YG-MW-WCS/Projects/永冠/WCS.Service/Works/Stations/AGV交互.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.Stations
{
    //[WorkTitle(typeof(ProductHandler), "AGV交互", false)]
    //class AGV交互 : DeviceWork<Device<IStation521, IStation520>>
    //{
    //    protected override bool SelectDevice(WCS_DEVICE dev)
    //    {
    //        return new string[] { "2122", "2131", "2143", "2088" }.Contains(dev.CODE);
    //    }

    //    protected override void Do(Device<IStation521, IStation520> dev)
    //    {
    //        AGV(dev);
    //    }

    //    void AGV(Device<IStation521, IStation520> dev)
    //    {
    //        Ltc.Log("AGV交互");

    //        var station = dev.Entity.CODE;
    //        DB.Do(db =>
    //        {
    //            var agvTasks = db.Default.Set<WCS_AGVTask>().Where(v => v.Station == station).Where(v => v.Status < AGVTaskStatus.完成);
    //            var agvtask = agvTasks.Where(v => v.TaskType == AGVTaskType.成品入库)
    //            .OrderByDescending(v => v.Status).ThenBy(v => v.CreateTime)
    //            .FirstOrDefault();
    //            if (agvtask == null)
    //                return;

    //            if (Ltc.Do(agvtask, agvtask => agvtask.Status == AGVTaskStatus.新建))
    //            {
    //                if (station != "2088")
    //                {
    //                    if (agvTasks.Where(v => v.TaskType == AGVTaskType.原膜出库 && v.Status > AGVTaskStatus.确认 && v.Status < AGVTaskStatus.取放完成).Any())
    //                    {
    //                        var msg = "有正在执行的出库AGV任务";
    //                        throw new Exception(msg);
    //                    }
    //                }

    //                var qtyIn = db.Default.Set<WCS_TASK>().Where(v => v.TYPE == TaskType.组盘 && v.STATUS < WCS.Entity.TaskStatus.已完成 && v.ADDRFROM == station).Count();
    //                if (qtyIn >= 6)
    //                {
    //                    var msg = $"{agvtask.Workshop}车间入库任务数量已达{qtyIn},暂停执行";
    //                    throw new Exception(msg);
    //                }

    //                short inTemp = 0;
    //                string devs = "";
    //                if (station == "2143")
    //                {
    //                    inTemp = 2274;
    //                    devs = "2143,2140,2141,2274";
    //                }
    //                if (inTemp > 0)
    //                {
    //                    var flag = devs.Split(',').Select(v => Device.Find(v).Device<IStation521>()).Any(v => v.Data.GOODSEND == inTemp);
    //                    if (flag)
    //                    {
    //                        throw new Exception("交通管制,入库缓存位已被占用");
    //                    }
    //                }

    //                var outStation = dev.Entity.CODE;
    //                if (outStation == "2088")
    //                    outStation = "2086";
    //                var outTask = db.Default.Set<WCS_TASK>().Where(v => v.TYPE == TaskType.出库 && v.STATUS < WCS.Entity.TaskStatus.已完成)
    //                .Where(v => v.ADDRNEXT == v.ADDRTO || v.ADDRCURRENT == station).Where(v => v.ADDRTO == outStation)
    //                .FirstOrDefault();
    //                if (outTask != null)
    //                {
    //                    var msg = "交通管制,与任务" + outTask.ID + "路径冲突";
    //                    throw new Exception(msg);
    //                }

    //                agvtask.Status = AGVTaskStatus.执行;
    //                agvtask.UpdateTime = DateTime.Now;
    //                db.Default.SaveChanges();
    //            }
    //            else if (Ltc.Do(agvtask, v => v.Status < v.AGVStatus))
    //            {
    //                if (Ltc.Do(dev, v => v.Data2.RES == true))
    //                    return;
    //                if (Ltc.Do(agvtask, v => v.AGVStatus == AGVTaskStatus.请求_允许 || v.AGVStatus == AGVTaskStatus.请求_允许2))
    //                {
    //                    if (Ltc.Do(dev, v => v.Data.TASKNUM > 0))
    //                        return;
    //                    if (Ltc.Do(dev, v => v.Data.PH_STATUS == true))
    //                        return;
    //                    agvtask.Status = agvtask.AGVStatus;
    //                    agvtask.UpdateTime = DateTime.Now;
    //                    db.Default.SaveChanges();
    //                }
    //                else if (Ltc.Do(agvtask, v => v.AGVStatus == AGVTaskStatus.取放完成 || v.AGVStatus == AGVTaskStatus.取放完成2))
    //                {
    //                    agvtask.Status = agvtask.AGVStatus;
    //                    agvtask.UpdateTime = DateTime.Now;
    //                    db.Default.SaveChanges();
    //                    //if (Ltc.Do(dev, v => v.Data.PH_STATUS))
    //                    //{
    //                    dev.Data2.RES = true;
    //                    //}
    //                }
    //                else if (Ltc.Do(agvtask, v => v.AGVStatus == AGVTaskStatus.完成 || v.AGVStatus == AGVTaskStatus.取消))
    //                {
    //                    agvtask.Status = agvtask.AGVStatus;
    //                    agvtask.UpdateTime = DateTime.Now;
    //                    db.Default.SaveChanges();
    //                }
    //            }

    //        });
    //    }
    //}

    [WorkTitle(typeof(ProductHandler), "AGV入库", true)]
    internal class AGV入库 : DeviceWork<Device<IStation521, IStation520, IStation523>>
    {
        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            return new string[] { "2122", "2131", "2143", "2088", "3001" }.Contains(dev.CODE);
        }

        protected override void Do(Device<IStation521, IStation520, IStation523> dev)
        {
            var station = dev.Entity.CODE;
            DB.Do(db =>
            {
                var agvTasks = db.Default.Set<WCS_AGVTask>().Where(v => v.Station == station).Where(v => v.Status < AGVTaskStatus.完成).Where(v => v.TaskType == AGVTaskType.入库).OrderBy(v => v.CreateTime).ToArray();

                foreach (var agvtask in agvTasks)
                {
                    var position = agvtask.Position.Replace("_In", "");
                    if (position.Contains("_Back_")) position = position.Substring(0, position.IndexOf("_0"));
                    if (!ProtocolProxy.AllDatas.ContainsKey(position)) ProtocolProxy.AllDatas[position] = new ProdLineData();

                    var pld = ProtocolProxy.AllDatas[position] as ProdLineData;
                    pld.Frame = LogicHandler.Frame;
                    pld.Code = position;
                    pld.TaskList.Add(agvtask);
                    try
                    {
                        if (Ltc.Do(agvtask, agvtask => agvtask.Status == AGVTaskStatus.新建 && agvtask.AGVStatus == AGVTaskStatus.取消))
                        {
                            agvtask.Status = agvtask.AGVStatus;
                            agvtask.UpdateTime = DateTime.Now;
                            db.Default.SaveChanges();
                        }
                        if (Ltc.Do(agvtask, agvtask => agvtask.Status == AGVTaskStatus.新建))
                        {
                            //相关错误会在入库扫码位报出，此处只做拦截处理
                            if (!SystemConfigHelpers.GetDeviceConfig(dev.Entity.CODE)) return;

                            if (station != "2088" && station != "3001")
                            {
                                if (db.Default.Set<WCS_AGVTask>().Where(v => v.TaskType == AGVTaskType.叫料 && v.Status > AGVTaskStatus.确认 && v.Status < AGVTaskStatus.取放完成 && v.Station == station).Any())
                                {
                                    var msg = $"[{station}]有正在执行的出库AGV任务";
                                    throw new Exception(msg);
                                }

                                if (db.Default.Set<WCS_AGVTask>().Where(v => v.TaskType == AGVTaskType.入库 && v.Status > AGVTaskStatus.新建 && v.Status < AGVTaskStatus.完成扫码 && v.Station == station).Any())
                                {
                                    var msg = $"[{station}]有正在执行的入库AGV任务";
                                    throw new Exception(msg);
                                }

                                var qtyIn = db.Default.Set<WCS_TASK>().Where(v => v.TYPE == TaskType.组盘 && v.STATUS < WCS.Entity.TaskStatus.已完成 && v.ADDRFROM == station).Count();
                                var max = 6;
                                max = 9;
                                if (qtyIn >= max)
                                {
                                    var msg = $"{agvtask.Workshop}车间入库任务数量已达{qtyIn},暂停执行-{station}";
                                    throw new Exception(msg);
                                }
                            }
                            if (dev.Data2.RES) throw new Exception($"[{station}]顶升下降信号未清除");

                            if (Ltc.Do(dev, v => v.Data.TASKNUM == dev.Entity.Code())) throw new Exception($"[{station}]待分配任务");

                            short inTemp = 0;

                            Device<IStation521, IStation520>[] arr = null;
                            Device<IStation521, IStation520>[] arrout = null;
                            if (station == "2143")
                            {
                                inTemp = 2274;
                                arr = Device.Find("2143", "2140", "2141", "2274").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                                arrout = Device.Find("2326", "2140", "2143").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                            }
                            else if (station == "2131")
                            {
                                inTemp = 2273;
                                arr = Device.Find("2131", "2128", "2129", "2273").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                                arrout = Device.Find("2327", "2128", "2131").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                            }
                            else if (station == "2122")
                            {
                                inTemp = 2272;
                                arr = Device.Find("2122", "2119", "2120", "2272").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                                arrout = Device.Find("2328", "2119", "2122").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                            }
                            else if (station == "3001")
                            {
                                if (db.Default.Set<WCS_AGVTask>().Count(v => v.TaskType == AGVTaskType.入库 && v.Station == "3001" && v.Status >= AGVTaskStatus.确认 && v.Status < AGVTaskStatus.完成扫码) >= 2) throw new Exception($"流量管控");
                                inTemp = 3005;
                                arr = Device.Find("3001", "3005").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                                arrout = Device.Find("3001", "3012").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                            }
                            if (inTemp > 0)
                            {
                                if (arr.Any(v => v.Data2.CONFIRM)) continue;
                                if (arrout.Any(v => v.Data2.CONFIRM)) continue;

                                var flag = arr.Any(v => v.Data.GOODSEND == inTemp);
                                if (flag) throw new Exception($"[{station}]交通管制,入库缓存位已被占用");

                                flag = arrout.Any(v => v.Data.GOODSEND == dev.Entity.Code());
                                if (flag) throw new Exception($"交通管制,{station}被出库任务占用");
                            }
                            else
                            {
                                var outStation = dev.Entity.CODE;
                                if (outStation == "2088") outStation = "2086";

                                var outTask = db.Default.Set<WCS_TASK>().Where(v => v.TYPE == TaskType.出库 && v.STATUS < WCS.Entity.TaskStatus.已完成)
                                .Where(v => v.ADDRTO == outStation).Where(v => v.ADDRNEXT == v.ADDRTO).ToList()
                                .Where(v =>
                                {
                                    var curr = v.AddrCurrent(db);
                                    return (curr != v.ADDRTO) && (curr != "2084");
                                })
                                .FirstOrDefault();
                                if (outTask != null)
                                {
                                    var msg = $"[{station}]交通管制,与出库任务[{outTask.ID}]路径冲突";
                                    throw new Exception(msg);
                                }
                            }

                            agvtask.Status = AGVTaskStatus.执行;
                            agvtask.UpdateTime = DateTime.Now;

                            db.Default.SaveChanges();
                        }
                        else if (Ltc.Do(agvtask, v => v.Status < v.AGVStatus || v.AGVStatus == AGVTaskStatus.确认))
                        {
                            if (Ltc.Do(agvtask, v => v.AGVStatus == AGVTaskStatus.确认 && v.Status != AGVTaskStatus.确认))
                            {
                                if (agvTasks.Any(v => v.Status >= AGVTaskStatus.确认 && v.Status != AGVTaskStatus.执行 && v.Status < AGVTaskStatus.完成扫码 && v.Station == "3001"))
                                    throw new Exception($"同时放货任务数量最大为1");
                                // 缓存位与取放货位没有光电 任务 去往缓存位任务   ,如果楼上没有出库任务，就不会有去往3006的任务
                                var inTemp = Device.Find("3006", "3001", "3012", "3004", "3005").Select(v => v.Device<IStation521, IStation523>());
                                if (inTemp.Any(v => v.Data.PH_STATUS == true
                                                 || v.Data.TASKNUM > 0
                                                 || v.Data.GOODSEND == 3006
                                                 || v.Data2.Status.HasFlag(StationStatus.运行状态位)
                                                 || v.Data.GOODSTYPE == 2)) return;
                                if (db.Default.Set<WCS_TASK>().Any(v => v.STATUS < TaskStatus.已完成 && v.ADDRNEXT == "3060")) return;
                                if (db.Default.Set<WCS_AGVTask>().Any(v => v.AGVStatus >= AGVTaskStatus.确认 && v.TaskType == AGVTaskType.叫料
                                 && v.Station == "3001" && v.Status < AGVTaskStatus.完成)) return;

                                //3005没有出库任务
                                var con3005 = Device.Find("3005").Device<IStation521, IStation523>();
                                if ((con3005.Data.PH_STATUS && con3005.Data.GOODSEND is 3001 or 0) || con3005.Data2.Status.HasFlag(StationStatus.运行状态位)) return;

                                agvtask.Status = agvtask.AGVStatus;
                                agvtask.UpdateTime = DateTime.Now;
                                db.Default.SaveChanges();
                            }
                            else if (Ltc.Do(agvtask, v => v.AGVStatus == AGVTaskStatus.请求_允许 || v.AGVStatus == AGVTaskStatus.请求_允许2))
                            {
                                if (Ltc.Do(dev, v => v.Data2.RES))
                                    continue;
                                if (Ltc.Do(dev, v => v.Data.TASKNUM > 0))
                                    continue;
                                if (Ltc.Do(dev, v => !v.Data3.Status.Has(StationStatus.自动)))
                                    continue;
                                if (Ltc.Do(dev, v => v.Data.PH_STATUS == true || v.Data.TASKNUM != 0))
                                    continue;
                                if (agvtask.AGVStatus == AGVTaskStatus.请求_允许2)
                                {
                                    if (agvtask.Status < AGVTaskStatus.取放完成) throw new Exception($"[{station}]请求放第二卷之前必须完成第一卷放货");
                                }
                                agvtask.Status = agvtask.AGVStatus;
                                agvtask.UpdateTime = DateTime.Now;
                                db.Default.SaveChanges();
                            }
                            else if (Ltc.Do(agvtask, v => v.AGVStatus == AGVTaskStatus.取放完成 || v.AGVStatus == AGVTaskStatus.取放完成2))
                            {
                                if (Ltc.Do(dev, v => v.Data2.RES))
                                {
                                    Configs.UploadException(dev.Entity.CODE, "顶升下降信号未清除");
                                    continue;
                                }
                                if (Ltc.Do(dev, v => v.Data.PH_STATUS == false))
                                {
                                    Configs.UploadException(dev.Entity.CODE, "AGV放货完成后输送线无光电信号");
                                    continue;
                                }
                                agvtask.Status = agvtask.AGVStatus;
                                agvtask.UpdateTime = DateTime.Now;
                                db.Default.SaveChanges();
                                dev.Data2.RES = true;
                            }
                            else if (Ltc.Do(agvtask, v => v.AGVStatus == AGVTaskStatus.完成))
                            {
                                agvtask.Status = agvtask.AGVStatus;
                                agvtask.UpdateTime = DateTime.Now;
                                db.Default.SaveChanges();
                            }
                            else if (Ltc.Do(agvtask, v => v.AGVStatus == AGVTaskStatus.取消))
                            {
                                agvtask.Status = agvtask.AGVStatus;
                                agvtask.UpdateTime = DateTime.Now;
                                db.Default.SaveChanges();
                            }
                        }
                    }
                    catch (Exception ex)
                    {
                        Ltc.Log("AGV任务" + agvtask.ID + ":" + ex.GetBaseException().Message);
                        Configs.UploadException?.Invoke(position, ex.GetBaseException().Message);
                    }
                }
            });
        }
    }

    [WorkTitle(typeof(ProductHandler), "车间叫料", false)]
    internal class 车间叫料 : DeviceWork<Device<IStation521, IStation520, IStation523>>
    {
        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            return new string[] { "2086", "2122", "2131", "2143", "3001" }.Contains(dev.CODE);
        }

        protected override void Do(Device<IStation521, IStation520, IStation523> dev)
        {
            var station = dev.Entity.CODE;
            var taskId = dev.Data.TASKNUM;
            //if (Ltc.Do(dev, v => v.Entity.WakeupOn(10000,"叫料")))
            {
                DB.Do(db =>
                {
                    var agvTasks = db.Default.Set<WCS_AGVTask>().Where(v => v.Station == station && v.TaskType == AGVTaskType.叫料)
                    .Where(v => v.Status < AGVTaskStatus.完成).ToArray();

                    foreach (var agvtask in agvTasks)
                    {
                        var position = agvtask.Position;
                        if (!ProtocolProxy.AllDatas.ContainsKey(position))
                            ProtocolProxy.AllDatas[position] = new ProdLineData();
                        var pld = ProtocolProxy.AllDatas[position] as ProdLineData;
                        pld.Frame = LogicHandler.Frame;
                        pld.Code = position;
                        pld.TaskList.Add(agvtask);
                        try
                        {
                            if (Ltc.Do(agvtask, agvtask => agvtask.Status == AGVTaskStatus.新建))
                            {
                                if (station == "2086")
                                {
                                    var count1 = ProtocolProxy.WMS120Redis.Get("MaxLineCallTaskCount_13_14").ToInt();

                                    var qty = db.Default.Set<WCS_AGVTask>().Where(v => v.TaskType == AGVTaskType.叫料 && v.Status > AGVTaskStatus.新建 && v.Status < AGVTaskStatus.完成)
                                   .Where(v => v.Position == agvtask.Position).Count();
                                    if (Ltc.Do(qty, OutTaskQty => OutTaskQty >= count1))
                                    {
                                        throw new Exception($"{agvtask.Position}正在执行的叫料任务数量已达{qty},暂停出库");
                                    }
                                }
                                else if (station == "3001")
                                {
                                    var qty = db.Default.Set<WCS_AGVTask>().Where(v => v.TaskType == AGVTaskType.叫料 && v.Status > AGVTaskStatus.新建 && v.Status < AGVTaskStatus.完成)
                                    .Where(v => v.Position == agvtask.Position).Count();
                                    if (Ltc.Do(qty, OutTaskQty => OutTaskQty >= 5))
                                    {
                                        throw new Exception($"{agvtask.Position}正在执行的叫料任务数量已达{qty},暂停出库");
                                    }
                                }
                                else
                                {
                                    var count2 = ProtocolProxy.WMS120Redis.Get("MaxLineCallTaskCount_1_2_3").ToInt();

                                    var qty = db.Default.Set<WCS_AGVTask>().Where(v => v.TaskType == AGVTaskType.叫料 && v.Status > AGVTaskStatus.新建 && v.Status < AGVTaskStatus.完成)
                                    .Where(v => v.Position == agvtask.Position).Count();
                                    if (Ltc.Do(qty, OutTaskQty => OutTaskQty >= count2))
                                    {
                                        throw new Exception($"{agvtask.Position}正在执行的叫料任务数量已达{qty},暂停出库");
                                    }
                                }
                                var res = WMS.GetOutTask(agvtask.Position, dev.Entity.CODE);
                                var sc = Device.Find(res.TunnelNum).ROUTES.Where(v => v.NEXT.IsSC()).Select(v => v.NEXT).FirstOrDefault();

                                var loc = string.Format("{0}-{1}-{2}", res.Row, res.Colomn, res.Layer);
                                var addrNext = dev.Entity.CODE;
                                if (agvtask.Workshop == 1)
                                    addrNext = "2108";
                                else if (agvtask.Workshop == 2)
                                    addrNext = "2366";
                                else if (agvtask.Workshop == 3)
                                    addrNext = "2385";
                                else if (agvtask.Station == "2086")
                                    addrNext = "2325";
                                else if (agvtask.Station == "3001")
                                {
                                    addrNext = "3045";
                                }

                                var task = new WCS_TASK
                                {
                                    TYPE = TaskType.出库,
                                    STATUS = WCS.Entity.TaskStatus.新建,
                                    ADDRFROM = loc,
                                    ADDRTO = dev.Entity.CODE,
                                    BARCODE = res.ContainerBarCode,
                                    TUNNEL = res.TunnelNum,
                                    WMSTASK = int.Parse(res.WMSTaskNum),
                                    UPDATEUSER = "WCS",
                                    SCSTATION = res.Memo1,
                                    DEVICE = sc.CODE,
                                    //ADDRCURRENT = loc,
                                    AgvTask = agvtask.ID,
                                    ADDRNEXT = addrNext
                                };
                                db.Default.Set<WCS_TASK>().Add(task);

                                agvtask.Status = AGVTaskStatus.确认;
                                agvtask.UpdateTime = DateTime.Now;
                                db.Default.SaveChanges();
                            }
                            else if (Ltc.Do(agvtask, v => v.AGVStatus == AGVTaskStatus.完成))
                            {
                                //if (Ltc.Do(agvtask, v => v.Status != AGVTaskStatus.取放完成 && v.Status != AGVTaskStatus.取放完成2))
                                //    continue;
                                agvtask.Status = agvtask.AGVStatus;
                                agvtask.UpdateTime = DateTime.Now;
                                db.Default.SaveChanges();
                            }
                            else if (Ltc.Do(agvtask, v => v.AGVStatus == AGVTaskStatus.取消))
                            {
                                //if (Ltc.Do(agvtask, v => v.Status != AGVTaskStatus.新建))
                                //    continue;
                                agvtask.Status = agvtask.AGVStatus;
                                agvtask.UpdateTime = DateTime.Now;
                                db.Default.SaveChanges();
                            }
                        }
                        catch (Exception ex)
                        {
                            if (ex.Message.Contains("库存不足"))
                            {
                                agvtask.Status = AGVTaskStatus.取消;
                                agvtask.UpdateTime = DateTime.Now;
                                db.Default.SaveChanges();
                            }

                            Ltc.Log("AGV任务" + agvtask.ID + ":" + ex.GetBaseException().Message);
                            Configs.UploadException?.Invoke(agvtask.Position, ex.GetBaseException().Message);
                        }
                    }
                });
            }
            if (Ltc.Do(dev, v => v.Data.TASKNUM == 0))
                return;
            if (Ltc.Do(dev, v => v.Data.GOODSEND != dev.Entity.Code()))
                return;

            if (Ltc.Do(dev, v => !v.Data3.Status.Has(StationStatus.自动)))
                return;

            DB.Do(db =>
            {
                var task = db.Default.Set<WCS_TASK>().Find(taskId);
                if (task == null)
                {
                    var msg = $"WCS任务号{taskId}不存在";
                    throw new Exception(msg);
                }
                if (Ltc.Do(task, task => task.TYPE != TaskType.出库))
                    return;
                if (task.AgvTask == 0)
                {
                    throw new Exception("人工出库任务,请手动搬走");
                }
                var agvtask = db.Default.Set<WCS_AGVTask>().Find(task.AgvTask);
                if (agvtask == null)
                {
                    var msg = $"AGV任务号{task.AgvTask}不存在";
                    throw new Exception(msg);
                }
                if (Ltc.Do(agvtask, agvtask => agvtask.Station != station))
                    return;
                if (Ltc.Do(agvtask, agvtask => agvtask.Status == AGVTaskStatus.确认))
                {
                    if (Ltc.Do(dev, v => v.Data.PH_STATUS == false))
                        return;
                    var flag = db.Default.Set<WCS_AGVTask>().Where(v => v.Station == station && v.TaskType == AGVTaskType.叫料)
                    .Where(v => v.Status > AGVTaskStatus.确认 && v.Status < AGVTaskStatus.取放完成)
                    .Any();
                    if (flag)
                        throw new Exception("有未完成的AGV出库任务");

                    task.STATUS = WCS.Entity.TaskStatus.已完成;
                    task.UPDATETIME = DateTime.Now;
                    task.ENDTIME = DateTime.Now;

                    agvtask.Status = AGVTaskStatus.执行;
                    agvtask.UpdateTime = DateTime.Now;
                    db.Default.SaveChanges();
                }
                else if (Ltc.Do(agvtask, agvtask => agvtask.Status < agvtask.AGVStatus))
                {
                    if (Ltc.Do(agvtask, agvtask => agvtask.AGVStatus == AGVTaskStatus.请求_允许 || agvtask.AGVStatus == AGVTaskStatus.请求_允许2))
                    {
                        if (Ltc.Do(agvtask, agvtask => agvtask.Status < AGVTaskStatus.确认))
                            return;
                        if (Ltc.Do(dev, v => v.Data2.RES == true))
                            throw new Exception("任务清零信号未清除");

                        agvtask.Status = agvtask.AGVStatus;
                        agvtask.UpdateTime = DateTime.Now;
                        db.Default.SaveChanges();
                    }
                    else if (Ltc.Do(agvtask, agvtask => agvtask.AGVStatus == AGVTaskStatus.取放完成 || agvtask.AGVStatus == AGVTaskStatus.取放完成2))
                    {
                        if (Ltc.Do(dev, v => v.Data2.RES == true))
                            throw new Exception("任务清零信号未清除");
                        if (Ltc.Do(dev, v => v.Data.PH_STATUS == true))
                            throw new Exception("AGV取货完成后依然有光电信号");
                        if (Ltc.Do(agvtask, agvtask => agvtask.Status < AGVTaskStatus.请求_允许))
                            throw new Exception("AGV任务状态有误");

                        agvtask.Status = agvtask.AGVStatus;
                        agvtask.UpdateTime = DateTime.Now;
                        db.Default.SaveChanges();

                        dev.Data2.RES = true;
                    }
                }
            });
        }
    }
}