WcsFramework/YWGC/FJK/WCS.WorkEngineering/Systems/环形库/机械臂cs.cs

using Newtonsoft.Json;
using PlcSiemens.Core.Extension;
using ServiceCenter.Extensions;
using ServiceCenter.Logs;
using ServiceCenter.SqlSugars;
using SqlSugar;
using System.ComponentModel;
using WCS.Core;
using WCS.Entity;
using WCS.Entity.Protocol.Protocol.Robot;
using WCS.Entity.Protocol.Robot;
using WCS.Entity.Protocol.Station;
using WCS.WorkEngineering.Extensions;
using WCS.WorkEngineering.Model.WMS;
using WCS.WorkEngineering.Worlds.环形库.环形库;
using DeviceFlags = WCS.WorkEngineering.Extensions.DeviceFlags;
using TaskStatus = WCS.Entity.TaskStatus;

namespace WCS.WorkEngineering.Systems
{
    /// <summary>
    ///   机械臂
    /// </summary>
    [BelongTo(typeof(RingWorld1))]
    [Description("机械臂")]
    public class 机械臂 : DeviceSystem<Device<IRobot520, IRobot521, IRobot522>>
    {
        protected override bool ParallelDo => true;

        /// <summary>
        /// 取货点设备集合
        /// </summary>
        private Dictionary<string, List<Device>> PickUpDevices = new();

        /// <summary>
        /// 放货设备
        /// </summary>
        private Dictionary<string, List<Device<IStation520, IStation521, IStation523, IRobot530>>> PutDevices = new();

        public 机械臂()
        {
            //获取所有的机械臂 集合
            var devices = Device.All.Where(v => v.HasFlag(DeviceFlags.Robot));

            //开始分配
            foreach (var robot in devices)
            {
                //取货设备
                PickUpDevices.Add(robot.Code, robot.Sources.Where(v => v.HasFlag(DeviceFlags.输送机)).Select(v => v).ToList());
                PutDevices.Add(robot.Code, robot.Targets.Where(v => v.HasFlag(DeviceFlags.输送机)).Select(v => new Device<IStation520, IStation521, IStation523, IRobot530>(v, World)).ToList());
            }
        }

        public override void Do(Device<IRobot520, IRobot521, IRobot522> obj)
        {
            #region 处理完成任务

            //判断DB520 完成任务确认清除信号 是否为1
            if (obj.Data.OkAck == 1 && obj.Data2 is { TaskFinishId1: 0, TaskFinishId2: 0 }) obj.Data.OkAck = 0;

            if (obj.Data2.TaskFinishId1 > 0 || obj.Data2.TaskFinishId2 > 0)
            {
                //处理完成的任务信息
                var tasks = new List<WCS_TaskInfo>();
                //开始处理
                SqlSugarHelper.Do(db =>
                {
                    World.Log($"机械臂任务处理:开始--完成任务{obj.Data2.TaskFinishId1}--{obj.Data2.TaskFinishId2}", LogLevelEnum.Low);
                    var isDP = obj.Entity.GetIsDirectPalletizing(db.Default);

                    //根据DB521任务号获取对应任务
                    var taskInfoList = db.Default.Queryable<WCS_TaskInfo>().Where(v => v.ID == obj.Data2.TaskFinishId1 || v.ID == obj.Data2.TaskFinishId2).ToList();
                    foreach (var task in taskInfoList.Where(task => task.Status == Entity.TaskStatus.StackerExecution))
                    {
                        //根据任务类型做不同的处理
                        switch (task.Type)
                        {
                            case TaskType.SetPlate: //工字轮入库
                                if (isDP)
                                {
                                    //完成任务
                                    task.Status = Entity.TaskStatus.ConveyorExecution;
                                    task.EndTime = DateTime.Now;
                                    db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status, x.EndTime }).ExecuteCommand();
                                    task.AddWCS_TASK_DTL(db.Default, task.AddrTo, "直接码垛任务完成码垛");
                                }
                                else
                                {
                                    //完成任务
                                    task.Status = Entity.TaskStatus.Finish;
                                    task.EndTime = DateTime.Now;
                                    db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status, x.EndTime }).ExecuteCommand();
                                    task.AddWCS_TASK_DTL(db.Default, task.AddrTo, "入库任务结束");
                                }
                                break;

                            case TaskType.OutDepot:
                                //var pall = db.Default.Queryable<WCS_TaskInfo>().Where(x => x.AddrTo == task.AddrTo && x.Type == TaskType.Delivery && x.Status < TaskStatus.Finish).First() ?? throw new Exception($"未找到对应的托盘搬运任务，无法进行绑盘");

                                task.Status = Entity.TaskStatus.StackerCompleted;
                                task.EditTime = DateTime.Now;
                                db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status, x.EditTime }).ExecuteCommand();
                                task.AddWCS_TASK_DTL(db.Default, task.AddrTo, "出库任务结束");

                                break;

                            case TaskType.TransferDepot:
                                task.Status = Entity.TaskStatus.Finish;
                                task.EndTime = DateTime.Now;
                                db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status, x.EndTime }).ExecuteCommand();
                                task.AddWCS_TASK_DTL(db.Default, task.AddrTo, "移库任务结束");
                                break;
                        }
                        tasks.Add(task);
                    }
                });
                if (!tasks.Any()) throw new KnownException("数据库提交事务错误", LogLevelEnum.High);

                // 写入信号
                obj.Data.OkAck = 1;

                World.Log($"机械臂任务处理:结束--完成任务{obj.Data2.TaskFinishId1}--{obj.Data2.TaskFinishId2}", LogLevelEnum.Mid);
            }

            #endregion 处理完成任务

            //robot是否可以下发任务
            if (obj.Data2.VoucherNo != obj.Data.VoucherNo)
            {
                World.Log($"凭证号不一致,DB520:{obj.Data.VoucherNo},DB521:{obj.Data2.VoucherNo}", LogLevelEnum.Mid);
                return;
            }

            if (obj.Data2.RobotMode != RobotMode.Automatic)
            {
                World.Log($"robot处于{obj.Data2.RobotMode.GetDescription()}模式", LogLevelEnum.Mid);
                return;
            }

            if (obj.Data2.RunStatus != RobotRunStatus.Idle)
            {
                World.Log($"robot处于{obj.Data2.RunStatus.GetDescription()}状态", LogLevelEnum.Mid);
                return;
            }

            //判断是否有任务是机器人执行中
            //再检查是否有等待执行的货物
            var inMaxQuantity = 0; //出入库的周期检查比为1:3
            var taskss = new List<WCS_TaskInfo>();
            var isDP = false; //当前机械臂是否直接码垛
            SqlSugarHelper.Do(db =>
            {
                isDP = obj.Entity.GetIsDirectPalletizing(db.Default);
                var code = $"RobotMaxConsecutiveStorageCount{obj.Entity.Code.Last()}";
                inMaxQuantity = db.Default.Queryable<fjSysConfig>().First(x => x.Code == code).SContent.ToInt();
                //获取当前堆垛机的所有未完成任务 ,就算查到了未提交的事务也无所谓，无非下一个周期再执行一次
                taskss = db.Default.Queryable<WCS_TaskInfo>().NoLock().Where(v => v.Status < Entity.TaskStatus.Finish && v.Device == obj.Entity.Code).ToList();
                //任务集合是否有处于堆垛机执行状态的任务
                if (taskss.Any(v => v.Status == Entity.TaskStatus.StackerExecution)) throw new KnownException($"有任务处于堆垛机执行状态", LogLevelEnum.High);
            });
            if (isDP) //直接码垛
            {
                //获取当前机械臂所有的取货站台
                var pickUpDevices = obj.Entity.Sources.Where(x => x.HasFlag(DeviceFlags.输送机)).Where(x => x.DeviceGroup.Any()).Select(
                    x =>
                    {
                        var group = x.DeviceGroup.Select(s => new Device<IStation523, IStation524>(s, World)).ToList();
                        return new Tuple<Device<IStation523, IStation524>, List<Device<IStation523, IStation524>>>(new Device<IStation523, IStation524>(x, World), group);
                    }).ToList();

                if (!pickUpDevices.Any()) throw new KnownException($"机械臂{obj.Entity.Code}无取货路径点", LogLevelEnum.High);

                //获取取货设备的设备组中都是停止运行的
                var arrIn = pickUpDevices.Where(x => x.Item2.All(a => !a.Data.Status.HasFlag(StationStatus.Run)))
                                                      .Where(x =>
                                                      {
                                                          var inStock = x.Item2.Any(a => a.Data2.TaskNumber > 0 && a.Data.Status.HasFlag(StationStatus.PH_Status));
                                                          var minDevice = x.Item2.OrderBy(o => o.Entity.Code.ToShort()).First();
                                                          return minDevice.Data2.TaskNumber > 0 && minDevice.Data.Status.HasFlag(StationStatus.PH_Status) && minDevice.Data2.CmdType.HasFlag(StationCmd.Res7) && inStock;
                                                      }).ToList();
                //.OrderBy(x => x.Item1.Data2.TaskNumber)

                if (!arrIn.Any())
                {
                    World.Log($"[{obj.Entity.Code}]等待入库任务输送到位");
                    obj.Entity.SetFlag("InQuantity", inMaxQuantity + 100); //在无货物的情况下，只检查一次，下次直接查询是否有出库任务,避免无效检查周期的产生
                    return;
                }

                //先按可取货位数量排序，再按任务号排序
                var devGroup = arrIn.OrderByDescending(x => x.Item2.Count(i => i.Data2.TaskNumber > 0 && i.Data.Status.HasFlag(StationStatus.PH_Status)))
                    .ThenByDescending(x =>
                    {
                        int number;
                        List<Device<IStation523, IStation524>> devices = new List<Device<IStation523, IStation524>>();
                        var deviceCodes = GetDeviceCodeList(x.Item1.Entity.Code);
                        devices = Device.All.Where(x => deviceCodes.Contains(x.Code)).Select(x => new Device<IStation523, IStation524>(x, World)).ToList();
                        number = devices.Count(x => x.Data2.TaskNumber > 0 && x.Data.Status.HasFlag(StationStatus.PH_Status) && !x.Data.Status.HasFlag(StationStatus.Run));
                        return number;
                    }).First().Item2
                    .Where(x => x.Data2.TaskNumber > 0 && x.Data.Status.HasFlag(StationStatus.PH_Status));

                var taskList = new List<Tuple<WCS_TaskInfo, Device<IStation523, IStation524>>>();
                SqlSugarHelper.Do(db =>
                {
                    foreach (var dev in devGroup)
                    {
                        var task = db.Default.Queryable<WCS_TaskInfo>().First(v => v.Type == TaskType.SetPlate && v.Status == Entity.TaskStatus.FinishOfShunt && dev.Data2.TaskNumber == v.ID);
                        if (task == null) continue;

                        task.Status = Entity.TaskStatus.StackerExecution;
                        task.LastInteractionPoint = dev.Entity.Code;
                        task.SrmStation = dev.Entity.Code;
                        task.Device = obj.Entity.Code;
                        task.EditWho = "WCS";
                        db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status, x.AddrTo, x.Line, x.Col, x.Layer, x.Depth, x.LastInteractionPoint, x.SrmStation, x.Device, x.EditWho }).ExecuteCommand();
                        task.AddWCS_TASK_DTL(db.Default, dev.Entity.Code, task.AddrTo, "任务下发机械臂执行");
                        taskList.Add(new(task, dev));
                    }
                });

                if (!taskList.Any()) return;

                switch (taskList.Count)
                {
                    case 1:
                        var task = taskList.FirstOrDefault().Item1;
                        var dev = taskList.FirstOrDefault().Item2;
                        //下发任务
                        obj.Data.TaskNumber1 = task.ID;
                        obj.Data.SLine1 = dev.Entity.Code.ToShort();
                        obj.Data.SCol1 = 0;
                        obj.Data.SLayer1 = 0;
                        obj.Data.SDepth1 = 0;
                        obj.Data.ELine1 = task.AddrTo.ToShort();
                        obj.Data.ECol1 = task.WmsTask.ToShort();
                        obj.Data.ELayer1 = 0;
                        obj.Data.EDepth1 = 0;
                        obj.Data.TaskNumber2 = 0;
                        obj.Data.SLine2 = 0;
                        obj.Data.SCol2 = 0;
                        obj.Data.SLayer2 = 0;
                        obj.Data.SDepth2 = 0;
                        obj.Data.ELine2 = 0;
                        obj.Data.ECol2 = 0;
                        obj.Data.ELayer2 = 0;
                        obj.Data.EDepth2 = 0;
                        obj.Data.TaskSum = taskList.Count.ToShort();
                        obj.Data.GoodsType = task.GoodsType switch
                        {
                            18 => 1,
                            34 => 2,
                            50 => 3,
                            _ => 0
                        };
                        obj.Data.TaskType = 6;
                        obj.Data.VoucherNo++;
                        break;

                    case 2:
                        taskList = taskList.OrderByDescending(x => x.Item2.Entity.Code.ToInt()).ToList();
                        var maxWmsTask = taskList.Max(x => x.Item1.WmsTask).ToShort();
                        var minWmsTask = taskList.Min(x => x.Item1.WmsTask).ToShort();
                        //一工位取深度较大的任务
                        var taskInfo = taskList[1];
                        task = taskInfo.Item1;
                        dev = taskInfo.Item2;
                        obj.Data.TaskNumber1 = task.ID;
                        obj.Data.SLine1 = dev.Entity.Code.ToShort();
                        obj.Data.SCol1 = 0;
                        obj.Data.SLayer1 = 0;
                        obj.Data.SDepth1 = 0;
                        obj.Data.ELine1 = task.AddrTo.ToShort();
                        obj.Data.ECol1 = task.WarehouseCode.Contains("N") ? minWmsTask : maxWmsTask;
                        obj.Data.ELayer1 = 0;
                        obj.Data.EDepth1 = 0;
                        //二工位取深度较少的值
                        taskInfo = taskList[0];
                        task = taskInfo.Item1;
                        dev = taskInfo.Item2;
                        obj.Data.TaskNumber2 = task.ID;
                        obj.Data.SLine2 = dev.Entity.Code.ToShort();
                        obj.Data.SCol2 = 0;
                        obj.Data.SLayer2 = 0;
                        obj.Data.SDepth2 = 0;
                        obj.Data.ELine2 = task.AddrTo.ToShort();
                        obj.Data.ECol2 = task.WarehouseCode.Contains("N") ? maxWmsTask : minWmsTask;
                        obj.Data.ELayer2 = 0;
                        obj.Data.EDepth2 = 0;
                        obj.Data.TaskSum = taskList.Count.ToShort();
                        obj.Data.GoodsType = task.GoodsType switch
                        {
                            18 => 1,
                            34 => 2,
                            50 => 3,
                            _ => 0
                        };
                        obj.Data.TaskType = 6;
                        obj.Data.VoucherNo++;
                        break;

                    default:
                        throw new KnownException($"无法执行多个任务", LogLevelEnum.Mid);
                }
            }
            else
            {
                //获取入库次数
                var inQuantity = obj.Entity.GetFlag<int>("InQuantity");

                //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 (inQuantity < inMaxQuantity) //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);
                    obj.Entity.SetFlag("InQuantity", inQuantity + 1);

                    //获取当前机械臂所有的取货站台
                    var pickUpDevices = obj.Entity.Sources.Where(x => x.HasFlag(DeviceFlags.输送机)).Where(x => x.DeviceGroup.Any()).Select(
                        x =>
                        {
                            var group = x.DeviceGroup.Select(s => new Device<IStation523, IStation524>(s, World)).ToList();
                            return new Tuple<Device<IStation523, IStation524>, List<Device<IStation523, IStation524>>>(new Device<IStation523, IStation524>(x, World), group);
                        }).ToList();

                    if (!pickUpDevices.Any()) throw new KnownException($"机械臂{obj.Entity.Code}无取货路径点", LogLevelEnum.High);

                    //获取取货设备的设备组中都是停止运行的
                    var arrIn = pickUpDevices.Where(x => x.Item2.All(a => !a.Data.Status.HasFlag(StationStatus.Run)))
                                                          .Where(x =>
                                                          {
                                                              var inStock = x.Item2.Any(a => a.Data2.TaskNumber > 0 && a.Data.Status.HasFlag(StationStatus.PH_Status));
                                                              var minDevice = x.Item2.OrderBy(o => o.Entity.Code.ToShort()).First();
                                                              return minDevice.Data2.TaskNumber > 0 && minDevice.Data.Status.HasFlag(StationStatus.PH_Status) && minDevice.Data2.CmdType.HasFlag(StationCmd.Res7) && inStock;
                                                          }).ToList();
                    //.OrderBy(x => x.Item1.Data2.TaskNumber)

                    if (!arrIn.Any())
                    {
                        World.Log($"[{obj.Entity.Code}]等待入库任务输送到位");
                        obj.Entity.SetFlag("InQuantity", inMaxQuantity + 100); //在无货物的情况下，只检查一次，下次直接查询是否有出库任务,避免无效检查周期的产生
                        return;
                    }

                    //先按可取货位数量排序，再按任务号排序
                    var devGroup = arrIn.OrderByDescending(x => x.Item2.Count(i => i.Data2.TaskNumber > 0 && i.Data.Status.HasFlag(StationStatus.PH_Status)))
                        .ThenByDescending(x =>
                        {
                            int number;
                            List<Device<IStation523, IStation524>> devices = new List<Device<IStation523, IStation524>>();
                            var deviceCodes = GetDeviceCodeList(x.Item1.Entity.Code);
                            devices = Device.All.Where(x => deviceCodes.Contains(x.Code)).Select(x => new Device<IStation523, IStation524>(x, World)).ToList();
                            number = devices.Count(x => x.Data2.TaskNumber > 0 && x.Data.Status.HasFlag(StationStatus.PH_Status) && !x.Data.Status.HasFlag(StationStatus.Run));
                            return number;
                        }).First().Item2
                        .Where(x => x.Data2.TaskNumber > 0 && x.Data.Status.HasFlag(StationStatus.PH_Status));
                    //可用取货位数量为1，且出库任务有优先
                    if (devGroup.Count() == 1 && (obj.Entity.GetFlag<bool>($"isOut-{obj.Entity.Code}") || taskss.Any(v => v.Device == obj.Entity.Code && v.Status == TaskStatus.WaitingToExecute && v.Type == TaskType.OutDepot)))
                    {
                        obj.Entity.SetFlag("InQuantity", inMaxQuantity + 100); //跳过入库任务执行出库任务，下次直接查询是否有出库任务,避免无效检查周期的产生
                        return;
                    }

                    if (!devGroup.Any())
                    {
                        obj.Entity.SetFlag("InQuantity", inMaxQuantity + 100); //在无有效取货位的情况下，只检查一次，下次直接查询是否有出库任务,避免无效检查周期的产生
                        throw new KnownException($"无有效入库取货位", LogLevelEnum.High);
                    }

                    //如果入库任务只有一个

                    //等待下发的任务信息
                    var taskList = new List<Tuple<WCS_TaskInfo, Device<IStation523, IStation524>>>();
                    SqlSugarHelper.Do(db =>
                    {
                        foreach (var dev in devGroup)
                        {
                            var task = db.Default.Queryable<WCS_TaskInfo>().First(v => v.Type == TaskType.SetPlate && v.Status == Entity.TaskStatus.FinishOfShunt && dev.Data2.TaskNumber == v.ID);
                            if (task == null) continue;

                            task.Status = Entity.TaskStatus.StackerExecution;
                            task.LastInteractionPoint = dev.Entity.Code;
                            task.SrmStation = dev.Entity.Code;
                            task.Device = obj.Entity.Code;
                            task.EditWho = "WCS";
                            db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status, x.AddrTo, x.Line, x.Col, x.Layer, x.Depth, x.LastInteractionPoint, x.SrmStation, x.Device, x.EditWho }).ExecuteCommand();
                            task.AddWCS_TASK_DTL(db.Default, dev.Entity.Code, task.AddrTo, "任务下发机械臂执行");
                            taskList.Add(new(task, dev));
                        }
                    });

                    if (!taskList.Any()) return;

                    switch (taskList.Count)
                    {
                        case 1:
                            var task = taskList.FirstOrDefault().Item1;
                            var dev = taskList.FirstOrDefault().Item2;
                            //下发任务
                            obj.Data.TaskNumber1 = task.ID;
                            obj.Data.SLine1 = dev.Entity.Code.ToShort();
                            obj.Data.SCol1 = 0;
                            obj.Data.SLayer1 = 0;
                            obj.Data.SDepth1 = 0;
                            obj.Data.ELine1 = task.Line.ToShort();
                            obj.Data.ECol1 = task.Col.ToShort();
                            obj.Data.ELayer1 = task.Layer.ToShort();
                            obj.Data.EDepth1 = task.Depth.ToShort();
                            obj.Data.TaskNumber2 = 0;
                            obj.Data.SLine2 = 0;
                            obj.Data.SCol2 = 0;
                            obj.Data.SLayer2 = 0;
                            obj.Data.SDepth2 = 0;
                            obj.Data.ELine2 = 0;
                            obj.Data.ECol2 = 0;
                            obj.Data.ELayer2 = 0;
                            obj.Data.EDepth2 = 0;
                            obj.Data.TaskSum = taskList.Count.ToShort();
                            obj.Data.GoodsType = task.GoodsType switch
                            {
                                18 => 1,
                                34 => 2,
                                50 => 3,
                                _ => 0
                            };
                            obj.Data.TaskType = 3;
                            obj.Data.VoucherNo++;
                            break;

                        case 2:

                            taskList = taskList = taskList.OrderBy(x => x.Item1.Depth).ToList();
                            //一工位取深度较大的任务
                            var taskInfo = taskList[1];
                            task = taskInfo.Item1;
                            dev = taskInfo.Item2;
                            obj.Data.TaskNumber1 = task.ID;
                            obj.Data.SLine1 = dev.Entity.Code.ToShort();
                            obj.Data.SCol1 = 0;
                            obj.Data.SLayer1 = 0;
                            obj.Data.SDepth1 = 0;
                            obj.Data.ELine1 = task.Line.ToShort();
                            obj.Data.ECol1 = task.Col.ToShort();
                            obj.Data.ELayer1 = task.Layer.ToShort();
                            obj.Data.EDepth1 = task.Depth.ToShort();
                            //二工位取深度较少的值
                            taskInfo = taskList[0];
                            task = taskInfo.Item1;
                            dev = taskInfo.Item2;
                            obj.Data.TaskNumber2 = task.ID;
                            obj.Data.SLine2 = dev.Entity.Code.ToShort();
                            obj.Data.SCol2 = 0;
                            obj.Data.SLayer2 = 0;
                            obj.Data.SDepth2 = 0;
                            obj.Data.ELine2 = task.Line.ToShort();
                            obj.Data.ECol2 = task.Col.ToShort();
                            obj.Data.ELayer2 = task.Layer.ToShort();
                            obj.Data.EDepth2 = task.Depth.ToShort();
                            obj.Data.TaskSum = taskList.Count.ToShort();
                            obj.Data.GoodsType = task.GoodsType switch
                            {
                                18 => 1,
                                34 => 2,
                                50 => 3,
                                _ => 0
                            };
                            obj.Data.TaskType = 3;
                            obj.Data.VoucherNo++;
                            break;

                        default:
                            throw new KnownException($"无法执行多个任务", LogLevelEnum.Mid);
                    }
                    World.Log($"机械臂任务处理:下发入库任务{obj.Data.TaskNumber1}--{obj.Data.TaskNumber2}--{obj.Data.VoucherNo}", LogLevelEnum.Mid);
                }
                else //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
                    var floor = obj.Entity.GetFlag<int>("FloorOut");
                    floor = floor % 2 + 1;
                    obj.Entity.SetFlag("FloorOut", floor);
                    obj.Entity.SetFlag("InQuantity", 0);

                    //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;
                    if (!arrOut.Any()) throw new KnownException($"机械臂{obj.Entity.Code}无放货路径点", LogLevelEnum.High);

                    //获取可以放货的设备集合
                    arrOut = arrOut.Where(v => v.Data3.Status.HasFlag(StationStatus.PH_Status) && v.Data.TaskNumber == 0 && v.Data.GoodsEnd == 0).ToList();//有光电
                    if (!arrOut.Any())
                    {
                        World.Log($"[{obj.Entity.Code}]等待出库任务输送到位");
                        return;
                    }

                    var taskInfoList = new List<WCS_TaskInfo>();
                    var nextAdd = "";

                    SqlSugarHelper.Do(db =>
                    {
                        //所有出库点设备号，即
                        var allOutCode = arrOut.Select(v => new
                        {
                            v.Entity.Code,
                            v.Data4.Type
                        }).ToList();
                        //两个工位同时码垛，并不会一个执行一次，只有一个托盘任务全部执行完毕，才会继续执行下一个，先生成任务的码垛工位会优先执行
                        var taskInfos = db.Default.Queryable<WCS_TaskInfo>().NoLock().Where(v =>
                                (v.Status == TaskStatus.WaitingToExecute || v.Status == TaskStatus.ConveyorExecution) &&
                                v.Type == TaskType.OutDepot && v.Device == obj.Entity.Code)
                            .ToList().Where(v => allOutCode.Any(x => v.SrmStation == x.Code && v.PalletType == x.Type))
                            .ToList();

                        var deliveryTask = db.Default.Queryable<WCS_TaskInfo>().Where(x => x.Status > 0 && x.Type == TaskType.Delivery).ToList().Select(x => x.AddrTo);
                        taskInfos = taskInfos.Where(x => deliveryTask.Contains(x.SrmStation)).ToList();
                        if (!taskInfos.Any())
                        {
                            World.Log("等待空托盘到位");
                            return;
                        }

                        if (!taskInfos.Any()) throw new KnownException($"未找到站台{JsonConvert.SerializeObject(allOutCode)}可用的出库任务", LogLevelEnum.Mid);
                        var srmStation = taskInfos.GroupBy(x => x.SrmStation).Where(x => x.Any(s => s.Status == TaskStatus.WaitingToExecute)).Select(x => new
                        {
                            x.Key,
                            x.OrderByDescending(t => t.AddTime).First().AddTime
                        }).OrderBy(x => x.AddTime).First().Key;
                        taskInfos = taskInfos.Where(x => x.SrmStation == srmStation).ToList(); //找到一个可以放货的待执行站台

                        //如果全部是待执行状态，需要验证待执行的任务的数量是否与任务总数相等
                        if (taskInfos.All(x => x.Status == TaskStatus.WaitingToExecute))
                        {
                            var task = taskInfos.First();
                            if (task.FullQty != taskInfos.Count) throw new KnownException($"等待站台{srmStation}所有码垛出库任务完成初始化", LogLevelEnum.Mid);
                        }
                        taskInfos = taskInfos.Where(x => x.Status == TaskStatus.WaitingToExecute).OrderBy(x => x.ProdLine).ToList();

                        if (taskInfos.FirstOrDefault().WarehouseCode.Contains("S")) //如果是南侧，翻转排序
                        {
                            taskInfos = taskInfos.OrderByDescending(x => x.ProdLine).ToList();
                        }

                        var surplusTaskNumber = taskInfos.Count; //剩余任务数量
                        taskInfos = taskInfos.Take(2).ToList();
                        var warehouseCode = taskInfos.FirstOrDefault().WarehouseCode;
                        var exTaskNumber = taskInfos.Count;//执行任务数量
                        surplusTaskNumber -= exTaskNumber;
                        if (exTaskNumber == 2) //有两个任务
                        {
                            var minDepth = taskInfos!.MinBy(x => x.Depth);
                            var maxDepth = taskInfos.MaxBy(x => x.Depth);
                            //产品类型不同时，只能取一个
                            if (minDepth.GoodsType != maxDepth.GoodsType)
                            {
                                //南边取位号较大的，北边取位号较小的
                                taskInfos = warehouseCode.Contains("S") ? taskInfos.OrderByDescending(x => x.ProdLine).Take(1).ToList() : taskInfos.OrderBy(x => x.ProdLine).Take(1).ToList();
                            }
                            //深度之和等于6(机械臂当前无法同时执行两个三深度的取货任务)
                            else if (taskInfos.Sum(x => x.Depth) == 6)
                            {
                                taskInfos = warehouseCode.Contains("S") ? taskInfos.OrderByDescending(x => x.ProdLine).Take(1).ToList() : taskInfos.OrderBy(x => x.ProdLine).Take(1).ToList();
                            }
                            else if (taskInfos[0].SrmStation != taskInfos[1].SrmStation)
                            {
                                taskInfos = warehouseCode.Contains("S") ? taskInfos.OrderByDescending(x => x.ProdLine).Take(1).ToList() : taskInfos.OrderBy(x => x.ProdLine).Take(1).ToList();
                            }
                            else if (warehouseCode.Contains("S"))
                            {
                                //从大到小 一抓偶数
                                var max = taskInfos.MaxBy(x => x.ProdLine).ProdLine;
                                if ((max & 1) == 1) //抓一不是偶数
                                {
                                    taskInfos = taskInfos.OrderByDescending(x => x.ProdLine).Take(1).ToList();
                                }
                            }
                            else if (warehouseCode.Contains("N"))
                            {
                                //从小到达 一抓奇数
                                var mix = taskInfos.MinBy(x => x.ProdLine).ProdLine;
                                if ((mix & 1) == 0) //抓一不是奇数
                                {
                                    taskInfos = taskInfos.OrderBy(x => x.ProdLine).Take(1).ToList();
                                }
                            }
                        }

                        #region 计算剩余可执行任务数

                        //如果有两个任务，且只有一个任务可以执行，剩余任务数+1
                        if (exTaskNumber == 2 && taskInfoList.Count == 1) surplusTaskNumber += 1;
                        if (surplusTaskNumber >= 1) obj.Entity.SetFlag($"isOut-{obj.Entity.Code}", true); //剩余任务数大于或等于1，下次满足条件时可以优先执行出库任务
                        else obj.Entity.SetFlag($"isOut-{obj.Entity.Code}", false); //剩余任务数等于或小于0，下次满足条件时不可以优先执行出库任务

                        #endregion 计算剩余可执行任务数

                        foreach (var task in taskInfos)
                        {
                            task.Status = Entity.TaskStatus.StackerExecution;
                            task.LastInteractionPoint = task.Device;
                            task.StartTime = DateTime.Now;
                            task.EditWho = "WCS";
                            nextAdd = task.SrmStation;
                            db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status, x.LastInteractionPoint, x.StartTime, x.EditWho }).ExecuteCommand();
                            task.AddWCS_TASK_DTL(db.Default, task.Device, task.SrmStation, "任务下发机械臂执行");
                            taskInfoList.Add(task);
                        }
                    });

                    if (!taskInfoList.Any()) return;

                    switch (taskInfoList.Count)
                    {
                        case 1:
                            var task = taskInfoList.FirstOrDefault();

                            //下发任务
                            obj.Data.TaskNumber1 = task.ID;
                            obj.Data.SLine1 = task.Line.ToShort();
                            obj.Data.SCol1 = task.Col.ToShort();
                            obj.Data.SLayer1 = task.Layer.ToShort();
                            obj.Data.SDepth1 = task.Depth.ToShort();
                            obj.Data.ELine1 = nextAdd.ToShort();
                            obj.Data.ECol1 = task.ProdLine;
                            obj.Data.ELayer1 = 0;
                            obj.Data.EDepth1 = 0;
                            obj.Data.TaskNumber2 = 0;
                            obj.Data.SLine2 = 0;
                            obj.Data.SCol2 = 0;
                            obj.Data.SLayer2 = 0;
                            obj.Data.SDepth2 = 0;
                            obj.Data.ELine2 = 0;
                            obj.Data.ECol2 = 0;
                            obj.Data.ELayer2 = 0;
                            obj.Data.EDepth2 = 0;
                            obj.Data.TaskSum = taskInfoList.Count.ToShort();
                            obj.Data.GoodsType = task.GoodsType switch
                            {
                                18 => 1,
                                34 => 2,
                                50 => 3,
                                _ => 0
                            };
                            obj.Data.TaskType = 4;
                            obj.Data.VoucherNo++;
                            break;

                        case 2:

                            taskInfoList = taskInfoList.OrderBy(x => x.Depth).ToList();

                            //一工位取深度较大的任务
                            var taskInfo = taskInfoList[1];
                            obj.Data.TaskNumber1 = taskInfo.ID;
                            obj.Data.SLine1 = taskInfo.Line.ToShort();
                            obj.Data.SCol1 = taskInfo.Col.ToShort();
                            obj.Data.SLayer1 = taskInfo.Layer.ToShort();
                            obj.Data.SDepth1 = taskInfo.Depth.ToShort();
                            obj.Data.ELine1 = nextAdd.ToShort();
                            obj.Data.ECol1 = taskInfo.WarehouseCode.Contains("S") ? taskInfoList.Max(x => x.ProdLine) : taskInfoList.Min(x => x.ProdLine);
                            obj.Data.ELayer1 = 0;
                            obj.Data.EDepth1 = 0;
                            //二工位取深度较少的值
                            taskInfo = taskInfoList[0];
                            obj.Data.TaskNumber2 = taskInfo.ID;
                            obj.Data.SLine2 = taskInfo.Line.ToShort();
                            obj.Data.SCol2 = taskInfo.Col.ToShort();
                            obj.Data.SLayer2 = taskInfo.Layer.ToShort();
                            obj.Data.SDepth2 = taskInfo.Depth.ToShort();
                            obj.Data.ELine2 = nextAdd.ToShort();
                            obj.Data.ECol2 = taskInfo.WarehouseCode.Contains("S") ? taskInfoList.Min(x => x.ProdLine) : taskInfoList.Max(x => x.ProdLine);
                            obj.Data.ELayer2 = 0;
                            obj.Data.EDepth2 = 0;
                            obj.Data.TaskSum = taskInfoList.Count.ToShort();
                            obj.Data.GoodsType = taskInfo.GoodsType switch
                            {
                                18 => 1,
                                34 => 2,
                                50 => 3,
                                _ => 0
                            };
                            obj.Data.TaskType = 4;
                            obj.Data.VoucherNo++;
                            break;

                        default:

                            throw new KnownException($"无法执行多个任务", LogLevelEnum.Mid);
                    }
                    World.Log($"机械臂任务处理:下发出库任务{obj.Data.TaskNumber1}--{obj.Data.TaskNumber2}--{obj.Data.VoucherNo}", LogLevelEnum.Mid);
                }
            }
        }

        public override bool Select(Device dev)
        {
            return dev.Code is "Robot1" or "Robot2" or "Robot3" or "Robot4" or "Robot5" or "Robot6";
        }

        public List<string> GetDeviceCodeList(string code)
        {
            return code switch
            {
                "424" => new List<string>()
                            {
                                "424",
                                "425",
                                "422",
                                "426",
                                "427"
                            },
                "433" => new List<string>()
                            {
                                "433",
                                "434",
                                "431",
                                "435",
                                "436"
                            },
                "442" => new List<string>()
                            {
                                "442",
                                "443",
                                "440",
                                "444",
                                "445"
                            },
                "642" => new List<string>()
                            {
                                "642",
                                "643",
                                "640",
                                "644",
                                "645"
                            },
                "633" => new List<string>()
                            {
                                "633",
                                "634",
                                "631",
                                "635",
                                "636"
                            },
                "624" => new List<string>()
                            {
                                "624",
                                "625",
                                "622",
                                "226",
                                "627"
                            },
                "824" => new List<string>()
                            {
                                "824",
                                "825",
                                "822",
                                "826",
                                "827"
                            },
                "833" => new List<string>()
                            {
                                "833",
                                "834",
                                "831",
                                "835",
                                "836"
                            },
                "842" => new List<string>()
                            {
                                "842",
                                "843",
                                "840",
                                "844",
                                "845"
                            },
                "1042" => new List<string>()
                            {
                                "1042",
                                "1043",
                                "1040",
                                "1044",
                                "1045"
                            },
                "1033" => new List<string>()
                            {
                                "1033",
                                "1034",
                                "1031",
                                "1035",
                                "1036"
                            },
                "1024" => new List<string>()
                            {
                                "1024",
                                "1025",
                                "1022",
                                "1026",
                                "1027"
                            },
                "1224" => new List<string>()
                            {
                                "1224",
                                "1225",
                                "1222",
                                "1226",
                                "1227"
                            },
                "1233" => new List<string>()
                            {
                                "1233",
                                "1234",
                                "1231",
                                "1235",
                                "1236"
                            },
                "1242" => new List<string>()
                            {
                                "1242",
                                "1243",
                                "1240",
                                "1244",
                                "1245"
                            },
                "1442" => new List<string>()
                            {
                                "1442",
                                "1443",
                                "1440",
                                "1444",
                                "1445"
                            },
                "1433" => new List<string>()
                            {
                                "1433",
                                "1434",
                                "1431",
                                "1435",
                                "1436"
                            },
                "1424" => new List<string>()
                            {
                                "1424",
                                "1425",
                                "1422",
                                "1426",
                                "1427"
                            },
                _ => new List<string>()
            };
        }
    }
}