addrTo = taskInfo.AddrTo.Split("-");
-                World.Log($"堆垛机任务处理:开始--下发入库任务[{obj.Data.TaskNumber}][{obj.Data.SLine}][{obj.Data.SCol}][{obj.Data.SLayer}][{obj.Data.ELine}][{obj.Data.ECol}][{obj.Data.ELayer}][{obj.Data.TaskType}][{obj.Data.VoucherNo}]", LogLevelEnum.Mid);
-                //下发任务
-                obj.Data.TaskNumber = taskInfo.ID;
-                obj.Data.TaskType = SrmTaskTypeEnum.Default;
-                obj.Data.SLine = station.Entity.Code.ToShort();
-                obj.Data.SCol = 0;
-                obj.Data.SLayer = 0;
-                obj.Data.ELine = addrTo[0].ToShort();
-                obj.Data.ECol = addrTo[1].ToShort();
-                obj.Data.ELayer = addrTo[2].ToShort();
-                obj.Data.VoucherNo++;
-                World.Log($"堆垛机任务处理:结束---下发入库任务[{obj.Data.TaskNumber}][{obj.Data.SLine}][{obj.Data.SCol}][{obj.Data.SLayer}][{obj.Data.ELine}][{obj.Data.ECol}][{obj.Data.ELayer}][{obj.Data.TaskType}][{obj.Data.VoucherNo}]", LogLevelEnum.Mid);
-            }
-            else if (enterOrOut == 3 || !lastIsOut) //出库任务
-            {
-                //判断本次优先执行楼层,并设置下次执行时优先楼层
+                    floor = floor % 2 + 1;
+                    obj.Entity.SetFlag("FloorOut", floor);
 
-                var floor = obj.Entity.GetFlag<int>("FloorOut");
+                    //获取当前堆垛机所有的取货站台
+                    var arrOut = PutDevices.First(v => v.Key == obj.Entity.Code).Value;
 
-                floor = floor % 2 + 1;
-                obj.Entity.SetFlag("FloorOut", floor);
+                    if (!arrOut.Any()) throw new KnownException($"堆垛机{obj.Entity.Code}无放货路径点", LogLevelEnum.High);
 
-                //获取当前堆垛机所有的取货站台
-                var arrOut = PutDevices.First(v => v.Key == obj.Entity.Code).Value;
+                    //获取可以放货的设备集合
+                    arrOut = arrOut.Where(v => !v.Data3.Status.HasFlag(StatusEunm.PH_Status) //无光电
+                                                    && !v.Data3.Status.HasFlag(StatusEunm.Run) //未运行
+                                                    && !v.Data3.Status.HasFlag(StatusEunm.OT_Status) //无任务
+                                                    && !v.Data3.Status.HasFlag(StatusEunm.UnassignedTask) //未分配任务
+                                                    && v.Data3.Status.HasFlag(StatusEunm.Auto)).ToList(); //自动
 
-                if (!arrOut.Any()) throw new KnownException($"堆垛机{obj.Entity.Code}无放货路径点", LogLevelEnum.High);
+                    //var devs = Device.All.Where(v => v.HasFlag(DeviceFlags.出库, DeviceFlags.巷道口)).Select(v => new Station(v, this.World)).ToList();
+                    //var dev = devs.Find(v => v.Entity.Code == "1026");
 
-                //获取可以放货的设备集合
-                arrOut = arrOut.Where(v => !v.Data3.Status.HasFlag(StatusEunm.PH_Status) //无光电
-                                                && !v.Data3.Status.HasFlag(StatusEunm.Run) //未运行
-                                                && !v.Data3.Status.HasFlag(StatusEunm.OT_Status) //无任务
-                                                && !v.Data3.Status.HasFlag(StatusEunm.UnassignedTask) //未分配任务
-                                                && v.Data3.Status.HasFlag(StatusEunm.Auto)).ToList(); //自动
 
-                //var devs = Device.All.Where(v => v.HasFlag(DeviceFlags.出库, DeviceFlags.巷道口)).Select(v => new Station(v, this.World)).ToList();
-                //var dev = devs.Find(v => v.Entity.Code == "1026");
-                
 
 
+                    if (!arrOut.Any()) throw new KnownException($"[{obj.Entity.Code}]等待出库任务输送到位", LogLevelEnum.Low);
 
-                if (!arrOut.Any()) throw new KnownException($"[{obj.Entity.Code}]等待出库任务输送到位", LogLevelEnum.Mid);
+                    WCS_TaskInfo taskInfo = null;
 
-                WCS_TaskInfo taskInfo = null;
+                    SqlSugarHelper.Do(db =>
+                    {
+                        var allOutCode = arrOut.Select(v => v.Entity.Code).ToList();
+
+                        //按条件先后排序获取一条排序后第一条结果1.优先级2.所在楼层与本次优先执行楼层
+                        var task = db.Default.Queryable<WCS_TaskInfo>().Where(v => v.Type == TaskType.OutDepot && v.Status == TaskStatus.WaitingToExecute && v.Device == obj.Entity.Code)
+                                                                       .Where(v => allOutCode.Contains(v.SrmStation))
+                                                                       .OrderByDescending(v => v.Priority)
+                                                                       .OrderByDescending(v => v.Floor == floor ? 1 : 0)
+                                                                       .OrderBy(v => v.AddTime)
+                                                                       .First();
+                        if (task == null) return;//throw new KnownException($"{obj.Entity.Code}未找到出库任务", LogLevelEnum.High);
+
+                        string addrTo = task.SrmStation;
+                        if (db.Default.Queryable<WCS_TaskInfo>().Any(v => v.AddrTo == task.AddrTo && v.Status == TaskStatus.ConveyorExecution)) return;
+                        var taskId = task.ID;
+
+                        //判断是否是二深位任务
+                        var addrFrom = task.AddrFrom.Split("-");
+                        if (addrFrom[4] == "02")
+                        {
+                            var res = WmsApi.AddWcsMoveTask(task.ID);
+                            switch (res.ResData.ResType)
+                            {
+                                case WmsApiMoveTask.允许2升位执行:
+                                    break;
 
-                SqlSugarHelper.Do(db =>
-               {
-                   var allOutCode = arrOut.Select(v => v.Entity.Code).ToList();
-
-                   //按条件先后排序获取一条排序后第一条结果1.优先级2.所在楼层与本次优先执行楼层
-                   var task = db.Default.Queryable<WCS_TaskInfo>().Where(v => v.Type == TaskType.OutDepot && v.Status == TaskStatus.WaitingToExecute && v.Device == obj.Entity.Code)
-                                                                  .Where(v => allOutCode.Contains(v.SrmStation))
-                                                                  .OrderByDescending(v => v.Priority)
-                                                                  .OrderByDescending(v => v.Floor == floor ? 1 : 0)
-                                                                  .OrderBy(v => v.AddTime)
-                                                                  .First();
-                   if (task == null) throw new KnownException($"{obj.Entity.Code}未找到出库任务", LogLevelEnum.High);
-                   var taskId = task.ID;
-
-                   //判断是否是二深位任务
-                   var addrFrom = task.AddrFrom.Split("-");
-                   if (addrFrom[4] == "02")
-                   {
-                       var res = WmsApi.AddWcsMoveTask(task.ID);
-                       switch (res.ResData.ResType)
-                       {
-                           case WmsApiMoveTask.允许2升位执行:
-                               break;
-
-                           case WmsApiMoveTask.执行移库任务:
-                               throw new KnownException($"堆垛机{obj.Entity.Code}需要先执行移库任务", LogLevelEnum.Mid);
-
-                           case WmsApiMoveTask.一深位有出库任务:
-                               task = db.Default.Queryable<WCS_TaskInfo>()
-                                                .Where(v => v.Type == TaskType.OutDepot && v.Status == TaskStatus.WaitingToExecute)
-                                                .Where(v => allOutCode.Contains(v.SrmStation) && v.AddrFrom == res.ResData.CellNo)
-                                                .First() ?? throw new KnownException($"请尽快搬离{obj.Entity.Code}二楼出库口满轮，当前堆垛机出库任务呗阻塞", LogLevelEnum.Mid);
-                               break;
-                       };
-                       if (res.ResData.ResType == WmsApiMoveTask.执行移库任务) return;
-                       if (res.ResData.ResType == WmsApiMoveTask.一深位有出库任务 && res.ResData.CellNo != task.AddrFrom) return;
-                   }
-
-                   task.Status = TaskStatus.StackerExecution;
-                   task.LastInteractionPoint = task.Device;
-                   task.EditWho = "WCS";
-                   db.Default.Updateable(task).ExecuteCommand();
-                   task.AddWCS_TASK_DTL(db, task.Device, task.SrmStation, "任务下发堆垛机执行");
-                   taskInfo = task;
-               });
-
-                if (taskInfo == null) throw new KnownException("数据更新错误", LogLevelEnum.High);
-
-                var addrFrom = taskInfo.AddrFrom.Split("-");
-                World.Log($"堆垛机任务处理:开始--下发出库任务[{obj.Data.TaskNumber}][{obj.Data.SLine}][{obj.Data.SCol}][{obj.Data.SLayer}][{obj.Data.ELine}][{obj.Data.ECol}][{obj.Data.ELayer}][{obj.Data.TaskType}][{obj.Data.VoucherNo}]", LogLevelEnum.Mid);
-                obj.Data.TaskNumber = taskInfo.ID;
-                obj.Data.SLine = addrFrom[0].ToShort();
-                obj.Data.SCol = addrFrom[1].ToShort();
-                obj.Data.SLayer = addrFrom[2].ToShort();
-                obj.Data.ELine = taskInfo.SrmStation.ToShort();
-                obj.Data.ECol = 0;
-                obj.Data.ELayer = 0;
-                obj.Data.TaskType = SrmTaskTypeEnum.Default;
-                obj.Data.VoucherNo++;
-                World.Log($"堆垛机任务处理:结束---下发出库任务[{obj.Data.TaskNumber}][{obj.Data.SLine}][{obj.Data.SCol}][{obj.Data.SLayer}][{obj.Data.ELine}][{obj.Data.ECol}][{obj.Data.ELayer}][{obj.Data.TaskType}][{obj.Data.VoucherNo}]", LogLevelEnum.Mid);
-            }
+                                case WmsApiMoveTask.执行移库任务:
+                                    throw new KnownException($"堆垛机{obj.Entity.Code}需要先执行移库任务", LogLevelEnum.Mid);
+
+                                case WmsApiMoveTask.一深位有出库任务:
+                                    task = db.Default.Queryable<WCS_TaskInfo>()
+                                                     .Where(v => v.Type == TaskType.OutDepot && v.Status == TaskStatus.WaitingToExecute)
+                                                     .Where(v => allOutCode.Contains(v.SrmStation) && v.AddrFrom == res.ResData.CellNo)
+                                                     .First() ?? throw new KnownException($"请尽快搬离{obj.Entity.Code}二楼出库口满轮，当前堆垛机出库任务呗阻塞", LogLevelEnum.Mid);
+                                    break;
+                            };
+                            if (res.ResData.ResType == WmsApiMoveTask.执行移库任务) return;
+                            if (res.ResData.ResType == WmsApiMoveTask.一深位有出库任务 && res.ResData.CellNo != task.AddrFrom) return;
+                        }
+
+                        task.Status = TaskStatus.StackerExecution;
+                        task.LastInteractionPoint = task.Device;
+                        task.EditWho = "WCS";
+                        db.Default.Updateable(task).ExecuteCommand();
+                        task.AddWCS_TASK_DTL(db, task.Device, task.SrmStation, "任务下发堆垛机执行");
+                        taskInfo = task;
+                    });
+
+                    if (taskInfo == null) return;//throw new KnownException("数据更新错误", LogLevelEnum.High);
+
+                    var addrFrom = taskInfo.AddrFrom.Split("-");
+                    World.Log($"堆垛机任务处理:开始--下发出库任务[{obj.Data.TaskNumber}][{obj.Data.SLine}][{obj.Data.SCol}][{obj.Data.SLayer}][{obj.Data.ELine}][{obj.Data.ECol}][{obj.Data.ELayer}][{obj.Data.TaskType}][{obj.Data.VoucherNo}]", LogLevelEnum.Mid);
+                    obj.Data.TaskNumber = taskInfo.ID;
+                    obj.Data.SLine = addrFrom[0].ToShort();
+                    obj.Data.SCol = addrFrom[1].ToShort();
+                    obj.Data.SLayer = addrFrom[2].ToShort();
+                    obj.Data.ELine = taskInfo.SrmStation.ToShort();
+                    obj.Data.ECol = 0;
+                    obj.Data.ELayer = 0;
+                    obj.Data.TaskType = SrmTaskTypeEnum.Default;
+                    obj.Data.VoucherNo++;
+                    World.Log($"堆垛机任务处理:结束---下发出库任务[{obj.Data.TaskNumber}][{obj.Data.SLine}][{obj.Data.SCol}][{obj.Data.SLayer}][{obj.Data.ELine}][{obj.Data.ECol}][{obj.Data.ELayer}][{obj.Data.TaskType}][{obj.Data.VoucherNo}]", LogLevelEnum.Mid);
+                }
+
+                #endregion 出入库
+
+            });
 
-            #endregion 出入库
+            
         }
 
         public override bool Select(Device dev)
         {
             //return dev.Code == "SRM2";
-            return dev.HasFlag(DeviceFlags.堆垛机);
+            return dev.Code is "SRM1" or "SRM2" or "SRM3";
+           
         }
     }
 }

WCS.WorkEngineering/Systems/一楼入库工位处理系统.cs

@@ -43,6 +43,7 @@ namespace WCS.WorkEngineering.Systems
                 {
                     var db = _db.Default;
                     WCS_TaskInfo taskInfo = null;
+                    if (!obj.Data3.Status.HasFlag(StatusEunm.PH_Status) && obj.Data2.Request == 0) return;
                     //判断是否有空轮初始化任务
                     if (db.Queryable<WCS_TaskInfo>().Count(v => v.Type == TaskType.EmptyInit && v.Status == TaskStatus.WaitingToExecute && v.SrmStation == obj.Entity.Code) > 1)
                     {
@@ -57,7 +58,7 @@ namespace WCS.WorkEngineering.Systems
                         //获取RFID
                         barcode = BCRS.GetBCRCode(obj.Entity.Code);
                         //跟据RFID获取对应的任务
-                        taskInfo = db.Queryable<WCS_TaskInfo>().First(v => v.BarCode == barcode) ?? throw new KnownException($"未找到RFID:{barcode}对应WCS任务", LogLevelEnum.Mid);
+                        taskInfo = db.Queryable<WCS_TaskInfo>().First(v => v.BarCode == barcode) ?? throw new KnownException($"未找到RFID:{barcode}对应WCS任务,请检查扫码是否异常", LogLevelEnum.Mid);
                         if (taskInfo.Status != Entity.TaskStatus.AGVExecution)
                         {
                             if (db.Queryable<WCS_TaskDtl>().SplitTable(v => v.Take(2)).Any(v => v.ParentTaskCode == taskInfo.ID && v.Desc.Contains("等待分配货位后堆垛机进行取货"))) return;
@@ -74,7 +75,7 @@ namespace WCS.WorkEngineering.Systems
                         //获取称重
                         var dev91 = Device.All.Where(v => v.Code == obj.Entity.Code).Select(v => new Device<IStation91>(v, this.World)).FirstOrDefault();
                         taskInfo.Weight = dev91.Data.Weight;
-                        if (taskInfo.Weight < 200) throw new KnownException($"称重结果错误:{taskInfo.Weight}", LogLevelEnum.Mid);
+                        if (taskInfo.Weight < 130) throw new KnownException($"称重结果错误:{taskInfo.Weight}", LogLevelEnum.Mid);
                         //上抛重量
                         try { WmsApi.WcsUploadInfo(taskInfo.ID, (decimal)taskInfo.Weight, taskInfo.BarCode); } catch (Exception ex) { World.Log(ex.Message, LogLevelEnum.Mid); }
                     }
@@ -99,6 +100,7 @@ namespace WCS.WorkEngineering.Systems
             {
                 throw new KnownException(ex.Message, LogLevelEnum.High);
             }
+            if (task == null) return;
             obj.Data.TaskNumber = task.ID;
             obj.Data.VoucherNo++;
         }

WCS.WorkEngineering/Systems/一楼出库工位处理系统.cs

@@ -39,7 +39,8 @@ namespace WCS.WorkEngineering.Systems
                     {
                         //当前站台是否有任务在执行
                         var task = db.Default.Queryable<WCS_TaskInfo>().Where(v => v.AddrTo == obj.Entity.Code && v.Status < Entity.TaskStatus.AGVExecution).OrderByDescending(v => v.AddTime).First();
-                        if (task != null) //有任务
+                        if (db.Default.Queryable<WCS_TaskInfo>().Where(v => v.AddrTo == obj.Entity.Code && v.Status == Entity.TaskStatus.WaitingToExecute).Count() > 1) return;
+                        if (task != null && task.BusType == "一楼立库出空轮") //有任务
                         {
                             if (task.AgvTaskID == 0) throw new KnownException($"WCS任务[{task.ID}],等待AGV申请任务", LogLevelEnum.Mid);
                             else
@@ -66,6 +67,32 @@ namespace WCS.WorkEngineering.Systems
                     });
                     if (result) WmsApi.ApplyStockOutTask(obj.Entity.Code);
                 }
+                //下发满轮任务到agv
+                else
+                {
+                    SqlSugarHelper.Do(db =>
+                    {
+                        //当前站台是否有任务在执行
+                        var task = db.Default.Queryable<WCS_TaskInfo>().Where(v => v.ID == obj.Data.TaskNumber && v.Status == Entity.TaskStatus.ConveyorExecution).First();
+                        if(task == null) throw new KnownException($"未找到wcs任务{obj.Data.TaskNumber},请检查光电或任务状态", LogLevelEnum.Low);
+                        if (task.BusType == "一楼出满轮" && task.AgvTaskID > 0)
+                        {
+                            var agvTask = db.Default.Queryable<WCS_AgvTaskInfo>().SplitTable(v => v.Take(2)).Where(v => v.ID == task.AgvTaskID).First();
+                            if (agvTask == null)
+                            {
+                                 throw new KnownException($"未找到AGV中间表任务[{task.AgvTaskID}],请检查异常原因", LogLevelEnum.Mid);
+                            }
+                            var res = AgvApi.一楼满轮出库(task.BarCode, agvTask.Station,agvTask.Position, Guid.NewGuid().ToString().Replace("-", ""), "1");
+                            agvTask.Status = AGVTaskStatus.Confirm;
+                            agvTask.AgvID = res.data;
+                            db.Default.Updateable(agvTask).SplitTable(x => x.Take(2)).ExecuteCommand();
+                            //更新WCS数据
+                            task.Status = Entity.TaskStatus.AGVExecution;
+                            db.Default.Updateable(task).ExecuteCommand();
+                            task.AddWCS_TASK_DTL(db, task.Device, $"任务下发至AGV-AGV任务ID{agvTask.AgvID}");
+                        }
+                    });
+                }
             }
             finally
             {

WCS.WorkEngineering/Systems/二楼入库工位处理系统.cs

@@ -58,7 +58,7 @@ namespace WCS.WorkEngineering.Systems
 
                  if (taskInfo == null)
                  {
-                     taskInfo = db.Queryable<WCS_TaskInfo>().First(v => v.ID == obj.Data.TaskNumber && v.Type == TaskType.EnterDepot);
+                     taskInfo = db.Queryable<WCS_TaskInfo>().First(v => v.ID == obj.Data.TaskNumber && v.Type == TaskType.EnterDepot && v.SrmStation == obj.Entity.Code);
                      if (taskInfo == null) throw new KnownException($"未找到任务[{obj.Data.TaskNumber}],或该任务不是入库任务", LogLevelEnum.Mid);
                      if (taskInfo.Status != Entity.TaskStatus.AGVExecution)
                      {
@@ -91,7 +91,7 @@ namespace WCS.WorkEngineering.Systems
 
         public override bool Select(Device dev)
         {
-            return dev.HasFlag(DeviceFlags.二楼入库口);
+            return dev.Code is "1025" or "1023" or "1021";
         }
     }
 }

WCS.WorkEngineering/Systems/二楼出库工位处理系统.cs

@@ -33,7 +33,7 @@ namespace WCS.WorkEngineering.Systems
                 agv.AgvID = res.data;
                 agv.Station = obj.Entity.Code;
                 agv.Position = obj.Entity.Code;
-                db.Default.Updateable(agv).SplitTable().ExecuteCommand();
+                db.Default.Updateable(agv).SplitTable(x => x.Take(2)).ExecuteCommand();
                 task.Status = Entity.TaskStatus.AGVExecution;
                 db.Default.Updateable(task).ExecuteCommand();
                 task.AddWCS_TASK_DTL(db, obj.Entity.Code, "AGV", $"任务已下发AGV,AGVID:{agv.AgvID}");

WCS.WorkEngineering/WebApi/Controllers/AgvApi.cs

@@ -61,6 +61,33 @@ namespace WCS.WorkEngineering.WebApi.Controllers
             }, priority, taskCode, "ZTGT03", "1");
         }
 
+        ///// <summary>
+        /////  一楼满轮出库
+        ///// </summary>
+        ///// <param name="ctnrCode">RFID</param>
+        ///// <param name="position">取货机台</param>
+        ///// <param name="taskCode">WMS任务号</param>
+        ///// <param name="priority">优先级</param>
+        ///// <returns></returns>
+        //public static GenAgvSchedulingTaskResponse 一楼满轮入库(string ctnrCode, string position, string taskCode, string priority)
+        //{
+        //    return GenAgvSchedulingTask("iwms_third", ctnrCode, "4", new List<positionCodeClass>()
+        //    {
+        //        new positionCodeClass(){ //取货机台
+        //            positionCode=position,
+        //            type="00"
+        //        },
+        //        new positionCodeClass(){ //巷道分配点
+        //            positionCode="HJLK",
+        //            type="00"
+        //        },
+        //        new positionCodeClass(){ //预分配放货点
+        //            positionCode="1015",
+        //            type="00"
+        //        }
+        //    }, priority, taskCode, "ZTGT03", "1");
+        //}
+
         /// <summary>
         ///  机台补空
         /// </summary>
@@ -95,7 +122,7 @@ namespace WCS.WorkEngineering.WebApi.Controllers
         }
 
         /// <summary>
-        ///  机台补满
+        ///  一楼满轮出库
         /// </summary>
         /// <param name="ctnrCode">RFID</param>
         /// <param name="position1">取货站台</param>
@@ -103,7 +130,7 @@ namespace WCS.WorkEngineering.WebApi.Controllers
         /// <param name="taskCode">WMS任务号</param>
         /// <param name="priority">优先级</param>
         /// <returns></returns>
-        public static GenAgvSchedulingTaskResponse 机台补满(string ctnrCode, string position1, string position2, string taskCode, string priority)
+        public static GenAgvSchedulingTaskResponse 一楼满轮出库(string ctnrCode, string position1, string position2, string taskCode, string priority)
         {
             return GenAgvSchedulingTask("iWMS", ctnrCode, "1", new List<positionCodeClass>()
             {

WCS.WorkEngineering/WebApi/Controllers/AgvController.cs

@@ -24,6 +24,7 @@ namespace WCS.WorkEngineering.WebApi.Controllers
     [Route("api/[controller]/[action]")]
     public class AgvController : ControllerBase
     {
+        static object lockerApplyEmptySpool = new object();
         /// <summary>
         ///  AGV任务下发测试
         /// </summary>
@@ -73,95 +74,106 @@ namespace WCS.WorkEngineering.WebApi.Controllers
         {
             var key = $"WCS:Lock:AGV:{nameof(ApplyEmptySpool)}";
             ApplyEmptySpoolResponse agvFill = new ApplyEmptySpoolResponse();
-            try
+            lock (lockerApplyEmptySpool)
             {
+                LogHub.InterfacePublish(nameof(ApplyEmptySpool), $"传入参数--{JsonConvert.SerializeObject(reqDto)}");
                 if (RedisHub.Default.Get(key) != null)
                 {
                     agvFill.ResCode = Models.WMS.Response.ResponseStatusCodeEnum.DataSaveErr;
                     agvFill.ResMsg = $"[{nameof(ApplyEmptySpool)}]--触发并发管控";
+                    return agvFill;
                 }
-                else
+                RedisHub.Default.Set(key, nameof(ApplyEmptySpool));
+            }
+            try
+            {
+
+             
+
+                try
                 {
-                    RedisHub.Default.Set(key, nameof(ApplyEmptySpool));
-                    LogHub.InterfacePublish(nameof(ApplyEmptySpool), $"传入参数--{JsonConvert.SerializeObject(reqDto)}");
+                    agvFill.ResCode = Models.WMS.Response.ResponseStatusCodeEnum.DataSaveErr;
+                    if (!World.IsStart)
+                    {
+                        agvFill.ResCode = Models.WMS.Response.ResponseStatusCodeEnum.DataSaveErr;
+                        agvFill.ResMsg = "WCS初始化中";
+                        return agvFill;
+                    }
+                    var obj = World.GetSystemInstance<GetDeviceSystem>().Invoke("输送机") as List<Station>;
 
-                    try
+                    // 检测三个站台是否有货
+                    obj = obj.Where(v => v.Entity.Code is "1012" or "1014" or "1016").Where(v => v.Data3.Status.HasFlag(StatusEunm.PH_Status)).ToList();
+                    if (!obj.Any())
                     {
                         agvFill.ResCode = Models.WMS.Response.ResponseStatusCodeEnum.DataSaveErr;
-                        if (!World.IsStart)
+                        agvFill.ResMsg = "无空轮";
+                        return agvFill;
+                    }
+                    SqlSugarHelper.Do(db =>
+                    {
+                        var res = WmsApi.GetTunnelEmptyConCount();
+
+                        var agvStations = db.Default.Queryable<WCS_AgvTaskInfo>().SplitTable(tabs => tabs.Take(2))
+                                            .Where(v => v.Status < AGVTaskStatus.Complete3 && (v.TaskType == AGVTaskType.CallForMaterial || (v.TaskType == AGVTaskType.CallMaterial && v.WorkShop == 111 && v.Status >= AGVTaskStatus.Confirm))).Select(v => v.Station).ToList();
+                        obj = obj.Where(v => !agvStations.Contains(v.Entity.Code)).ToList();
+                        if (!obj.Any())
                         {
                             agvFill.ResCode = Models.WMS.Response.ResponseStatusCodeEnum.DataSaveErr;
-                            agvFill.ResMsg = "WCS初始化中";
-                            return agvFill;
+                            agvFill.ResMsg = "无可用取货站点";
+                            return;
                         }
-                        var obj = World.GetSystemInstance<GetDeviceSystem>().Invoke("输送机") as List<Station>;
 
-                        // 检测三个站台是否有货
-                        obj = obj.Where(v => v.Entity.Code is "1012" or "1014" or "1016").Where(v => v.Data3.Status.HasFlag(StatusEunm.PH_Status)).ToList();
-                        if (!obj.Any())
+                        foreach (var item in res.ResDataList)
+                        {
+                            var station = Device.All.Where(v => v.Code == "TY" + item.Tunnel.ToString())
+                                                    .Select(v => v.Targets).SelectMany(v => v)
+                                                    .Where(v => v.HasProtocol(typeof(IStation520)))
+                                                    .Where(v => v.Code is "1012" or "1014" or "1016")
+                                                    .FirstOrDefault();
+                            item.Tunnel = station.ToInt();
+                        }
+                        var stationNo = res.ResDataList.OrderBy(v => v.Count).Select(v => v.Tunnel.ToString()).ToList();
+                        var dev = obj.MinBy(v => stationNo.IndexOf(v.Entity.Code));
+                        var task = db.Default.Queryable<WCS_TaskInfo>().First(v => v.ID == dev.Data.TaskNumber) ?? throw new Exception("无有效任务");
+
+                        if (task.BusType != "一楼立库出空轮")
                         {
                             agvFill.ResCode = Models.WMS.Response.ResponseStatusCodeEnum.DataSaveErr;
-                            agvFill.ResMsg = "无空轮";
-                            return agvFill;
+                            agvFill.ResMsg = $"{dev.Entity.Code}不可用";
+                            return;
                         }
-                        SqlSugarHelper.Do(db =>
+                        var id = db.GetAGVTaskId();
+                        var agv = new WCS_AgvTaskInfo()
                         {
-                            var res = WmsApi.GetTunnelEmptyConCount();
+                            ID = id,
+                            AgvID = $"HJBK{id}{task.ID}",
+                            TaskType = AGVTaskType.CallForMaterial,
+                            Status = AGVTaskStatus.NewBuild,
+                            Station = dev.Entity.Code,
+                            AddWho = "WCS"
+                        };
+                        //创建对应的AGV任务
+                        db.Default.Insertable(agv).SplitTable().ExecuteCommand();
 
-                            var agvStations = db.Default.Queryable<WCS_AgvTaskInfo>().SplitTable(tabs => tabs.Take(2))
-                                              .Where(v => v.Status < AGVTaskStatus.Complete3 && v.TaskType == AGVTaskType.CallForMaterial).Select(v => v.Station).ToList();
-                            obj = obj.Where(v => !agvStations.Contains(v.Entity.Code)).ToList();
-                            if (!obj.Any())
-                            {
-                                agvFill.ResCode = Models.WMS.Response.ResponseStatusCodeEnum.DataSaveErr;
-                                agvFill.ResMsg = "无可用取货站点";
-                                return;
-                            }
-
-                            foreach (var item in res.ResDataList)
-                            {
-                                var station = Device.All.Where(v => v.Code == "TY" + item.Tunnel.ToString())
-                                                        .Select(v => v.Targets).SelectMany(v => v)
-                                                        .Where(v => v.HasProtocol(typeof(IStation520)))
-                                                        .Where(v => v.Code is "1012" or "1014" or "1016")
-                                                        .FirstOrDefault();
-                                item.Tunnel = station.ToInt();
-                            }
-                            var stationNo = res.ResDataList.OrderBy(v => v.Count).Select(v => v.Tunnel.ToString()).ToList();
-                            var dev = obj.MinBy(v => stationNo.IndexOf(v.Entity.Code));
-                            var task = db.Default.Queryable<WCS_TaskInfo>().First(v => v.ID == dev.Data.TaskNumber) ?? throw new Exception("无有效任务");
-                            var id = db.GetAGVTaskId();
-                            var agv = new WCS_AgvTaskInfo()
-                            {
-                                ID = id,
-                                AgvID = $"HJBK{id}{task.ID}",
-                                TaskType = AGVTaskType.CallForMaterial,
-                                Status = AGVTaskStatus.NewBuild,
-                                Station = dev.Entity.Code,
-                                AddWho = "WCS"
-                            };
-                            //创建对应的AGV任务
-                            db.Default.Insertable(agv).SplitTable().ExecuteCommand();
-
-                            task.AgvTaskID = agv.ID;
-                            task.Status = Entity.TaskStatus.AGVExecution;
-                            db.Default.Updateable(task).ExecuteCommand();
-                            task.AddWCS_TASK_DTL(db, dev.Entity.Code, "AGV", "agv执行中");
+                        task.AgvTaskID = agv.ID;
+                        task.Status = Entity.TaskStatus.AGVExecution;
+                        db.Default.Updateable(task).ExecuteCommand();
+                        task.AddWCS_TASK_DTL(db, dev.Entity.Code, "AGV", "agv执行中");
 
-                            agvFill.LocCode = dev.Entity.Code;
-                            agvFill.SpoolType = "4";
-                            agvFill.ResMsg = "";
-                            agvFill.ResCode = Models.WMS.Response.ResponseStatusCodeEnum.Sucess;
-                            agvFill.TaskCode = agv.AgvID;
-                        });
-                    }
-                    catch (Exception ex)
-                    {
-                        agvFill.ResCode = Models.WMS.Response.ResponseStatusCodeEnum.DataSaveErr;
-                        agvFill.ResMsg = ex.Message;
-                    }
-                    LogHub.InterfacePublish(nameof(ApplyEmptySpool), $"返回参数{JsonConvert.SerializeObject(agvFill)}");
+                        agvFill.LocCode = dev.Entity.Code;
+                        agvFill.SpoolType = "4";
+                        agvFill.ResMsg = "";
+                        agvFill.ResCode = Models.WMS.Response.ResponseStatusCodeEnum.Sucess;
+                        agvFill.TaskCode = agv.AgvID;
+                    });
+                }
+                catch (Exception ex)
+                {
+                    agvFill.ResCode = Models.WMS.Response.ResponseStatusCodeEnum.DataSaveErr;
+                    agvFill.ResMsg = ex.Message;
                 }
+                LogHub.InterfacePublish(nameof(ApplyEmptySpool), $"返回参数{JsonConvert.SerializeObject(agvFill)}");
+
             }
             finally
             {
@@ -196,7 +208,7 @@ namespace WCS.WorkEngineering.WebApi.Controllers
                         SqlSugarHelper.Do(db =>
                         {
                             //跟据AGVid找到对应的AGV任务
-                            var agvTask = db.Default.Queryable<WCS_AgvTaskInfo>().SplitTable(tabs => tabs.Take(2)).First(v => v.AgvID == reqDto.taskCode && v.Status < AGVTaskStatus.MissionCompleted);
+                            var agvTask = db.Default.Queryable<WCS_AgvTaskInfo>().Where(v => v.AgvID == reqDto.taskCode && v.Status < AGVTaskStatus.MissionCompleted).SplitTable(tabs => tabs.Take(2)).First();
                             if (agvTask == null)
                             {
                                 res.code = AgvResponseCode.Fail;
@@ -223,6 +235,10 @@ namespace WCS.WorkEngineering.WebApi.Controllers
                                         agvTask.AgvStatus = AGVTaskStatus.RequestOrPermission2;
                                         break;
 
+                                    case "end_1": //一楼出满任务完成
+                                        agvTask.AgvStatus = AGVTaskStatus.MissionCompleted;
+                                        break;
+
                                     case "hjend_2": //补空任务完成
                                         agvTask.AgvStatus = AGVTaskStatus.MissionCompleted;
                                         break;
@@ -254,7 +270,7 @@ namespace WCS.WorkEngineering.WebApi.Controllers
                                     default:
                                         break;
                                 }
-                                db.Default.Updateable(agvTask).SplitTable().ExecuteCommand();
+                                db.Default.Updateable(agvTask).SplitTable(x => x.Take(2)).ExecuteCommand();
                                 res.code = AgvResponseCode.Success;
                                 res.message = "成功";
                             }

WCS.WorkEngineering/WebApi/Controllers/WcsController.cs

@@ -140,7 +140,7 @@ namespace WCS.WorkEngineering.WebApi.Controllers
                                 }
                                 agv.Status = AGVTaskStatus.Cancel;
                                 agv.AgvStatus = AGVTaskStatus.Cancel;
-                                db.Default.Updateable(agv).SplitTable().ExecuteCommand();
+                                db.Default.Updateable(agv).SplitTable(x => x.Take(2)).ExecuteCommand();
                             }
                             //更新任务状态
                             task.Status = Entity.TaskStatus.Cancel;
@@ -208,7 +208,7 @@ namespace WCS.WorkEngineering.WebApi.Controllers
                                     //}
                                     agv.Status = AGVTaskStatus.MissionCompleted;
                                     agv.AgvStatus = AGVTaskStatus.MissionCompleted;
-                                    db.Default.Updateable(agv).SplitTable().ExecuteCommand();
+                                    db.Default.Updateable(agv).SplitTable(x => x.Take(2)).ExecuteCommand();
                                 }
                                 //更新任务状态
                                 task.Status = Entity.TaskStatus.Finish;
@@ -247,7 +247,7 @@ namespace WCS.WorkEngineering.WebApi.Controllers
                                             });
                                             continue;
                                         }
-                                        break;                                                                            
+                                        break;
                                 }
 
                                 SRes cancelRes = CarryTaskInfo(response, item, 99);
@@ -264,7 +264,68 @@ namespace WCS.WorkEngineering.WebApi.Controllers
                                     //}
                                     agv.Status = AGVTaskStatus.MissionCompleted;
                                     agv.AgvStatus = AGVTaskStatus.MissionCompleted;
-                                    db.Default.Updateable(agv).SplitTable().ExecuteCommand();
+                                    db.Default.Updateable(agv).SplitTable(x => x.Take(2)).ExecuteCommand();
+                                }
+                                //更新任务状态
+                                task.Status = Entity.TaskStatus.Finish;
+                                task.EedTime = DateTime.Now;
+                                task.EditWho = req.User;
+                                task.ManualRemarks = req.ManualRemarks;
+                                task.AddWCS_TASK_DTL(db, "未知", "任务完成");
+                                db.Default.Updateable(task).ExecuteCommand();
+                                task.CompleteOrCancelTasks(db);
+                            }
+                            else if (task.Type == TaskType.TransferDepot)
+                            {
+                                SRes res = HandleTaskVerify(response, item, 99);
+                                if (res == null) continue;
+
+                                switch (task.Type)
+                                {
+                                    case TaskType.TransferDepot:
+                                        //if (task.Status >= Entity.TaskStatus.Finish)
+                                        //{
+                                        //    response.ResDataList.Add(new HandleTaskResponse()
+                                        //    {
+                                        //        IsSuccess = false,
+                                        //        TaskNo = item,
+                                        //        Message = $"只能完成未完成状态的任务",
+                                        //    });
+                                        //    continue;
+                                        //}
+                                        if (task.AddrTo.Length < 6)
+                                        {
+                                            response.ResDataList.Add(new HandleTaskResponse()
+                                            {
+                                                IsSuccess = false,
+                                                TaskNo = item,
+                                                Message = $"只能完成已分配货位的任务",
+                                            });
+                                            continue;
+                                        }
+                                        break;
+                                }
+                                SRes cancelRes = CarryTaskInfo(response, item, 99);
+                                if (cancelRes == null) continue;
+
+                                //更新任务状态
+                                task.Status = Entity.TaskStatus.Finish;
+                                task.EedTime = DateTime.Now;
+                                task.EditWho = req.User;
+                                task.ManualRemarks = req.ManualRemarks;
+                                task.AddWCS_TASK_DTL(db, "未知", "任务完成");
+                                db.Default.Updateable(task).ExecuteCommand();
+                                task.CompleteOrCancelTasks(db);
+                            }
+                            else if (task.Type == TaskType.Delivery)
+                            {
+                                //找到对应的AGV任务
+                                var agv = db.Default.Queryable<WCS_AgvTaskInfo>().Where(v => v.ID == task.AgvTaskID && v.AgvStatus < AGVTaskStatus.MissionCompleted).SplitTable(v => v.Take(2)).First();
+                                if (agv != null)
+                                {                                  
+                                    agv.Status = AGVTaskStatus.MissionCompleted;
+                                    agv.AgvStatus = AGVTaskStatus.MissionCompleted;
+                                    db.Default.Updateable(agv).SplitTable(x => x.Take(2)).ExecuteCommand();
                                 }
                                 //更新任务状态
                                 task.Status = Entity.TaskStatus.Finish;
@@ -369,7 +430,7 @@ namespace WCS.WorkEngineering.WebApi.Controllers
                             {
                                 agv.Status = AGVTaskStatus.NewBuild;
                                 agv.AgvStatus = AGVTaskStatus.NewBuild;
-                                db.Default.Updateable(agv).SplitTable().ExecuteCommand();
+                                db.Default.Updateable(agv).SplitTable(x => x.Take(2)).ExecuteCommand();
                             }
                             if (task.Floor == 1)
                             {
@@ -405,6 +466,7 @@ namespace WCS.WorkEngineering.WebApi.Controllers
         /// <param name="id"></param>
         /// <param name="agvTask">需要取消任务的AGV任务号</param>
         /// <returns></returns>
+        [HttpGet]
         public CancelTaskResponse? CancelAgvTask(SRes<HandleTaskResponse> sRes, int id, string agvTask)
         {
             try
@@ -431,6 +493,7 @@ namespace WCS.WorkEngineering.WebApi.Controllers
         /// <param name="id"></param>
         /// <param name="type">99完成,106取消</param>
         /// <returns></returns>
+        [HttpGet]
         public SRes? HandleTaskVerify(SRes<HandleTaskResponse> sRes, int id, int type)
         {
             try
@@ -457,6 +520,7 @@ namespace WCS.WorkEngineering.WebApi.Controllers
         /// <param name="id"></param>
         /// <param name="type">99完成,106取消</param>
         /// <returns></returns>
+        [HttpGet]
         public SRes? CarryTaskInfo(SRes<HandleTaskResponse> sRes, int id, int type)
         {
             try
@@ -483,6 +547,7 @@ namespace WCS.WorkEngineering.WebApi.Controllers
         /// <param name="id"></param>
         /// <param name="type"></param>
         /// <returns></returns>
+        [HttpGet]
         public SRes? CancelAgvTaskUpdate(SRes<HandleTaskResponse> sRes, int id, int type)
         {
             try
@@ -633,6 +698,7 @@ namespace WCS.WorkEngineering.WebApi.Controllers
         /// </summary>
         /// <param name="strIpOrDName">输入参数,表示IP地址或域名</param>
         /// <returns></returns>
+        [HttpGet]
         public static bool PingIpOrDomainName(string strIpOrDName)
         {
             try