YG-MW-WCS/Projects/永冠/WCS.Service/Works/RGV/RGVWork.cs

using DBHelper;
using System;
using System.Linq;
using WCS.Core;
using WCS.Entity;
using WCS.Entity.Protocol;
using WCS.Service.Extensions;
using WCS.Service.Helpers;

namespace WCS.Service.Works
{
    [WorkTitle(typeof(ProductHandler), "穿梭车", true)]
    public class RGVWork : DeviceWork<Device<IRGV521, IRGV520, IRGV523>>
    {
        protected override void Do(Device<IRGV521, IRGV520, IRGV523> dev)
        {
            if (dev.Data3.Fault != 0)
            {
                if (dev.Entity.WakeupOn(5000))
                {
                    WMS.DevInfo(dev.Entity.CODE, dev.Data3.Fault.ToString());
                    //LogHelper.AddWCS_EXCEPTION($"[{dev.Entity.CODE}]报警：[{dev.Data3.Fault.ToString()}]");
                }
            }

            if (Ltc.Do(dev, v => v.Data2.Trigger != 0))
                return;
            if (Ltc.Do(dev, v => v.Data.WorkMode != RGVMode.自动))
                return;
            if (Ltc.Do(dev, v => v.Data.SystemStatus != RGVRunStatus.空闲))
                return;

            var startStations = Device.Where(v => v.ROUTES.Any(d => d.NEXT.CODE == dev.Entity.CODE))//.Where(v => v.CODE != "2323")
                .Select(v => v.Device<IStation521, IStation520>()).ToArray();
            startStations = Ltc.Do(startStations, (arr) => arr.Where(v => v.Data.GOODSEND > 0 && v.Data.PH_STATUS).ToArray());
            if (dev.Entity.CODE == "RGV1")
                startStations = Ltc.Do(startStations, (arr) => arr.Where(v => v.Data.GOODSEND > 0 && v.Data.PH_STATUS && !v.Data.REQUEST).ToArray());
            if (startStations.Length == 0)
                return;

            //startStations = Ltc.Do(startStations, dev, (arr, dev) => arr.Where(v => dev.Entity.ROUTES.Any(d => d.NEXT.CODE == v.Data.GOODSEND.ToString())).ToArray());
            //if (startStations.Length == 0)
            //    return;

            startStations = Ltc.Do(startStations, arr => arr.Where(v => v.Data.GOODSEND.ToString() != v.Entity.CODE).ToArray());
            if (startStations.Length == 0)
                return;

            var endEmptys = startStations.Where(v =>
            {
                var end = Device.Find(v.Data.GOODSEND.ToString());
                var next = dev.Entity.GetNext(end.CODE).Device<IStation521>();
                var res = next.Data.TASKNUM == 0 && next.Data.PH_STATUS == false;
                if (res && end.CODE == "2324")
                {
                    res = Device.Find("2071", "2072", "2073", "2074", "2075", "2076", "2077", "2078", "2079", "2017", "2019", "2022", "2024", "2029").Select(v => v.Device<IStation521>())
                    .Count(v => v.Data.PH_STATUS == false && v.Data.TASKNUM == 0) > 3;
                    if (!res)
                    {
                        Configs.UploadException(end.CODE, "库前拥堵,RGV暂停入库");
                    }
                }
                return res;
            }).ToArray();

            short taskType = 1;
            var st = Ltc.Do(endEmptys, arr => arr.OrderBy(v => v.Entity.CODE == "2182" || v.Entity.CODE == "2181" || v.Entity.CODE == "2081" || v.Entity.CODE == "2325" ? 1 : 2)
            .ThenBy(v => v.Data.GetUpdateTime())
            .FirstOrDefault());
            if (st == null)
            {
                st = startStations.OrderBy(v => v.Entity.CODE == "2182" || v.Entity.CODE == "2181" || v.Entity.CODE == "2081" || v.Entity.CODE == "2325" ? 1 : 2)
                .ThenBy(v => v.Data.GetUpdateTime())
                .FirstOrDefault();
                taskType = 3;
            }

            if (taskType == 3)
            {
                var target = st.Entity.Code();
                if (dev.Data.DestPosition != target)
                {
                    dev.Data2.TaskType = taskType;
                    dev.Data2.TaskID = 1;
                    dev.Data2.StartPosition = 0;
                    dev.Data2.DestPosition = short.Parse(st.Entity.CODE);
                    dev.Data2.Trigger = 1;
                }
            }
            else
            {
                var next = dev.Entity.GetNext(st.Data.GOODSEND.ToString());
                if (next == null)
                    return;

                DB.Do(db =>
                {
                    var task = db.Default.Set<WCS_TASK>().Find(st.Data.TASKNUM);
                    if (task != null)
                    {
                        if (next.CODE == task.ADDRTO)
                        {
                            //task.ADDRCURRENT = dev.Entity.CODE;
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();
                        }
                    }

                    dev.Data2.TaskType = taskType;
                    dev.Data2.TaskID = st.Data.TASKNUM;
                    dev.Data2.StartPosition = short.Parse(st.Entity.CODE);
                    dev.Data2.DestPosition = next.Code();
                    dev.Data2.Trigger = 1;

                    task.CreateStatusLog(db, $"任务下发[{dev.Entity.CODE}]执行,起始地址[{st.Entity.CODE}],目标地址[{next.CODE}]");                  
                });
            }
        }

        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            return dev.CODE is "RGV1" or "RGV2" or "RGV3" or "RGV5";
        }
    }

    [WorkTitle(typeof(ProductHandler), "双工位RGV", true)]
    public class 双工位RGV : DeviceWork<Device<IDRGV521, IDRGV520, IDRGV523>>
    {
        protected override void Do(Device<IDRGV521, IDRGV520, IDRGV523> dev)
        {
            if (dev.Entity.CODE == "RGV4")
            {
                if (dev.Data3.Fault != 0)
                {
                    if (dev.Entity.WakeupOn(5000))
                    {
                        WMS.DevInfo(dev.Entity.CODE, dev.Data3.Fault.ToString());
                    }
                }

                if (Ltc.Do(dev, v => v.Data2.Trigger_1 != 0 && v.Data2.Trigger_2 != 0)) return;
                if (Ltc.Do(dev, v => v.Data.WorkMode != RGVMode.自动)) return;
                if (Ltc.Do(dev, v => v.Data.SystemStatus != RGVRunStatus.空闲)) return;

                #region 放货任务

                //判断小车是否有工位有光电,小车空闲自动且有光电代表需要执行放货任务
                if (dev.Data.PH_Status_1 || dev.Data.PH_Status_2)
                {
                    if (dev.Data.PH_Status_1 && dev.Data.TaskType_1 != DRGVTaskType.放货) //工位一需要放货
                    {
                        if (dev.Data.TaskID_1 < 10000) throw new Exception("有光电无任务号");                       
                        //获取任务
                        DB.Do(db =>
                        {
                            var task = db.Default.Set<WCS_TASK>().FirstOrDefault(v => v.ID == dev.Data.TaskID_1) ?? throw new Exception($"WCS不存在任务{dev.Data.TaskID_1}");                          
                        });
                        //TODO:放货站点有货检查
                        dev.Data2.TaskID_1 = dev.Data.TaskID_1;
                        dev.Data2.TaskType_1 = Convert.ToInt16(DRGVTaskType.放货);
                        dev.Data2.DestPosition_1 = dev.Data2.StartPosition_1;
                        dev.Data.RES = dev.Data2.StartPosition_1;
                        dev.Data2.Trigger_1 = 1;
                    }
                    else if (dev.Data.PH_Status_2 && dev.Data.TaskType_2 != DRGVTaskType.放货)//工位二需要放货
                    {
                        if (dev.Data.TaskID_2 < 10000) throw new Exception("有光电无任务号");                       
                        //获取任务
                        DB.Do(db =>
                        {
                            var task = db.Default.Set<WCS_TASK>().FirstOrDefault(v => v.ID == dev.Data.TaskID_2) ?? throw new Exception($"WCS不存在任务{dev.Data.TaskID_2}");                          
                        });
                        //TODO:放货站点有货检查
                        dev.Data2.TaskID_2 = dev.Data.TaskID_2;
                        dev.Data2.TaskType_2 = Convert.ToInt16(DRGVTaskType.放货);
                        dev.Data2.DestPosition_2 = dev.Data2.StartPosition_2;                     
                        dev.Data.RES = dev.Data2.StartPosition_2;
                        dev.Data2.Trigger_2 = 1;
                    }
                }

                #endregion 放货任务                
                var station_3046 = Device.Find("3046").Device<IStation521, IStation520>();
                if (station_3046.Data.PH_STATUS && station_3046.Data.GOODSEND == 3046 && station_3046.Data.TASKNUM > 10000)
                {
                    var station_2390 = Device.Find("2390").Device<IStation521, IStation520>();
                    var arr = Device.Find("2390", "2391", "2392", "2393", "2394", "2395", "2396", "2397").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                    int count = arr.Where(v => v.Data.PH_STATUS && v.Data.TASKNUM > 10000).Count();
                    if (!station_2390.Data.PH_STATUS && station_2390.Data.TASKNUM == 0 && count < 5)
                    {
                        DB.Do(db =>
                        {
                            var task = db.Default.Set<WCS_TASK>().Find(station_3046.Data.TASKNUM);
                            if (task == null)
                                throw new Exception($"任务号{station_3046.Data.TASKNUM}不存在");
                            task.ADDRNEXT = station_2390.Entity.CODE;
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();
                            //station_3060.Data2.TASKNUM = station_3060.Data.TASKNUM;
                            station_3046.Data2.GOODSEND = 2390;
                            station_3046.Data2.CONFIRM = true;
                        });
                    }
                }               
                #region 取货任务

                //获取所有需要取货的站台
                //获取下一个地址为当前RGV的站台，此处不考虑一台车跑全程
                var validPickupPoints = Device.Where(v => v.ROUTES.Any(p => p.NEXT.CODE == dev.Entity.CODE)).ToList()
                                 .Select(v => v.Device<IStation521, IStation520, IStation523>())
                                 .Where(v => v.Data.PH_STATUS && v.Data.TASKNUM > 10000 && !v.Data2.CONFIRM && v.Data.GOODSEND != Convert.ToInt16(v.Entity.CODE))//需要取货的站点
                                 .Where(v => //是否可以进行取货，主要用于判断放货位是否有货
                                 {
                                     var code = v.Data.GOODSEND.ToString();
                                     switch (v.Data.GOODSEND)
                                     {
                                         case 2366: code = "2359"; break; //二车间
                                         case 2328: code = "2114"; break; //一车间
                                         case 2385: code = "2359"; break; //三车间
                                     };

                                     var end = Device.Find(code).Device<IStation521>();

                                     var res = true;
                                     if (end.Data.TASKNUM != 0) res = false;
                                     else if (end.Data.PH_STATUS) res = false;
                                     // RGV可以到达放货地址,此处判断取反
                                     else if (!dev.Entity.ROUTES.Any(p => p.NEXT.CODE == end.Entity.CODE)) res = false;
                                     else if (dev.Data.PH_Status_1) res = false;

                                     return res;
                                 });
                if (!validPickupPoints.Any()) return;//不需要取货

                Device<IStation521, IStation520, IStation523> validPickupPoint = null;

                //是否包含小车当前所在站点，写死，如有变动必须改代码
                //这一块的作用主要是用于解决小车就近取货问题

                #region RGV4

                if (dev.Data.RES is 3035 or 3036) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3035" or "3036");
                else if (dev.Data.RES is 3041 or 3040) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3041" or "3040");
                else if (dev.Data.RES is 3047 or 3048) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3045" or "3046");
                else if (dev.Data.RES is 2108 or 2390) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "2390" or "2108");

                #endregion RGV4

                //当前站点没有需要取货的
                if (validPickupPoint == null) validPickupPoint = validPickupPoints.OrderBy(v => v.UpdateTime).FirstOrDefault() ?? throw new Exception("没有站台需要取货");

                var next1 = dev.Entity.GetNext(validPickupPoint.Data.GOODSEND.ToString());
                if (validPickupPoint.Entity.CODE is "2108" or "2114" or "3040" or "3034") //一工位取货点
                {                                      
                    dev.Data2.TaskID_1 = validPickupPoint.Data.TASKNUM;//dev.Data.TaskID_1;
                    dev.Data2.TaskType_1 = Convert.ToInt16(DRGVTaskType.取货);
                    dev.Data2.StartPosition_1 = Convert.ToInt16(next1.CODE);
                    dev.Data2.DestPosition_1 = Convert.ToInt16(validPickupPoint.Entity.CODE);
                    dev.Data2.Trigger_1 = 1;

                    DB.Do(db =>
                    {
                        var task = db.Default.Set<WCS_TASK>().Find(validPickupPoint.Data.TASKNUM);
                        if (task != null)
                            task.CreateStatusLog(db,$"任务下发给[{dev.Entity.CODE}]执行，起始地址[{validPickupPoint.Entity.CODE}],目标地址[{next1.CODE}]");
                    });
                }
                else if (validPickupPoint.Entity.CODE is "3046" or "3041" or "3033") //二工位取货点
                {
                    dev.Data2.TaskID_2 = validPickupPoint.Data.TASKNUM;
                    dev.Data2.TaskType_2 = Convert.ToInt16(DRGVTaskType.取货);
                    dev.Data2.StartPosition_2 = Convert.ToInt16(next1.CODE);
                    dev.Data2.DestPosition_2 = Convert.ToInt16(validPickupPoint.Entity.CODE);
                    dev.Data2.Trigger_2 = 1;

                    DB.Do(db =>
                    {
                        var task = db.Default.Set<WCS_TASK>().Find(validPickupPoint.Data.TASKNUM);
                        if (task != null)
                            task.CreateStatusLog(db, $"任务下发给[{dev.Entity.CODE}]执行，起始地址[{validPickupPoint.Entity.CODE}],目标地址[{next1.CODE}]");                  
                    });
                }

                #endregion 取货任务
            }
            else if(dev.Entity.CODE == "RGV6")
            {
                //正常与之前一样逻辑
                if (!SystemConfigHelpers.GetDeviceEnabled("CarError"))
                {
                    if (dev.Data3.Fault != 0)
                    {
                        if (dev.Entity.WakeupOn(5000))
                        {
                            WMS.DevInfo(dev.Entity.CODE, dev.Data3.Fault.ToString());
                        }
                    }

                    if (Ltc.Do(dev, v => v.Data2.Trigger_1 != 0 && v.Data2.Trigger_2 != 0)) return;
                    if (Ltc.Do(dev, v => v.Data.WorkMode != RGVMode.自动)) return;
                    if (Ltc.Do(dev, v => v.Data.SystemStatus != RGVRunStatus.空闲)) return;

                    #region 放货任务

                    //判断小车是否有工位有光电,小车空闲自动且有光电代表需要执行放货任务
                    if (dev.Data.PH_Status_1 || dev.Data.PH_Status_2)
                    {
                        if (dev.Data.PH_Status_1 && dev.Data.TaskType_1 != DRGVTaskType.放货) //工位一需要放货
                        {
                            if (dev.Data.TaskID_1 < 10000) throw new Exception("有光电无任务号");
                            string next = "";
                            //获取任务
                            DB.Do(db =>
                            {
                                var task = db.Default.Set<WCS_TASK>().FirstOrDefault(v => v.ID == dev.Data.TaskID_1) ?? throw new Exception($"WCS不存在任务{dev.Data.TaskID_1}");
                                //var next = dev.Entity.GetNext(task.ADDRTO).CODE;
                            });
                            //TODO:放货站点有货检查
                            dev.Data2.TaskID_1 = dev.Data.TaskID_1;
                            dev.Data2.TaskType_1 = Convert.ToInt16(DRGVTaskType.放货);
                            dev.Data2.DestPosition_1 = dev.Data2.StartPosition_1;
                            dev.Data.RES = dev.Data2.StartPosition_1;
                            dev.Data2.Trigger_1 = 1;
                        }
                        else if (dev.Data.PH_Status_2 && dev.Data.TaskType_2 != DRGVTaskType.放货)//工位二需要放货
                        {
                            if (dev.Data.TaskID_2 < 10000) throw new Exception("有光电无任务号");

                            string next = "";
                            //获取任务
                            DB.Do(db =>
                            {
                                var task = db.Default.Set<WCS_TASK>().FirstOrDefault(v => v.ID == dev.Data.TaskID_2) ?? throw new Exception($"WCS不存在任务{dev.Data.TaskID_2}");
                                //var next = dev.Entity.GetNext(task.ADDRTO).CODE;
                            });
                            //TODO:放货站点有货检查
                            dev.Data2.TaskID_2 = dev.Data.TaskID_2;
                            dev.Data2.TaskType_2 = Convert.ToInt16(DRGVTaskType.放货);
                            dev.Data2.DestPosition_2 = dev.Data2.StartPosition_2;
                            //dev.Data2.StartPosition_2 = Convert.ToInt16(next);
                            dev.Data.RES = dev.Data2.StartPosition_2;
                            dev.Data2.Trigger_2 = 1;
                        }
                    }

                    #endregion 放货任务

                    var station_3033 = Device.Find("3033").Device<IStation521, IStation520>();
                    if (station_3033.Data.PH_STATUS && station_3033.Data.GOODSEND == 3033 && station_3033.Data.TASKNUM > 10000)
                    {
                        var station_3041 = Device.Find("3041").Device<IStation521, IStation520>();
                        if (!station_3041.Data.PH_STATUS && station_3041.Data.TASKNUM == 0)
                        {
                            DB.Do(db =>
                            {
                                var task = db.Default.Set<WCS_TASK>().Find(station_3033.Data.TASKNUM);
                                if (task == null)
                                    throw new Exception($"任务号{station_3033.Data.TASKNUM}不存在");
                                task.ADDRNEXT = station_3041.Entity.CODE;
                                task.UPDATETIME = DateTime.Now;
                                db.Default.SaveChanges();
                                //station_3060.Data2.TASKNUM = station_3060.Data.TASKNUM;
                                station_3033.Data2.GOODSEND = 3041;
                                station_3033.Data2.CONFIRM = true;
                            });
                        }
                    }                    
                    var station_3040 = Device.Find("3040").Device<IStation521, IStation520>();
                    if (station_3040.Data.PH_STATUS && station_3040.Data.GOODSEND == 3040 && station_3040.Data.TASKNUM > 10000)
                    {
                        var station_3034 = Device.Find("3034").Device<IStation521, IStation520>();
                        if (!station_3034.Data.PH_STATUS && station_3034.Data.TASKNUM == 0)
                        {
                            DB.Do(db =>
                            {
                                var task = db.Default.Set<WCS_TASK>().Find(station_3040.Data.TASKNUM);
                                if (task == null)
                                    throw new Exception($"任务号{station_3040.Data.TASKNUM}不存在");
                                task.ADDRNEXT = station_3034.Entity.CODE;
                                task.UPDATETIME = DateTime.Now;
                                db.Default.SaveChanges();
                                //station_3060.Data2.TASKNUM = station_3060.Data.TASKNUM;
                                station_3040.Data2.GOODSEND = 3034;
                                station_3040.Data2.CONFIRM = true;
                            });
                        }
                    }

                    #region 取货任务

                    //获取所有需要取货的站台
                    //获取下一个地址为当前RGV的站台，此处不考虑一台车跑全程
                    var validPickupPoints = Device.Where(v => v.ROUTES.Any(p => p.NEXT.CODE == dev.Entity.CODE)).ToList()
                                     .Select(v => v.Device<IStation521, IStation520, IStation523>())
                                     .Where(v => v.Data.PH_STATUS && v.Data.TASKNUM > 10000 && !v.Data2.CONFIRM && v.Data.GOODSEND != Convert.ToInt16(v.Entity.CODE))//需要取货的站点
                                     .Where(v => //是否可以进行取货，主要用于判断放货位是否有货
                                     {
                                         var code = v.Data.GOODSEND.ToString();                                      
                                         var end = Device.Find(code).Device<IStation521>();
                                         var res = true;
                                         if (end.Data.TASKNUM != 0) res = false;
                                         else if (end.Data.PH_STATUS) res = false;
                                         // RGV可以到达放货地址,此处判断取反
                                         else if (!dev.Entity.ROUTES.Any(p => p.NEXT.CODE == end.Entity.CODE)) res = false;
                                         else if (dev.Data.PH_Status_1) res = false;
                                         return res;
                                     });
                    if (!validPickupPoints.Any()) return;//不需要取货
                    Device<IStation521, IStation520, IStation523> validPickupPoint = null;
                    //是否包含小车当前所在站点，写死，如有变动必须改代码
                    //这一块的作用主要是用于解决小车就近取货问题

                    #region RGV4

                    if (dev.Data.RES is 3035 or 3036) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3035" or "3036");
                    else if (dev.Data.RES is 3041 or 3040) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3041" or "3040");
                    else if (dev.Data.RES is 3047 or 3048) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3045" or "3046");
                    else if (dev.Data.RES is 2108 or 2390) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "2390" or "2108");

                    #endregion RGV4

                    #region RGV6

                    else if (dev.Data.RES is 3033 or 3034) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3033" or "3034");
                    else if (dev.Data.RES is 3041 or 3040) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3041" or "3040");

                    #endregion RGV6

                    //当前站点没有需要取货的
                    if (validPickupPoint == null) validPickupPoint = validPickupPoints.OrderBy(v => v.UpdateTime).FirstOrDefault() ?? throw new Exception("没有站台需要取货");

                    var next1 = dev.Entity.GetNext(validPickupPoint.Data.GOODSEND.ToString());
                    if (validPickupPoint.Entity.CODE is  "3040" or "3034") //一工位取货点
                    {
                        dev.Data2.TaskID_1 = validPickupPoint.Data.TASKNUM;//dev.Data.TaskID_1;
                        dev.Data2.TaskType_1 = Convert.ToInt16(DRGVTaskType.取货);
                        dev.Data2.StartPosition_1 = Convert.ToInt16(next1.CODE);
                        dev.Data2.DestPosition_1 = Convert.ToInt16(validPickupPoint.Entity.CODE);
                        dev.Data2.Trigger_1 = 1;

                        DB.Do(db =>
                        {
                            var task = db.Default.Set<WCS_TASK>().Find(validPickupPoint.Data.TASKNUM);
                            if (task != null)
                                task.CreateStatusLog(db, $"任务下发给[{dev.Entity.CODE}]执行，起始地址[{validPickupPoint.Entity.CODE}],目标地址[{next1.CODE}]");
                        });
                    }
                    else if (validPickupPoint.Entity.CODE is  "3041" or "3033") //二工位取货点
                    {
                        dev.Data2.TaskID_2 = validPickupPoint.Data.TASKNUM;
                        dev.Data2.TaskType_2 = Convert.ToInt16(DRGVTaskType.取货);
                        dev.Data2.StartPosition_2 = Convert.ToInt16(next1.CODE);
                        dev.Data2.DestPosition_2 = Convert.ToInt16(validPickupPoint.Entity.CODE);
                        dev.Data2.Trigger_2 = 1;

                        DB.Do(db =>
                        {
                            var task = db.Default.Set<WCS_TASK>().Find(validPickupPoint.Data.TASKNUM);
                            if (task != null)
                                task.CreateStatusLog(db, $"任务下发给[{dev.Entity.CODE}]执行，起始地址[{validPickupPoint.Entity.CODE}],目标地址[{next1.CODE}]");
                        });
                    }

                    #endregion 取货任务
                }
                else if(SystemConfigHelpers.GetDeviceIsUsed("RGV6"))
                {
                    if (dev.Data3.Fault != 0)
                    {
                        if (dev.Entity.WakeupOn(5000))
                        {
                            WMS.DevInfo(dev.Entity.CODE, dev.Data3.Fault.ToString());
                        }
                    }
                    if (Ltc.Do(dev, v => v.Data2.Trigger_1 != 0 && v.Data2.Trigger_2 != 0)) return;
                    if (Ltc.Do(dev, v => v.Data.WorkMode != RGVMode.自动)) return;
                    if (Ltc.Do(dev, v => v.Data.SystemStatus != RGVRunStatus.空闲)) return;

                    if (Ltc.Do(dev, v => v.Data2.Trigger_2 != 0)) return;

                    //执行任务之前优先处理缓存位上的任务 出：3028、3012   入：3019、3033
                    //有入库的先执行入库,做出库要判断是否有入库               
                    var inPort = Device.Find("3019", "3033").Select(v => v.Device<IStation521, IStation520>());
                    var outPort = Device.Find("3028", "3012").Select(v => v.Device<IStation521, IStation520>());
                    var station_3040 = Device.Find("3040").Device<IStation521, IStation520>();
                    var station_3060 = Device.Find("3060").Device<IStation521, IStation520>();
                    var station_3041 = Device.Find("3041").Device<IStation521, IStation520>();

                    var station_3019 = Device.Find("3019").Device<IStation521, IStation520>();
                    var station_3033 = Device.Find("3033").Device<IStation521, IStation520>();
                    var station_3028 = Device.Find("3028").Device<IStation521, IStation520>();
                    var station_3012 = Device.Find("3012").Device<IStation521, IStation520>();

                    //是否可以执行缓存位的出库任务
                    bool doOut = true;
                    DB.Do(db =>
                    {
                        var flag = db.Default.Set<WCS_AGVTask>().Any(v => v.TaskType == AGVTaskType.入库 && v.Status <= AGVTaskStatus.完成 && v.Status >= AGVTaskStatus.确认 && v.Status != AGVTaskStatus.执行 && v.Station == "3001");
                        if (flag)
                        {
                            doOut = false;
                        }
                        var inPos = Device.Find("3001", "3004", "3005", "3060").Select(v => v.Device<IStation521, IStation520>());
                        if (inPos.Any(v => v.Data2.CONFIRM == true || (v.Data.PH_STATUS && v.Data.TASKNUM > 0 && (v.Data.GOODSEND is 0 or 1 or 2 or 3 or 3060)))) doOut = false;
                    });
                    bool noPhstatus = Ltc.Do(dev, v => v.Data.PH_Status_2 == false);

                    if (inPort.Any(v => v.Data.PH_STATUS && v.Data.TASKNUM > 0 && !station_3041.Data.PH_STATUS && station_3041.Data.TASKNUM == 0))
                    {
                        if (station_3033.Data.PH_STATUS && station_3033.Data.TASKNUM > 0 && noPhstatus)
                        {
                            if (station_3041.Data.PH_STATUS || station_3041.Data.TASKNUM > 10000) return;
                            DB.Do(db =>
                            {
                                var task = db.Default.Set<WCS_TASK>().Find(station_3033.Data.TASKNUM);
                                if (task == null)
                                    throw new Exception($"任务号{station_3033.Data.TASKNUM}不存在");
                                task.ADDRNEXT = "3041";
                                task.UPDATETIME = DateTime.Now;
                                db.Default.SaveChanges();
                            });
                            station_3033.Data2.GOODSEND = 3041;
                            station_3033.Data2.CONFIRM = true;

                            dev.Data2.TaskID_2 = station_3033.Data.TASKNUM;
                            dev.Data2.TaskType_2 = Convert.ToInt16(DRGVTaskType.取货);
                            dev.Data2.StartPosition_2 = 3041;
                            dev.Data2.DestPosition_2 = 3033;
                            dev.Data2.Trigger_2 = 1;
                        }
                        else if (station_3019.Data.PH_STATUS && station_3019.Data.TASKNUM > 0 && noPhstatus)
                        {
                            if (station_3041.Data.PH_STATUS || station_3041.Data.TASKNUM > 10000) return;
                            DB.Do(db =>
                            {
                                var task = db.Default.Set<WCS_TASK>().Find(station_3019.Data.TASKNUM);
                                if (task == null)
                                    throw new Exception($"任务号{station_3019.Data.TASKNUM}不存在");
                                task.ADDRNEXT = "3041";
                                task.UPDATETIME = DateTime.Now;
                                db.Default.SaveChanges();
                            });
                            station_3019.Data2.GOODSEND = 3041;
                            station_3019.Data2.CONFIRM = true;

                            dev.Data2.TaskID_2 = station_3019.Data.TASKNUM;
                            dev.Data2.TaskType_2 = Convert.ToInt16(DRGVTaskType.取货);
                            dev.Data2.StartPosition_2 = 3041;
                            dev.Data2.DestPosition_2 = 3019;
                            dev.Data2.Trigger_2 = 1;
                        }
                    }
                    else if (outPort.Any(v => v.Data.PH_STATUS && v.Data.TASKNUM > 0) && doOut && !station_3060.Data.PH_STATUS && station_3060.Data.TASKNUM == 0)
                    {
                        if (station_3012.Data.PH_STATUS && station_3012.Data.TASKNUM > 0 && noPhstatus)
                        {
                            if (station_3060.Data.PH_STATUS || station_3060.Data.TASKNUM > 10000) return;
                            var arr = Device.Find("3006", "3060", "3001", "3005", "3004").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                            if (!arr.Any(v => v.Data.GOODSEND is 3060 or 3013))
                            {
                                if (arr.Any(v => v.Data.GOODSTYPE == 1)) throw new Exception("交通管制,提升机被入库任务占用");
                                if (arr.Any(v => v.Data.PH_STATUS && v.Data.TASKNUM == 0)) throw new Exception("有光电无任务，交通管制,提升机被入库任务占用");
                                if (arr.Any(v => !v.Data.PH_STATUS && v.Data.TASKNUM > 10000)) throw new Exception("有任务无光电,请检查光电是否异常");

                                DB.Do(db =>
                                {
                                    var task = db.Default.Set<WCS_TASK>().Find(station_3012.Data.TASKNUM);
                                    if (task == null)
                                        throw new Exception($"任务号{station_3012.Data.TASKNUM}不存在");
                                    task.ADDRNEXT = "3060";
                                    task.UPDATETIME = DateTime.Now;
                                    db.Default.SaveChanges();
                                    //station.Data2.TASKNUM = station.Data.TASKNUM;
                                    station_3012.Data2.GOODSEND = 3060;
                                    station_3012.Data2.GOODSTYPE = 2;
                                    station_3012.Data2.CONFIRM = true;
                                });
                            }
                            dev.Data2.TaskID_2 = station_3012.Data.TASKNUM;
                            dev.Data2.TaskType_2 = Convert.ToInt16(DRGVTaskType.取货);
                            dev.Data2.StartPosition_2 = 3060;
                            dev.Data2.DestPosition_2 = 3012;
                            dev.Data2.Trigger_2 = 1;
                        }
                        else if (station_3028.Data.PH_STATUS && station_3028.Data.TASKNUM > 0 && noPhstatus)
                        {
                            if (station_3060.Data.PH_STATUS || station_3060.Data.TASKNUM > 10000) return;
                            var arr = Device.Find("3006", "3060", "3001", "3005", "3004").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                            if (!arr.Any(v => v.Data.GOODSEND is 3060 or 3013))
                            {
                                if (arr.Any(v => v.Data.GOODSTYPE == 1)) throw new Exception("交通管制,提升机被入库任务占用");
                                if (arr.Any(v => v.Data.PH_STATUS && v.Data.TASKNUM == 0)) throw new Exception("有光电无任务，交通管制,提升机被入库任务占用");
                                if (arr.Any(v => !v.Data.PH_STATUS && v.Data.TASKNUM > 10000)) throw new Exception("有任务无光电,请检查光电是否异常");
                                DB.Do(db =>
                                {
                                    var task = db.Default.Set<WCS_TASK>().Find(station_3028.Data.TASKNUM);
                                    if (task == null)
                                        throw new Exception($"任务号{station_3028.Data.TASKNUM}不存在");
                                    task.ADDRNEXT = "3060";
                                    task.UPDATETIME = DateTime.Now;
                                    db.Default.SaveChanges();
                                    //station.Data2.TASKNUM = station.Data.TASKNUM;
                                    station_3028.Data2.GOODSEND = 3060;
                                    station_3028.Data2.GOODSTYPE = 2;
                                    station_3028.Data2.CONFIRM = true;
                                });
                            }
                            dev.Data2.TaskID_2 = station_3028.Data.TASKNUM;
                            dev.Data2.TaskType_2 = Convert.ToInt16(DRGVTaskType.取货);
                            dev.Data2.StartPosition_2 = 3060;
                            dev.Data2.DestPosition_2 = 3028;
                            dev.Data2.Trigger_2 = 1;
                        }
                    }

                    #region 放货任务

                    //判断小车是否有工位有光电,小车空闲自动且有光电代表需要执行放货任务
                    if (dev.Data.PH_Status_1 || dev.Data.PH_Status_2)
                    {
                        if (dev.Data.PH_Status_1 && dev.Data.TaskType_1 != DRGVTaskType.放货) //工位一需要放货
                        {
                            if (dev.Data.TaskID_1 < 10000) throw new Exception("有光电无任务号");                  
                            //获取任务
                            DB.Do(db =>
                            {
                                var task = db.Default.Set<WCS_TASK>().FirstOrDefault(v => v.ID == dev.Data.TaskID_1) ?? throw new Exception($"WCS不存在任务{dev.Data.TaskID_1}");                             
                            });
                            //TODO:放货站点有货检查
                            dev.Data2.TaskID_1 = dev.Data.TaskID_1;
                            dev.Data2.TaskType_1 = Convert.ToInt16(DRGVTaskType.放货);
                            dev.Data2.DestPosition_1 = dev.Data2.StartPosition_1;
                            dev.Data.RES = dev.Data2.DestPosition_1;
                            dev.Data2.Trigger_1 = 1;
                        }
                        else if (dev.Data.PH_Status_2 && dev.Data.TaskType_2 != DRGVTaskType.放货)//工位二需要放货
                        {
                            if (dev.Data.TaskID_2 < 10000) throw new Exception("有光电无任务号");                            
                            //获取任务
                            DB.Do(db =>
                            {
                                var task = db.Default.Set<WCS_TASK>().FirstOrDefault(v => v.ID == dev.Data.TaskID_2) ?? throw new Exception($"WCS不存在任务{dev.Data.TaskID_2}");                              
                            });
                            //TODO:放货站点有货检查
                            dev.Data2.TaskID_2 = dev.Data.TaskID_2;
                            dev.Data2.TaskType_2 = Convert.ToInt16(DRGVTaskType.放货);
                            dev.Data2.DestPosition_2 = dev.Data2.StartPosition_2;                       
                            dev.Data.RES = dev.Data2.DestPosition_2;
                            dev.Data2.Trigger_2 = 1;
                        }
                    }

                    #endregion 放货任务

                    bool isOK = true;
                    DB.Do(db =>
                    {
                        //判断是否可以分配RGV出库任务
                        isOK = !db.Default.Set<WCS_AGVTask>().Any(v => v.TaskType == AGVTaskType.入库 && v.Status <= AGVTaskStatus.完成 && v.Status > AGVTaskStatus.确认 && v.Status != AGVTaskStatus.执行 && v.Station == "3001");
                        var inArr = Device.Find("3001", "3004", "3005", "3006").Select(v => v.Device<IStation521, IStation520>());
                        if (inArr.Any(v => v.Data2.CONFIRM == true || (v.Data.PH_STATUS && v.Data.TASKNUM > 0 && (v.Data.GOODSEND is 0 or 1 or 2 or 3 or 3060)))) isOK = false;
                    });
                  
                    #region 取货任务
                    
                    if (station_3060.Data.PH_STATUS && station_3060.Data.GOODSTYPE==1 && station_3060.Data.TASKNUM > 10000 && noPhstatus)
                    {
                        if (station_3041.Data.PH_STATUS || station_3041.Data.TASKNUM > 10000) return;
                        DB.Do(db =>
                        {
                            var task = db.Default.Set<WCS_TASK>().Find(station_3060.Data.TASKNUM);
                            if (task == null)
                                throw new Exception($"任务号{station_3060.Data.TASKNUM}不存在");
                            task.ADDRNEXT = "3041";
                            task.ADDRTO = "2017";
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();

                            station_3060.Data2.GOODSEND = 3041;
                            station_3060.Data2.GOODSTYPE = 1;
                            station_3060.Data2.CONFIRM = true;
                        });
                        dev.Data2.TaskID_2 = station_3060.Data.TASKNUM;
                        dev.Data2.TaskType_2 = Convert.ToInt16(DRGVTaskType.取货);
                        dev.Data2.StartPosition_2 = 3041;
                        dev.Data2.DestPosition_2 = 3060;
                        dev.Data2.Trigger_2 = 1;
                    }
                    else if (station_3040.Data.PH_STATUS  && station_3040.Data.TASKNUM > 10000 && isOK && noPhstatus)
                    {
                        short outTemp = 3060;
                        var arr = Device.Find("3006", "3060", "3001", "3005", "3004").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                        if (!arr.Any(v => v.Data.GOODSEND is 3060 or 3013))
                        {
                            if (arr.Any(v => v.Data.GOODSTYPE == 1)) throw new Exception("交通管制,提升机被入库任务占用");
                            if (arr.Any(v => v.Data.PH_STATUS && v.Data.TASKNUM == 0)) throw new Exception("有光电无任务，交通管制,提升机被入库任务占用");
                            if (arr.Any(v => !v.Data.PH_STATUS && v.Data.TASKNUM > 10000)) throw new Exception("有任务无光电,请检查光电是否异常");
                            DB.Do(db =>
                            {
                                var task = db.Default.Set<WCS_TASK>().Find(station_3040.Data.TASKNUM);
                                if (task == null)
                                    throw new Exception($"任务号{station_3040.Data.TASKNUM}不存在");
                                task.ADDRNEXT = outTemp.ToString();
                                task.UPDATETIME = DateTime.Now;
                                db.Default.SaveChanges();
                                station_3040.Data2.GOODSEND = outTemp;
                                station_3040.Data2.GOODSTYPE = 2;
                                station_3040.Data2.CONFIRM = true;
                            });
                            dev.Data2.TaskID_2 = station_3040.Data.TASKNUM;
                            dev.Data2.TaskType_2 = Convert.ToInt16(DRGVTaskType.取货);
                            dev.Data2.StartPosition_2 = 3060;
                            dev.Data2.DestPosition_2 = 3040;
                            dev.Data2.Trigger_2 = 1;
                        }
                    }
                    #endregion
                }
            }
        }

        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            return dev.CODE is "RGV4" or "RGV6";
        }
    }

    [WorkTitle(typeof(ProductHandler), "连廊单工位RGV", true)]
    public class 连廊RGV : DeviceWork<Device<IRGV521, IRGV520, IRGV523>>
    {
        protected override void Do(Device<IRGV521, IRGV520, IRGV523> dev)
        {
            //没有RGV故障
            if (!SystemConfigHelpers.GetDeviceEnabled("CarError"))
            {
                if (dev.Data3.Fault != 0)
                {
                    if (dev.Entity.WakeupOn(5000))
                    {
                        WMS.DevInfo(dev.Entity.CODE, dev.Data3.Fault.ToString());
                    }
                }

                if (Ltc.Do(dev, v => v.Data2.Trigger != 0)) return;
                if (Ltc.Do(dev, v => v.Data.WorkMode != RGVMode.自动)) return;
                if (Ltc.Do(dev, v => v.Data.SystemStatus != RGVRunStatus.空闲)) return;

                //分配目标地址
                var station = Device.Find("3012").Device<IStation521, IStation520>();
                var station_3028 = Device.Find("3028").Device<IStation521, IStation520>();
                var station_3019 = Device.Find("3019").Device<IStation521, IStation520>();
                var station_3060 = Device.Find("3060").Device<IStation521, IStation520>();
                if (station_3060.Data.PH_STATUS && station_3060.Data.GOODSEND == 3060 && station_3060.Data.TASKNUM > 10000)
                {
                    var station_3013 = Device.Find("3013").Device<IStation521, IStation520>();
                    if (!station_3013.Data.PH_STATUS && station_3013.Data.TASKNUM == 0)
                    {
                        DB.Do(db =>
                        {
                            var task = db.Default.Set<WCS_TASK>().Find(station_3060.Data.TASKNUM);
                            if (task == null)
                                throw new Exception($"任务号{station_3060.Data.TASKNUM}不存在");
                            if (task.TYPE == TaskType.出库) return;
                            task.ADDRNEXT = station_3060.Entity.CODE;
                            task.ADDRTO = "2017";
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();
                            station_3060.Data2.GOODSEND = 3013;
                            station_3060.Data2.CONFIRM = true;
                        });
                    }
                }
                if (station.Data.PH_STATUS && station.Data.GOODSEND == 3012 && station.Data.TASKNUM > 10000)
                {
                    short outTemp = 3060;
                    var arr = Device.Find("3006", "3060", "3001", "3005", "3004").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                    if (!arr.Any(v => v.Data.GOODSEND is 3060 or 3013))
                    {
                        if (arr.Any(v => v.Data.GOODSTYPE == 1)) throw new Exception("交通管制,提升机被入库任务占用");
                        if (arr.Any(v => v.Data.PH_STATUS && v.Data.TASKNUM == 0)) throw new Exception("有光电无任务，交通管制,提升机被入库任务占用");
                        if (arr.Any(v => !v.Data.PH_STATUS && v.Data.TASKNUM > 10000)) throw new Exception("有任务无光电,请检查光电是否异常");

                        DB.Do(db =>
                        {
                            var task = db.Default.Set<WCS_TASK>().Find(station.Data.TASKNUM);
                            if (task == null)
                                throw new Exception($"任务号{station.Data.TASKNUM}不存在");
                            task.ADDRNEXT = outTemp.ToString();
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();
                            //station.Data2.TASKNUM = station.Data.TASKNUM;
                            station.Data2.GOODSEND = outTemp;
                            station.Data2.GOODSTYPE = 2;
                            station.Data2.CONFIRM = true;
                        });
                    }
                }
                if (station_3028.Data.PH_STATUS && station_3028.Data.GOODSEND == 3028 && station_3028.Data.TASKNUM > 10000)
                {
                    var station_3020 = Device.Find("3020").Device<IStation521, IStation520>();
                    if (!station_3020.Data.PH_STATUS && station_3020.Data.TASKNUM == 0)
                    {
                        DB.Do(db =>
                        {
                            var task = db.Default.Set<WCS_TASK>().Find(station_3028.Data.TASKNUM);
                            if (task == null)
                                throw new Exception($"任务号{station.Data.TASKNUM}不存在");
                            task.ADDRNEXT = station_3020.Entity.CODE;
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();
                            //station_3028.Data2.TASKNUM = station.Data.TASKNUM;
                            station_3028.Data2.GOODSEND = 3020;
                            station_3028.Data2.CONFIRM = true;
                        });
                    }
                }
                if (station_3019.Data.PH_STATUS && station_3019.Data.GOODSEND == 3019 && station_3019.Data.TASKNUM > 10000)
                {
                    var station_3029 = Device.Find("3029").Device<IStation521, IStation520>();
                    if (!station_3029.Data.PH_STATUS && station_3029.Data.TASKNUM == 0)
                    {
                        DB.Do(db =>
                        {
                            var task = db.Default.Set<WCS_TASK>().Find(station_3019.Data.TASKNUM);
                            if (task == null)
                                throw new Exception($"任务号{station_3019.Data.TASKNUM}不存在");
                            task.ADDRNEXT = station_3029.Entity.CODE;
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();
                            //station_3019.Data2.TASKNUM = station.Data.TASKNUM;
                            station_3019.Data2.GOODSEND = 3029;
                            station_3019.Data2.CONFIRM = true;
                        });
                    }
                }
                bool agvTaks = false;
                if (dev.Entity.CODE == "RGV8")
                {
                    DB.Do(db =>
                    {
                        agvTaks = db.Default.Set<WCS_AGVTask>().Any(v => v.TaskType == AGVTaskType.入库 && v.Status <= AGVTaskStatus.完成 && v.Status >= AGVTaskStatus.确认 && v.Status != AGVTaskStatus.执行 && v.Station == "3001");
                        var station_3060 = Device.Find("3001", "3004", "3005", "3006").Select(v => v.Device<IStation521, IStation520>());
                        if (station_3060.Any(v => v.Data2.CONFIRM == true || (v.Data.PH_STATUS && v.Data.TASKNUM > 0 && (v.Data.GOODSEND is 0 or 1 or 2 or 3 or 3060)))) agvTaks = false;

                    });
                };
                //获取所有需要取货的站台
                //获取下一个地址为当前RGV的站台，此处不考虑一台车跑全程
                var validPickupPoints = Device.Where(v => v.ROUTES.Any(p => p.NEXT.CODE == dev.Entity.CODE)).ToList()
                                .Select(v => v.Device<IStation521, IStation520, IStation523>())
                                .Where(v => v.Data.PH_STATUS && v.Data.TASKNUM > 10000 && v.Data.GOODSEND != Convert.ToInt16(v.Entity.CODE))//需要取货的站点
                                .Where(v => //是否可以进行取货，主要用于判断放货位是否有货
                                {
                                    var end = Device.Find(v.Data.GOODSEND.ToString()).Device<IStation521>();
                                    var res = end.Data.TASKNUM == 0 && end.Data.PH_STATUS == false;
                                    if (v.Entity.CODE == "3012")
                                    {
                                        if (agvTaks) res = false;
                                    }
                                    return res;
                                });

                if (!validPickupPoints.Any()) return;//不需要取货

                var validPickupPoint = validPickupPoints.OrderBy(v => v.UpdateTime).FirstOrDefault() ?? throw new Exception("没有站台需要取货");

                if (validPickupPoint.Data.GOODSEND != 3005)
                {
                    dev.Data2.TaskID = validPickupPoint.Data.TASKNUM;
                    dev.Data2.StartPosition = Convert.ToInt16(validPickupPoint.Entity.CODE);
                    dev.Data2.DestPosition = validPickupPoint.Data.GOODSEND;
                    dev.Data2.Trigger = 1;

                    DB.Do(db =>
                    {
                        var task = db.Default.Set<WCS_TASK>().Find(validPickupPoint.Data.TASKNUM);
                        if (task != null)
                            task.CreateStatusLog(db, $"任务下发给[{dev.Entity.CODE}]执行，起始地址[{validPickupPoint.Entity.CODE}],目标地址[{validPickupPoint.Data.GOODSEND}]");
                    });
                }
                
            }
            else if (SystemConfigHelpers.GetDeviceIsUsed("RGV7") && dev.Entity.CODE == "RGV7")
            {
                if (dev.Data3.Fault != 0)
                {
                    if (dev.Entity.WakeupOn(5000))
                    {
                        WMS.DevInfo(dev.Entity.CODE, dev.Data3.Fault.ToString());
                    }
                }
                if (Ltc.Do(dev, v => v.Data2.Trigger != 0)) return;
                if (Ltc.Do(dev, v => v.Data.WorkMode != RGVMode.自动)) return;
                if (Ltc.Do(dev, v => v.Data.SystemStatus != RGVRunStatus.空闲)) return;

                //执行任务之前优先处理缓存位上的任务 出：3028、3012   入：3019、3033
                //有入库的先执行入库,做出库要判断是否有入库               
                var inPort = Device.Find("3019", "3033").Select(v => v.Device<IStation521, IStation520>());
                var outPort = Device.Find("3028", "3012").Select(v => v.Device<IStation521, IStation520>());
                var station_3040 = Device.Find("3040").Device<IStation521, IStation520>();
                var station_3060 = Device.Find("3060").Device<IStation521, IStation520>();
                var station_3041 = Device.Find("3041").Device<IStation521, IStation520>();

                var station_3019 = Device.Find("3019").Device<IStation521, IStation520>();
                var station_3033 = Device.Find("3033").Device<IStation521, IStation520>();
                var station_3028 = Device.Find("3028").Device<IStation521, IStation520>();
                var station_3012 = Device.Find("3012").Device<IStation521, IStation520>();
                //是否可以执行缓存位的出库任务
                bool doOut = true;
                DB.Do(db =>
                {
                    var flag = db.Default.Set<WCS_AGVTask>().Any(v => v.TaskType == AGVTaskType.入库 && v.Status <= AGVTaskStatus.完成 && v.Status >= AGVTaskStatus.确认 && v.Status != AGVTaskStatus.执行 && v.Station == "3001");
                    if (flag)
                    {
                        doOut = false;
                    }
                    var inPos = Device.Find("3001", "3004", "3005", "3060").Select(v => v.Device<IStation521, IStation520>());
                    if (inPos.Any(v => v.Data2.CONFIRM == true || (v.Data.PH_STATUS && v.Data.TASKNUM > 0 && (v.Data.GOODSEND is 0 or 1 or 2 or 3 or 3060)))) doOut = false;
                });
                bool noPhstatus = Ltc.Do(dev, v => v.Data.PH_Status == false);

                if (inPort.Any(v => v.Data.PH_STATUS && v.Data.TASKNUM > 0 && !station_3041.Data.PH_STATUS && station_3041.Data.TASKNUM == 0))
                {
                    if (station_3019.Data.PH_STATUS && station_3019.Data.TASKNUM > 0 && noPhstatus)
                    {
                        if (station_3041.Data.PH_STATUS || station_3041.Data.TASKNUM > 10000) return;
                        DB.Do(db =>
                        {
                            var task = db.Default.Set<WCS_TASK>().Find(station_3019.Data.TASKNUM);
                            if (task == null)
                                throw new Exception($"任务号{station_3019.Data.TASKNUM}不存在");
                            task.ADDRNEXT = "3041";
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();
                        });

                        station_3019.Data2.GOODSEND = 3041;
                        station_3019.Data2.CONFIRM = true;
                        dev.Data2.TaskID = station_3019.Data.TASKNUM;
                        dev.Data2.StartPosition = 3019;
                        dev.Data2.DestPosition = 3041;
                        dev.Data2.Trigger = 1;
                    }
                    else if (station_3033.Data.PH_STATUS && station_3033.Data.TASKNUM > 0 && noPhstatus)
                    {
                        if (station_3041.Data.PH_STATUS || station_3041.Data.TASKNUM > 10000) return;
                        DB.Do(db =>
                        {
                            var task = db.Default.Set<WCS_TASK>().Find(station_3033.Data.TASKNUM);
                            if (task == null)
                                throw new Exception($"任务号{station_3033.Data.TASKNUM}不存在");
                            task.ADDRNEXT = "3041";
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();
                        });

                        station_3033.Data2.GOODSEND = 3041;
                        station_3033.Data2.CONFIRM = true;
                        dev.Data2.TaskID = station_3033.Data.TASKNUM;
                        dev.Data2.StartPosition = 3033;
                        dev.Data2.DestPosition = 3041;
                        dev.Data2.Trigger = 1;
                    }
                }
                else if (outPort.Any(v => v.Data.PH_STATUS && v.Data.TASKNUM > 0) && doOut && !station_3060.Data.PH_STATUS && station_3060.Data.TASKNUM == 0)
                {
                    if (station_3012.Data.PH_STATUS && station_3012.Data.TASKNUM > 0 && noPhstatus)
                    {
                        if (station_3060.Data.PH_STATUS || station_3060.Data.TASKNUM > 10000) return;
                        var arr = Device.Find("3006", "3060", "3001", "3005", "3004").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                        if (!arr.Any(v => v.Data.GOODSEND is 3060 or 3013))
                        {
                            if (arr.Any(v => v.Data.GOODSTYPE == 1)) throw new Exception("交通管制,提升机被入库任务占用");
                            if (arr.Any(v => v.Data.PH_STATUS && v.Data.TASKNUM == 0)) throw new Exception("有光电无任务，交通管制,提升机被入库任务占用");
                            if (arr.Any(v => !v.Data.PH_STATUS && v.Data.TASKNUM > 10000)) throw new Exception("有任务无光电,请检查光电是否异常");

                            DB.Do(db =>
                            {
                                var task = db.Default.Set<WCS_TASK>().Find(station_3012.Data.TASKNUM);
                                if (task == null)
                                    throw new Exception($"任务号{station_3012.Data.TASKNUM}不存在");
                                task.ADDRNEXT = "3060";
                                task.UPDATETIME = DateTime.Now;
                                db.Default.SaveChanges();
                                //station.Data2.TASKNUM = station.Data.TASKNUM;
                                station_3012.Data2.GOODSEND = 3060;
                                station_3012.Data2.GOODSTYPE = 2;
                                station_3012.Data2.CONFIRM = true;
                            });
                        }                       
                        dev.Data2.TaskID = station_3012.Data.TASKNUM;
                        dev.Data2.StartPosition = 3012;
                        dev.Data2.DestPosition = 3060;
                        dev.Data2.Trigger = 1;
                    }
                    else if (station_3028.Data.PH_STATUS && station_3028.Data.TASKNUM > 0 && noPhstatus)
                    {
                        if (station_3060.Data.PH_STATUS || station_3060.Data.TASKNUM > 10000) return;
                        var arr = Device.Find("3006", "3060", "3001", "3005", "3004").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                        if (!arr.Any(v => v.Data.GOODSEND is 3060 or 3013))
                        {
                            if (arr.Any(v => v.Data.GOODSTYPE == 1)) throw new Exception("交通管制,提升机被入库任务占用");
                            if (arr.Any(v => v.Data.PH_STATUS && v.Data.TASKNUM == 0)) throw new Exception("有光电无任务，交通管制,提升机被入库任务占用");
                            if (arr.Any(v => !v.Data.PH_STATUS && v.Data.TASKNUM > 10000)) throw new Exception("有任务无光电,请检查光电是否异常");
                            DB.Do(db =>
                            {
                                var task = db.Default.Set<WCS_TASK>().Find(station_3028.Data.TASKNUM);
                                if (task == null)
                                    throw new Exception($"任务号{station_3028.Data.TASKNUM}不存在");
                                task.ADDRNEXT = "3060";
                                task.UPDATETIME = DateTime.Now;
                                db.Default.SaveChanges();
                                //station.Data2.TASKNUM = station.Data.TASKNUM;
                                station_3028.Data2.GOODSEND = 3060;
                                station_3028.Data2.GOODSTYPE = 2;
                                station_3028.Data2.CONFIRM = true;
                            });
                        }
                        dev.Data2.TaskID = station_3028.Data.TASKNUM;
                        dev.Data2.StartPosition = 3028;
                        dev.Data2.DestPosition = 3060;
                        dev.Data2.Trigger = 1;
                    }
                }

                bool isOK = false;
                DB.Do(db =>
                {
                    //判断是否可以分配RGV出库任务
                    var inArr = Device.Find("3001", "3004", "3005", "3060").Select(v => v.Device<IStation521, IStation520>());
                    bool falg = db.Default.Set<WCS_AGVTask>().Any(v => v.TaskType == AGVTaskType.入库 && v.Status <= AGVTaskStatus.完成 && v.Status >= AGVTaskStatus.确认 && v.Status != AGVTaskStatus.执行 && v.Station == "3001");
                    if (falg)
                    {
                        isOK = false;
                    }
                    else if (inArr.Any(v => v.Data2.CONFIRM == true || (v.Data.PH_STATUS && v.Data.TASKNUM > 0 && (v.Data.GOODSEND is 0 or 1 or 2 or 3 or 3060))))
                    {
                        isOK = false;
                    }
                    else
                    {
                        isOK = true;
                    }
                });
                
                if (station_3060.Data.PH_STATUS && (station_3060.Data.GOODSEND == 3060 || station_3060.Data.GOODSEND == 3013)&& station_3060.Data.TASKNUM > 10000 && noPhstatus)
                {
                    if (station_3041.Data.PH_STATUS || station_3041.Data.TASKNUM > 10000) return;
                    DB.Do(db =>
                    {
                        var task = db.Default.Set<WCS_TASK>().Find(station_3060.Data.TASKNUM);
                        if (task == null)
                            throw new Exception($"任务号{station_3060.Data.TASKNUM}不存在");
                        else if (task.TYPE == TaskType.出库 || station_3060.Data.GOODSTYPE == 2) return;
                        task.ADDRNEXT = "3041";
                        task.ADDRTO = "2017";
                        task.UPDATETIME = DateTime.Now;
                        db.Default.SaveChanges();
                        station_3060.Data2.GOODSEND = 3041;
                        station_3060.Data2.GOODSTYPE = 1;
                        station_3060.Data2.CONFIRM = true;
                    });
                    dev.Data2.TaskID = station_3060.Data.TASKNUM;
                    dev.Data2.StartPosition = 3060;
                    dev.Data2.DestPosition = 3041;
                    dev.Data2.Trigger = 1;
                }
                else if (isOK && station_3040.Data.PH_STATUS  && station_3040.Data.TASKNUM > 10000 && noPhstatus)
                {
                    short outTemp = 3060;
                    var arr = Device.Find("3006", "3060", "3001", "3005", "3004").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                    if (!arr.Any(v => v.Data.GOODSEND is 3060 or 3013))
                    {
                        if (arr.Any(v => v.Data.GOODSTYPE == 1)) throw new Exception("交通管制,提升机被入库任务占用");
                        if (arr.Any(v => v.Data.PH_STATUS && v.Data.TASKNUM == 0)) throw new Exception("有光电无任务，交通管制,提升机被入库任务占用");
                        if (arr.Any(v => !v.Data.PH_STATUS && v.Data.TASKNUM > 10000)) throw new Exception("有任务无光电,请检查光电是否异常");

                        DB.Do(db =>
                        {
                            var task = db.Default.Set<WCS_TASK>().Find(station_3040.Data.TASKNUM);
                            if (task == null)
                                throw new Exception($"任务号{station_3040.Data.TASKNUM}不存在");
                            task.ADDRNEXT = outTemp.ToString();
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();
                            station_3040.Data2.GOODSEND = outTemp;
                            station_3040.Data2.GOODSTYPE = 2;
                            station_3040.Data2.CONFIRM = true;
                        });
                        dev.Data2.TaskID = station_3040.Data.TASKNUM;
                        dev.Data2.StartPosition = 3040;
                        dev.Data2.DestPosition = 3060;
                        dev.Data2.Trigger = 1;
                    }
                }
            }
            else if (SystemConfigHelpers.GetDeviceIsUsed("RGV8") && dev.Entity.CODE == "RGV8")
            {
                if (dev.Data3.Fault != 0)
                {
                    if (dev.Entity.WakeupOn(5000))
                    {
                        WMS.DevInfo(dev.Entity.CODE, dev.Data3.Fault.ToString());
                    }
                }
                if (Ltc.Do(dev, v => v.Data2.Trigger != 0)) return;
                if (Ltc.Do(dev, v => v.Data.WorkMode != RGVMode.自动)) return;
                if (Ltc.Do(dev, v => v.Data.SystemStatus != RGVRunStatus.空闲)) return;

                //执行任务之前先处理缓存位上的任务 出：3028、3012   入：3019、3033
                //有入库的先执行入库,做出库要判断是否有入库               
                var inPort = Device.Find("3019", "3033").Select(v => v.Device<IStation521, IStation520>());
                var outPort = Device.Find("3028", "3012").Select(v => v.Device<IStation521, IStation520>());
                var station_3040 = Device.Find("3040").Device<IStation521, IStation520>();
                var station_3060 = Device.Find("3060").Device<IStation521, IStation520>();
                var station_3041 = Device.Find("3041").Device<IStation521, IStation520>();

                var station_3019 = Device.Find("3019").Device<IStation521, IStation520>();
                var station_3033 = Device.Find("3033").Device<IStation521, IStation520>();
                var station_3028 = Device.Find("3028").Device<IStation521, IStation520>();
                var station_3012 = Device.Find("3012").Device<IStation521, IStation520>();
                //是否可以执行缓存位的出库任务
                bool doOut = true;
                DB.Do(db =>
                {
                    var flag = db.Default.Set<WCS_AGVTask>().Any(v => v.TaskType == AGVTaskType.入库 && v.Status <= AGVTaskStatus.完成 && v.Status >= AGVTaskStatus.确认 && v.Status != AGVTaskStatus.执行 && v.Station == "3001");
                    if (flag)
                    {
                        doOut = false;
                    }                     
                    var inPos = Device.Find("3001", "3004", "3005", "3060").Select(v => v.Device<IStation521, IStation520>());
                    if (inPos.Any(v => v.Data2.CONFIRM == true || (v.Data.PH_STATUS && v.Data.TASKNUM > 0 && (v.Data.GOODSEND is 0 or 1 or 2 or 3 or 3060)))) doOut = false;
                });
                bool noPhstatus = Ltc.Do(dev, v => v.Data.PH_Status == false);

                if (inPort.Any(v => v.Data.PH_STATUS && v.Data.TASKNUM > 0 && !station_3041.Data.PH_STATUS && station_3041.Data.TASKNUM == 0))
                {
                    if (station_3019.Data.PH_STATUS && station_3019.Data.TASKNUM > 0 && noPhstatus)
                    {
                        if (station_3041.Data.PH_STATUS || station_3041.Data.TASKNUM > 10000) return;
                        DB.Do(db =>
                        {
                            var task = db.Default.Set<WCS_TASK>().Find(station_3019.Data.TASKNUM);
                            if (task == null)
                                throw new Exception($"任务号{station_3019.Data.TASKNUM}不存在");
                            task.ADDRNEXT = "3041";
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();
                        });
                        station_3019.Data2.GOODSEND = 3041;
                        station_3019.Data2.CONFIRM = true;
                        dev.Data2.TaskID = station_3019.Data.TASKNUM;
                        dev.Data2.StartPosition = 3019;
                        dev.Data2.DestPosition = 3041;
                        dev.Data2.Trigger = 1;
                    }
                    else if (station_3033.Data.PH_STATUS && station_3033.Data.TASKNUM > 0 && noPhstatus)
                    {
                        if (station_3041.Data.PH_STATUS || station_3041.Data.TASKNUM > 10000) return;
                        DB.Do(db =>
                        {
                            var task = db.Default.Set<WCS_TASK>().Find(station_3033.Data.TASKNUM);
                            if (task == null)
                                throw new Exception($"任务号{station_3019.Data.TASKNUM}不存在");
                            task.ADDRNEXT = "3041";
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();
                        });
                        station_3033.Data2.GOODSEND = 3041;
                        station_3033.Data2.CONFIRM = true;
                        dev.Data2.TaskID = station_3033.Data.TASKNUM;
                        dev.Data2.StartPosition = 3033;
                        dev.Data2.DestPosition = 3041;
                        dev.Data2.Trigger = 1;
                    }
                }
                else if (outPort.Any(v => v.Data.PH_STATUS && v.Data.TASKNUM > 0 ) && doOut && !station_3060.Data.PH_STATUS && station_3060.Data.TASKNUM == 0)
                {
                    if (station_3012.Data.PH_STATUS && station_3012.Data.TASKNUM > 0 && noPhstatus)
                    {
                        if (station_3060.Data.PH_STATUS || station_3060.Data.TASKNUM > 10000) return;
                        var arr = Device.Find("3006", "3060", "3001", "3005", "3004").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                        if (!arr.Any(v => v.Data.GOODSEND is 3060 or 3013))
                        {
                            if (arr.Any(v => v.Data.GOODSTYPE == 1)) throw new Exception("交通管制,提升机被入库任务占用");
                            if (arr.Any(v => v.Data.PH_STATUS && v.Data.TASKNUM == 0)) throw new Exception("有光电无任务，交通管制,提升机被入库任务占用");
                            if (arr.Any(v => !v.Data.PH_STATUS && v.Data.TASKNUM > 10000)) throw new Exception("有任务无光电,请检查光电是否异常");

                            DB.Do(db =>
                            {
                                var task = db.Default.Set<WCS_TASK>().Find(station_3012.Data.TASKNUM);
                                if (task == null)
                                    throw new Exception($"任务号{station_3012.Data.TASKNUM}不存在");
                                task.ADDRNEXT = "3060";
                                task.UPDATETIME = DateTime.Now;
                                db.Default.SaveChanges();
                                //station.Data2.TASKNUM = station.Data.TASKNUM;
                                station_3012.Data2.GOODSEND = 3060;
                                station_3012.Data2.GOODSTYPE = 2;
                                station_3012.Data2.CONFIRM = true;
                            });
                        }
                        dev.Data2.TaskID = station_3012.Data.TASKNUM;
                        dev.Data2.StartPosition = 3012;
                        dev.Data2.DestPosition = 3060;
                        dev.Data2.Trigger = 1;
                    }
                    else if (station_3028.Data.PH_STATUS && station_3028.Data.TASKNUM > 0 && noPhstatus)
                    {
                        if (station_3060.Data.PH_STATUS || station_3060.Data.TASKNUM > 10000) return;
                        var arr = Device.Find("3006", "3060", "3001", "3005", "3004").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                        if (!arr.Any(v => v.Data.GOODSEND is 3060 or 3013))
                        {
                            if (arr.Any(v => v.Data.GOODSTYPE == 1)) throw new Exception("交通管制,提升机被入库任务占用");
                            if (arr.Any(v => v.Data.PH_STATUS && v.Data.TASKNUM == 0)) throw new Exception("有光电无任务，交通管制,提升机被入库任务占用");
                            if (arr.Any(v => !v.Data.PH_STATUS && v.Data.TASKNUM > 10000)) throw new Exception("有任务无光电,请检查光电是否异常");
                            DB.Do(db =>
                            {
                                var task = db.Default.Set<WCS_TASK>().Find(station_3028.Data.TASKNUM);
                                if (task == null)
                                    throw new Exception($"任务号{station_3028.Data.TASKNUM}不存在");
                                task.ADDRNEXT = "3060";
                                task.UPDATETIME = DateTime.Now;
                                db.Default.SaveChanges();
                                //station.Data2.TASKNUM = station.Data.TASKNUM;
                                station_3028.Data2.GOODSEND = 3060;
                                station_3028.Data2.GOODSTYPE = 2;
                                station_3028.Data2.CONFIRM = true;
                            });
                        }
                        dev.Data2.TaskID = station_3028.Data.TASKNUM;
                        dev.Data2.StartPosition = 3028;
                        dev.Data2.DestPosition = 3060;
                        dev.Data2.Trigger = 1;
                    }
                }

                bool isOK = false;
                DB.Do(db =>
                {
                    //判断是否可以分配RGV出库任务
                    var inArr = Device.Find("3001", "3004", "3005", "3060").Select(v => v.Device<IStation521, IStation520>());
                    bool falg = db.Default.Set<WCS_AGVTask>().Any(v => v.TaskType == AGVTaskType.入库 && v.Status <= AGVTaskStatus.完成 && v.Status >= AGVTaskStatus.确认 && v.Status != AGVTaskStatus.执行 && v.Station == "3001");
                    if (falg)
                    {
                        isOK = false;
                    }
                    else if (inArr.Any(v => v.Data2.CONFIRM == true || (v.Data.PH_STATUS && v.Data.TASKNUM > 0 && (v.Data.GOODSEND is 0 or 1 or 2 or 3 or 3060))))
                    {
                        isOK = false;
                    }
                    else
                    {
                        isOK = true;
                    }
                });

                
                
                if (station_3060.Data.PH_STATUS && (station_3060.Data.GOODSEND == 3060 || station_3060.Data.GOODSEND == 3013) && station_3060.Data.TASKNUM > 10000 && noPhstatus)
                {
                    if (station_3041.Data.PH_STATUS || station_3041.Data.TASKNUM > 10000) return;
                    DB.Do(db =>
                    {
                        var task = db.Default.Set<WCS_TASK>().Find(station_3060.Data.TASKNUM);
                        if (task == null)
                            throw new Exception($"任务号{station_3060.Data.TASKNUM}不存在");
                        else if (task.TYPE == TaskType.出库 || station_3060.Data.GOODSTYPE == 2) return;
                        task.ADDRNEXT = "3041";
                        task.ADDRTO = "2017";
                        task.UPDATETIME = DateTime.Now;
                        db.Default.SaveChanges();
                    });
                    station_3060.Data2.GOODSEND = 3041;
                    station_3060.Data2.GOODSTYPE = 1;
                    station_3060.Data2.CONFIRM = true;
                    dev.Data2.TaskID = station_3060.Data.TASKNUM;
                    dev.Data2.StartPosition = 3060;
                    dev.Data2.DestPosition = 3041;
                    dev.Data2.Trigger = 1;
                }
                else if (isOK && station_3040.Data.PH_STATUS  && station_3040.Data.TASKNUM > 10000 && noPhstatus)
                {
                    short outTemp = 3060;
                    var arr = Device.Find("3006", "3060", "3001", "3005", "3004").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                    if (!arr.Any(v => v.Data.GOODSEND is 3060 or 3013))
                    {
                        if (arr.Any(v => v.Data.GOODSTYPE == 1)) throw new Exception("交通管制,提升机被入库任务占用");
                        if (arr.Any(v => v.Data.PH_STATUS && v.Data.TASKNUM == 0)) throw new Exception("有光电无任务，交通管制,提升机被入库任务占用");
                        if (arr.Any(v => !v.Data.PH_STATUS && v.Data.TASKNUM > 10000)) throw new Exception("有任务无光电,请检查光电是否异常");

                        DB.Do(db =>
                        {
                            var task = db.Default.Set<WCS_TASK>().Find(station_3040.Data.TASKNUM);
                            if (task == null)
                                throw new Exception($"任务号{station_3040.Data.TASKNUM}不存在");
                            task.ADDRNEXT = outTemp.ToString();
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();
                            station_3040.Data2.GOODSEND = outTemp;
                            station_3040.Data2.GOODSTYPE = 2;
                            station_3040.Data2.CONFIRM = true;
                        });
                        dev.Data2.TaskID = station_3040.Data.TASKNUM;
                        dev.Data2.StartPosition = 3040;
                        dev.Data2.DestPosition = 3060;
                        dev.Data2.Trigger = 1;
                    }
                }
            }
        }
        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            return dev.CODE is "RGV7" or "RGV8";
        }
    }
}