YG-MW-WCS/Projects/永冠/WCS.Service/Works/SC/SCWork.cs

using DBHelper;
using Microsoft.EntityFrameworkCore;
using System;
using System.Collections.Generic;
using System.Linq;
using WCS.Core;
using WCS.Entity;
using WCS.Entity.Protocol;
using WCS.Service.Extensions;
using WCS.Service.Handlers;
using WCS.Service.Helpers;
using TaskStatus = WCS.Entity.TaskStatus;

namespace WCS.Service.Works
{
    [WorkTitle(typeof(SCHandler), "小库堆垛机", true)]
    internal class SCWork : DeviceWork<Device<ISC521, ISC520, ISC537>>
    {
        private Device<IRGV521> RGV1;
        private Device<IStation521>[] DockDevs;

        public SCWork()
        {
            RGV1 = Device.Find("RGV1").Device<IRGV521>();
            DockDevs = new string[]
            {
                "2260","2262","2264",
                "2259","2261","2263",
                "2251", "2253", "2255"
            }.Select(v => Device.Find(v).Device<IStation521>()).ToArray();
        }

        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            //return true;
            return new string[] { "SC7" , "SC8" , "SC9" }.Contains(dev.CODE);
        }

        protected override void Do(Device<ISC521, ISC520, ISC537> dev)
        {
            var deviceCode = dev.Entity.CODE;
            if (dev.Data3.SCAlarm != 0)
            {
                if (dev.Entity.WakeupOn(5000)) WMS.DevInfo(dev.Entity.CODE, dev.Data3.SCAlarm.ToString());
            }

            if (Ltc.Do(dev, v => v.Data2.Trigger != 0))
            {
                if (Ltc.Do(dev, v => v.Data.TaskID == v.Data2.TaskID))
                {
                    if (Ltc.Do(dev, v => v.Data.Status != SCRunStatus.空闲 && v.Data.Status != SCRunStatus.维护)) dev.Data2.Trigger = 0;
                }
                return;
            }

            if (Ltc.Do(dev, v => v.Data2.FinishedACK != 0))
            {
                if (Ltc.Do(dev, v => v.Data.FinishedTask == 0)) dev.Data2.FinishedACK = 0;
                return;
            }

            if (Ltc.Do(dev, v => v.Data.FinishedTask != 0))
            {
                DB.Do(db =>
                {
                    var taskid = dev.Data.FinishedTask;
                    var task = db.Default.Set<WCS_TASK>().Find(taskid);
                    //记录一下原始状态，用于状态发生时进行记录
                    var oldStatus = task.STATUS;
                    if (task == null) throw new Exception($"[{deviceCode}]任务号[{taskid}]不存在");
                    if (task.STATUS < TaskStatus.堆垛机执行) throw new Exception($"[{deviceCode}]任务号[{taskid}]状态有误");

                    if (task.TYPE == TaskType.入库)
                    {
                        task.ENDTIME = DateTime.Now;
                        task.STATUS = WCS.Entity.TaskStatus.已完成;
                        task.UPDATETIME = DateTime.Now;
                        db.Default.SaveChanges();
                        Uploader.Upload(db);
                    }
                    else if (task.TYPE == TaskType.出库)
                    {
                        if (dev.Data.ELine >= 2275 && dev.Data.ELine <= 2280)
                        {
                            task.STATUS = TaskStatus.已完成;
                            task.UPDATETIME = DateTime.Now;
                            task.ENDTIME = DateTime.Now;
                            db.Default.SaveChanges();
                            Uploader.Upload(db);
                        }
                        else if (task.STATUS == TaskStatus.堆垛机执行)
                        {
                            task.STATUS = TaskStatus.堆垛机完成;
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();
                            Uploader.Upload(db);
                        }

                        var target = Device.Find(dev.Data.ELine.ToString()).Device<IStation521, IStation520>();
                        target.Data2.TASKNUM = task.ID;
                        target.Data2.GOODSTYPE = task.PALLETTYPE;
                        target.Data2.GOODSEND = short.Parse(task.ADDRNEXT);
                    }

                    else if (task.TYPE == TaskType.移库)
                    {
                        if (task.STATUS == TaskStatus.堆垛机执行)
                        {
                            task.STATUS = TaskStatus.已完成;
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();
                            Uploader.Upload(db);
                        }
                    }
                    else throw new Exception($"[{deviceCode}]任务类型错误");

                    dev.Data2.FinishedACK = 1;
                    task.CreateStatusLog(db);
                });
                return;
            }

            Ltc.Log("开始下发任务");

            var tunnel = "";
            //if (dev.Entity.CODE == "SC4" || dev.Entity.CODE == "SC5")
            //    tunnel = "TM" + dev.Data.Tunnel;
            //else

            if (dev.Data.Tunnel == 1)
            {
                tunnel = "TY9";
            }
            else if (dev.Data.Tunnel == 2)
            {
                tunnel = "TY8";
            }
            else if (dev.Data.Tunnel == 3 )
            {
                tunnel = "TY7";
            }


            if (Ltc.Do(dev, v => v.Data.Mode != SCMode.远程)) return;
            if (Ltc.Do(dev, v => v.Data.Status != SCRunStatus.空闲)) return;

            var isTransfer = new List<WCS_TASK>();

            DB.Do(db =>
            {
                var t = db.Default.Set<WCS_TASK>().Where(v => v.DEVICE == dev.Entity.CODE).Where(v => v.STATUS == TaskStatus.堆垛机执行).FirstOrDefault();
                if (t != null) throw new Exception($"[{deviceCode}]有正在执行的任务:" + t.ID);
                //属于当前堆垛机未执行的移库任务
                isTransfer = db.Default.Set<WCS_TASK>().AsNoTracking().Where(v => v.DEVICE == dev.Entity.CODE && v.TYPE == TaskType.移库 && v.STATUS < TaskStatus.堆垛机执行).ToList();
                //判断是否存在调整优先级任务,存在初始化isTransfer值 让本次执行优先任务
                if (db.Default.Set<WCS_TASK>().AsNoTracking().Any(v => v.DEVICE == dev.Entity.CODE && v.TYPE != TaskType.移库 && v.STATUS < TaskStatus.堆垛机执行 && v.Priority > 0))
                    isTransfer = new List<WCS_TASK>();
            });

            var LastIsOut = dev.Entity.Get<bool>("LastIsOut");
            dev.Entity.Set("LastIsOut", !LastIsOut);
            if (isTransfer.Count > 0) //防止因为无当前堆垛机移库任务导致无法执行其他类型任务
            {
                #region 移库

                Ltc.Log($"[{deviceCode}]开始获取移库任务");

                DB.Do(db =>
                {
                    //获取当前堆垛机未执行的任务
                    var task = db.Default.Set<WCS_TASK>().Where(v => v.DEVICE == dev.Entity.CODE && v.TYPE == TaskType.移库 && v.STATUS < TaskStatus.堆垛机执行).OrderBy(p => p.CREATETIME).FirstOrDefault();
                    if (task == null) return;
                    var loc = WMS.GetLocalIn(task.WMSTASK, task.TUNNEL, task.ADDRTO);
                    var locno = string.Format("{0}-{1}-{2}", loc.Row, loc.Colomn, loc.Layer);

                    task.STARTTIME = DateTime.Now;
                    task.UPDATETIME = DateTime.Now;
                    task.STATUS = WCS.Entity.TaskStatus.堆垛机执行;
                    task.DEVICE = dev.Entity.CODE;

                    task.TUNNEL = task.TUNNEL;
                    db.Default.SaveChanges();
                    task.CreateStatusLog(db);

                    Uploader.Upload(db);

                    dev.Data2.TaskID = task.ID;
                    var addrFrom = task.ADDRFROM.Split("-");
                    dev.Data2.SLine = short.Parse(addrFrom[1]);
                    dev.Data2.SCol = short.Parse(addrFrom[2]);
                    dev.Data2.SLayer = short.Parse(addrFrom[3]);

                    var addrTo = task.ADDRTO.Split("-");
                    dev.Data2.ELine = short.Parse(addrTo[1]);
                    dev.Data2.ECol = short.Parse(addrTo[2]);
                    dev.Data2.ELayer = short.Parse(addrTo[3]);

                    dev.Data2.Trigger = 1;
                });

                #endregion 移库
            }
            if (LastIsOut)
            {
                #region 入库

                Ltc.Log("开始获取入库任务");
                var arrIn = Device.Where(v => v.SC() == dev.Entity).Where(v => v.Is(DF.SC取货))
                    .Select(v => new Device<IStation521, IStation520, IStation523>(v)).ToArray();

                arrIn = Device.Where(v => v.IsConv() && v.ROUTES.Any(d => d.NEXT.ROUTES.Any(e => e.NEXT == dev.Entity)))
                   .Select(v => new Device<IStation521, IStation520, IStation523>(v)).ToArray();

                arrIn = Ltc.Do(arrIn, arr => arr.Where(v => v.Data3.Status.HasFlag(StationStatus.自动) && v.Data.TASKNUM > 0 && v.Data.PH_STATUS && !v.Data3.Status.HasFlag(StationStatus.运行状态位))).ToArray();
                if (arrIn.Length == 0) return;

                var st = arrIn.OrderBy(v => v.Entity.ROUTES.First().NEXT.CODE.EndsWith(dev.Data.Tunnel.ToString()) ? 0 : 1)
                    .ThenBy(v => (v.Data.TASKNUM > 0 && v.Data.PH_STATUS && !v.Data3.Status.HasFlag(StationStatus.运行状态位)) ? 0 : 1)
                    .ThenBy(v => v.UpdateTime).First();

                var t = st.Entity.ROUTES.First().NEXT.CODE;

                DB.Do(db =>
                {
                    var task = db.Default.Set<WCS_TASK>().Find(st.Data.TASKNUM);

                    var loc = WMS.GetLocalIn(task.WMSTASK, t, st.Entity.CODE);
                    var locno = string.Format("{0}-{1}-{2}", loc.Row, loc.Colomn, loc.Layer);

                    task.STARTTIME = DateTime.Now;
                    task.UPDATETIME = DateTime.Now;
                    task.STATUS = WCS.Entity.TaskStatus.堆垛机执行;
                    task.ADDRTO = locno;
                    task.TUNNEL = t;
                    task.DEVICE = dev.Entity.CODE;
                    db.Default.SaveChanges();

                    Uploader.Upload(db);
                    task.CreateStatusLog(db);

                    dev.Data2.TaskID = task.ID;

                    dev.Data2.SLine = st.Entity.Code();
                    dev.Data2.SCol = 0;
                    dev.Data2.SLayer = 0;

                    dev.Data2.ELine = loc.Row;
                    dev.Data2.ECol = loc.Colomn;
                    dev.Data2.ELayer = loc.Layer;

                    dev.Data2.Trigger = 1;
                });

                #endregion 入库
            }
            else
            {
                #region 出库

                Ltc.Log("开始获取出库任务");
                var floor = dev.Entity.Get<int>("LastFloor");
                floor = floor % 2 + 1;
                dev.Entity.Set("LastFloor", floor);

                //获取当前设备可以放货的输送机
                var list = dev.Entity.ROUTES.Select(v => v.NEXT)
                    .SelectMany(v => v.ROUTES.Select(d => d.NEXT))
                    .Where(v => v.IsConv())
                    .Select(v => new Device<IStation521, IStation520, IStation523>(v)).ToList();

                //获取当前无货的设备集合
                list = list.Where(v =>
                {
                    var res = v.Data3.Status.HasFlag(StationStatus.自动) && v.Data.TASKNUM == 0 && v.Data.PH_STATUS == false && v.Data.REQUEST == false;
                    //排除原膜库的放货口
                    if (res)
                    {
                        Device<IStation521> moveDev = null;
                        if (v.Entity.CODE == "2056" || v.Entity.CODE == "2057") moveDev = Device.Find("2055").Device<IStation521>();
                        else if (v.Entity.CODE == "2027" || v.Entity.CODE == "2028") moveDev = Device.Find("2026").Device<IStation521>();

                        if (moveDev != null) res = moveDev.Data.TASKNUM == 0 && moveDev.Data.PH_STATUS == false;
                    }
                    return res;
                }).ToList();
                if (list.Count == 0) return;

                var empties = list.Select(v => v.Entity.CODE).ToArray();

                //筛选出一楼月台出库需要用到的设备当前的任务号信息
                var taskidList = DockDevs.Select(v => v.Data.TASKNUM).ToList();

                //如果rgv不为空闲，也将rgv中的任务ID加入列表看看
                if (RGV1.Data.SystemStatus != RGVRunStatus.空闲) taskidList.Add(RGV1.Data.TaskID);

                //筛选出有效任务号
                taskidList = taskidList.Where(v => v != 0).ToList();
                var sc = dev.Entity.CODE;
                DB.Do(db =>
                {
                    var flag = db.Default.Set<WCS_TASK>().Any(d => d.DEVICE == sc && d.STATUS == TaskStatus.堆垛机执行);
                    if (flag) throw new Exception($"[{deviceCode}]有正在执行的出库任务");

                    //找到该堆垛机当前等待执行的任务
                    var q = db.Default.Set<WCS_TASK>().Where(v => v.STATUS == TaskStatus.新建)
                    .Where(v => v.DEVICE == sc)
                    .Where(v => v.TYPE == TaskType.出库 && v.Priority >= 0)
                    .Where(v => !db.Default.Set<WCS_TASK>().Any(d => d.DEVICE == sc && d.STATUS == TaskStatus.堆垛机执行));

                    if (dev.Entity.CODE == "SC7" || dev.Entity.CODE == "SC8" || dev.Entity.CODE == "SC9")
                    {
                        //找到所有出口相同的任务
                        //一个目标位置同一时间最多只能有两个卷
                        q = q.Where(v =>
                            db.Default.Set<WCS_TASK>().Where(d => d.TYPE == TaskType.出库)
                            .Where(d => d.STATUS > TaskStatus.新建)
                            .Where(d => d.STATUS < TaskStatus.已完成 || taskidList.Contains(d.ID))
                            .Where(d => d.ADDRTO == v.ADDRTO && d.FLOOR == v.FLOOR)
                            .Where(d => d.DEVICE == "SC7" || d.DEVICE == "SC8" || d.DEVICE == "SC9")
                            .Count() < 2
                      );
                    }
                    else q = q.Where(v => empties.Contains(v.SCSTATION));

                    var task = q.OrderByDescending(v => v.Priority)
                    .ThenBy(v => v.TUNNEL == tunnel ? 0 : 1)
                    .ThenBy(v => v.FLOOR == floor ? 0 : 1)
                    .ThenBy(v => v.CREATETIME)
                    .FirstOrDefault();

                    if (task == null)
                    {
                        Ltc.Log("无出库任务可执行");
                        return;
                    }

                    var target = Device.Find(task.SCSTATION).Device<IStation521, IStation520>();
                    target.Data2.TASKNUM = 0;
                    target.Data2.GOODSTYPE = 0;
                    target.Data2.GOODSSIZE = 0;
                    target.Data2.GOODSEND = 0;

                    task.STATUS = TaskStatus.堆垛机执行;
                    task.STARTTIME = DateTime.Now;
                    task.UPDATETIME = DateTime.Now;
                    db.Default.SaveChanges();
                    Uploader.Upload(db);
                    task.CreateStatusLog(db);

                    if (task.ADDRFROM.Split('-').Length != 3) throw new Exception($"[{deviceCode}]出库任务起始位置错误:{task.ADDRFROM}");

                    var arr = task.ADDRFROM.Split('-').Select(v => short.Parse(v)).ToArray();
                    dev.Data2.TaskID = task.ID;
                    dev.Data2.SLine = arr[0];
                    dev.Data2.SCol = arr[1];
                    dev.Data2.SLayer = arr[2];
                    dev.Data2.ELine = target.Entity.Code();
                    dev.Data2.ECol = 0;
                    dev.Data2.ELayer = 0;
                    dev.Data2.Trigger = 1;
                });

                #endregion 出库
            }
        }
    }

    [WorkTitle(typeof(SCHandler), "大库堆垛机", true)]
    internal class SCWork2 : DeviceWork<Device<ISC521, ISC520, ISC537>>
    {
        private Device<IRGV521> RGV1;
        private Device<IStation521>[] DockDevs;

        public SCWork2()
        {
            RGV1 = Device.Find("RGV1").Device<IRGV521>();
            DockDevs = new string[]
            {
                "2260","2262","2264",
                "2259","2261","2263",
                "2251", "2253", "2255"
            }.Select(v => Device.Find(v).Device<IStation521>()).ToArray();
        }

        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            //return true;
            return new string[] { "SC1", "SC2",  "SC3" ,"SC4", "SC6" }.Contains(dev.CODE);
        }

        protected override void Do(Device<ISC521, ISC520, ISC537> dev)
        {
            var deviceCode = dev.Entity.CODE;
            if (dev.Data3.SCAlarm != 0)
            {
                if (dev.Entity.WakeupOn(5000)) WMS.DevInfo(dev.Entity.CODE, dev.Data3.SCAlarm.ToString());
            }

            if (Ltc.Do(dev, v => v.Data2.Trigger != 0))
            {
                if (Ltc.Do(dev, v => v.Data.TaskID == v.Data2.TaskID))
                {
                    if (Ltc.Do(dev, v => v.Data.Status != SCRunStatus.空闲 && v.Data.Status != SCRunStatus.维护)) dev.Data2.Trigger = 0;
                }
                LogHelper.AddWCS_EXCEPTION($"WCS清除[{deviceCode}]执行任务触发信号");
                return;
            }

            if (Ltc.Do(dev, v => v.Data2.FinishedACK != 0))
            {
                if (Ltc.Do(dev, v => v.Data.FinishedTask == 0)) dev.Data2.FinishedACK = 0;
                LogHelper.AddWCS_EXCEPTION($"WCS清除[{deviceCode}]完成任务触发信号");
                return;
            }

            if (Ltc.Do(dev, v => v.Data.FinishedTask != 0))
            {
                WCS_TASK task = new WCS_TASK();
                DB.Do(db =>
                {
                    var taskid = dev.Data.FinishedTask;
                    task = db.Default.Set<WCS_TASK>().Find(taskid);
                    if (task.STATUS < TaskStatus.堆垛机执行) throw new Exception($"[{deviceCode}],任务号" + taskid + "状态有误");

                    if (task.TYPE == TaskType.入库)
                    {
                        task.ENDTIME = DateTime.Now;
                        task.STATUS = WCS.Entity.TaskStatus.已完成;
                        task.UPDATETIME = DateTime.Now;
                        db.Default.SaveChanges();
                        Uploader.Upload(db);
                    }
                    else if (task.TYPE == TaskType.出库)
                    {
                        if (dev.Data.ELine >= 2275 && dev.Data.ELine <= 2280)
                        {
                            task.STATUS = TaskStatus.已完成;
                            task.UPDATETIME = DateTime.Now;
                            task.ENDTIME = DateTime.Now;
                            db.Default.SaveChanges();
                            Uploader.Upload(db);
                        }
                        else if (task.STATUS == TaskStatus.堆垛机执行)
                        {
                            task.STATUS = TaskStatus.堆垛机完成;
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();
                            Uploader.Upload(db);
                        }

                        var target = Device.Find(dev.Data.ELine.ToString()).Device<IStation521, IStation520>();
                        target.Data2.TASKNUM = task.ID;
                        target.Data2.GOODSTYPE = task.PALLETTYPE;
                        target.Data2.GOODSEND = short.Parse(task.ADDRNEXT);
                    }
                    else if (task.TYPE == TaskType.移库)
                    {
                        if (task.STATUS == TaskStatus.堆垛机执行)
                        {
                            task.STATUS = TaskStatus.已完成;
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();
                            Uploader.Upload(db);
                        }
                    }
                    else throw new Exception($"[{deviceCode}]任务类型错误");

                    dev.Data2.FinishedACK = 1;
                    task.CreateStatusLog(db);
                });
                LogHelper.AddWCS_EXCEPTION($"WCS变更[{deviceCode}]任务[{task.ID}]状态为[{task.STATUS}]");
                return;
            }

            Ltc.Log("开始下发任务");

            var tunnel = "";
            //if (dev.Entity.CODE == "SC4" || dev.Entity.CODE == "SC5")
            //    tunnel = "TM" + dev.Data.Tunnel;
            //else
            tunnel = "TY" + dev.Data.Tunnel;

            if (Ltc.Do(dev, v => v.Data.Mode != SCMode.远程)) return;

            if (Ltc.Do(dev, v => v.Data.Status != SCRunStatus.空闲)) return;

            var isTransfer = new List<WCS_TASK>();

            DB.Do(db =>
            {
                var t = db.Default.Set<WCS_TASK>().Where(v => v.DEVICE == dev.Entity.CODE).Where(v => v.STATUS == TaskStatus.堆垛机执行).FirstOrDefault();
                if (t != null) throw new Exception($"[{deviceCode}]有正在执行的任务:" + t.ID);
                //属于当前堆垛机未执行的移库任务
                isTransfer = db.Default.Set<WCS_TASK>().AsNoTracking().Where(v => v.DEVICE == dev.Entity.CODE && v.TYPE == TaskType.移库 && v.STATUS < TaskStatus.堆垛机执行).ToList();
                //判断是否存在调整优先级任务,存在初始化isTransfer值 让本次执行优先任务
                if (db.Default.Set<WCS_TASK>().AsNoTracking().Any(v => v.DEVICE == dev.Entity.CODE && v.TYPE != TaskType.移库 && v.STATUS < TaskStatus.堆垛机执行 && v.Priority > 0))
                    isTransfer = new List<WCS_TASK>();
            });

            var LastIsOut = dev.Entity.Get<bool>("LastIsOut");
            dev.Entity.Set("LastIsOut", !LastIsOut);
            if (isTransfer.Count > 0) //防止因为无当前堆垛机移库任务导致无法执行其他类型任务
            {
                #region 移库

                Ltc.Log($"[{deviceCode}]开始获取移库任务");

                DB.Do(db =>
                {
                    //获取当前堆垛机未执行的任务
                    var task = db.Default.Set<WCS_TASK>().Where(v => v.DEVICE == dev.Entity.CODE && v.TYPE == TaskType.移库 && v.STATUS < TaskStatus.堆垛机执行).OrderBy(p => p.CREATETIME).FirstOrDefault();
                    if (task == null) return;
                    var loc = WMS.GetLocalIn(task.WMSTASK, task.TUNNEL, task.ADDRTO);
                    var locno = string.Format("{0}-{1}-{2}", loc.Row, loc.Colomn, loc.Layer);

                    task.STARTTIME = DateTime.Now;
                    task.UPDATETIME = DateTime.Now;
                    task.STATUS = WCS.Entity.TaskStatus.堆垛机执行;
                    task.DEVICE = dev.Entity.CODE;

                    task.TUNNEL = task.TUNNEL;
                    db.Default.SaveChanges();
                    task.CreateStatusLog(db);

                    Uploader.Upload(db);

                    dev.Data2.TaskID = task.ID;
                    var addrFrom = task.ADDRFROM.Split("-");
                    dev.Data2.SLine = short.Parse(addrFrom[1]);
                    dev.Data2.SCol = short.Parse(addrFrom[2]);
                    dev.Data2.SLayer = short.Parse(addrFrom[3]);

                    var addrTo = task.ADDRTO.Split("-");
                    dev.Data2.ELine = short.Parse(addrTo[1]);
                    dev.Data2.ECol = short.Parse(addrTo[2]);
                    dev.Data2.ELayer = short.Parse(addrTo[3]);

                    dev.Data2.Trigger = 1;
                });

                #endregion 移库
            }
            else if (LastIsOut)
            {
                #region 入库

                Ltc.Log("开始获取入库任务");
                //获取所有堆垛机所有取货点的信息
                var arrIn = Device.Where(v => v.SC() == dev.Entity).Where(v => v.Is(DF.SC取货))
                    .Select(v => new Device<IStation521, IStation520, IStation523>(v)).ToArray();

                //获取所有当前堆垛机可用的取货点
                arrIn = Device.Where(v => v.IsConv() && v.ROUTES.Any(d => d.NEXT.ROUTES.Any(e => e.NEXT == dev.Entity)))
                   .Select(v => new Device<IStation521, IStation520, IStation523>(v)).ToArray();

                //在可用取货点中筛选出 有正在前往取货点任务的取货点
                arrIn = arrIn.Where(v => Device.Where(d => d.IsConv()).Select(d => d.Device<IStation521>()).Where(d => d.Data.GOODSEND == v.Entity.Code()).Any()).Where(v => v.Data3.Status.HasFlag(StationStatus.自动)).ToArray();

                if (arrIn.Length == 0) return; //无当前堆垛机的入库任务

                var st = arrIn.OrderBy(v => v.Entity.ROUTES.First().NEXT.CODE.EndsWith(dev.Data.Tunnel.ToString()) ? 0 : 1)
                    .ThenBy(v => (v.Data.TASKNUM > 0 && v.Data.PH_STATUS && !v.Data3.Status.HasFlag(StationStatus.运行状态位)) ? 0 : 1)
                    .ThenBy(v => v.UpdateTime).First();

                if (!(st.Data.TASKNUM > 0 && st.Data.PH_STATUS && !st.Data3.Status.HasFlag(StationStatus.运行状态位)))
                    throw new Exception($"[{deviceCode}]等待入库任务输送到位");

                var t = st.Entity.ROUTES.First().NEXT.CODE;

                DB.Do(db =>
                {
                    var task = db.Default.Set<WCS_TASK>().Find(st.Data.TASKNUM);
                    var loc = WMS.GetLocalIn(task.WMSTASK, t, st.Entity.CODE);
                    var locno = string.Format("{0}-{1}-{2}", loc.Row, loc.Colomn, loc.Layer);

                    task.STARTTIME = DateTime.Now;
                    task.UPDATETIME = DateTime.Now;
                    task.STATUS = WCS.Entity.TaskStatus.堆垛机执行;
                    task.ADDRTO = locno;
                    task.DEVICE = dev.Entity.CODE;
                    task.TUNNEL = t;
                    db.Default.SaveChanges();

                    Uploader.Upload(db);
                    task.CreateStatusLog(db);

                    dev.Data2.TaskID = task.ID;

                    dev.Data2.SLine = st.Entity.Code();
                    dev.Data2.SCol = 0;
                    dev.Data2.SLayer = 0;

                    dev.Data2.ELine = loc.Row;
                    dev.Data2.ECol = loc.Colomn;
                    dev.Data2.ELayer = loc.Layer;

                    dev.Data2.Trigger = 1;
                });

                #endregion 入库
            }
            else
            {
                #region 出库

                Ltc.Log("开始获取出库任务");
                var floor = dev.Entity.Get<int>("LastFloor");
                floor = floor % 2 + 1;
                dev.Entity.Set("LastFloor", floor);

                var list = dev.Entity.ROUTES.Select(v => v.NEXT)
                    .SelectMany(v => v.ROUTES.Select(d => d.NEXT))
                    .Where(v => v.IsConv())
                    .Select(v => new Device<IStation521, IStation520, IStation523>(v)).ToList();

                list = list.Where(v =>
                {
                    var res = v.Data3.Status.HasFlag(StationStatus.自动) && v.Data.TASKNUM == 0 && v.Data.PH_STATUS == false && v.Data.REQUEST == false;
                    if (res)
                    {
                        Device<IStation521> moveDev = null;
                        if (v.Entity.CODE == "2056" || v.Entity.CODE == "2057") moveDev = Device.Find("2055").Device<IStation521>();
                        else if (v.Entity.CODE == "2027" || v.Entity.CODE == "2028") moveDev = Device.Find("2026").Device<IStation521>();
                        if (moveDev != null) res = moveDev.Data.TASKNUM == 0 && moveDev.Data.PH_STATUS == false;
                    }
                    return res;
                }).ToList();
                if (list.Count == 0) return;

                var empties = list.Select(v => v.Entity.CODE).ToArray();

                var taskidList = DockDevs.Select(v => v.Data.TASKNUM).ToList();
                if (RGV1.Data.SystemStatus != RGVRunStatus.空闲) taskidList.Add(RGV1.Data.TaskID);

                taskidList = taskidList.Where(v => v != 0).ToList();
                var sc = dev.Entity.CODE;
                DB.Do(db =>
                {
                    var flag = db.Default.Set<WCS_TASK>().Any(d => d.DEVICE == sc && d.STATUS == TaskStatus.堆垛机执行);
                    if (flag) throw new Exception($"[{deviceCode}]有正在执行的出库任务");

                    var q = db.Default.Set<WCS_TASK>().Where(v => v.STATUS == TaskStatus.新建)
                    .Where(v => v.DEVICE == sc)
                    .Where(v => v.TYPE == TaskType.出库 && v.Priority >= 0)
                    .Where(v => !db.Default.Set<WCS_TASK>().Any(d => d.DEVICE == sc && d.STATUS == TaskStatus.堆垛机执行));

                    //if (dev.Entity.CODE == "SC4" || dev.Entity.CODE == "SC5")
                    //{
                    //    q = q.Where(v =>
                    //        db.Default.Set<WCS_TASK>().Where(d => d.TYPE == TaskType.出库)
                    //        .Where(d => d.STATUS > TaskStatus.新建)
                    //        .Where(d => d.STATUS < TaskStatus.已完成 || taskidList.Contains(d.ID))
                    //        .Where(d => d.ADDRTO == v.ADDRTO && d.FLOOR == v.FLOOR)
                    //        .Where(d => d.DEVICE == "SC4" || d.DEVICE == "SC5")
                    //        .Count() < 2
                    //  );
                    //}
                    //else 
                    q = q.Where(v => empties.Contains(v.SCSTATION));

                    var task = q.OrderByDescending(v => v.Priority)
                                .ThenBy(v => v.TUNNEL == tunnel ? 0 : 1)
                                .ThenBy(v => v.FLOOR == floor ? 0 : 1)
                                .ThenBy(v => v.CREATETIME)
                                .FirstOrDefault();

                    if (task == null)
                    {
                        Ltc.Log($"{deviceCode}无出库任务可执行");
                        return;
                    }

                    var target = Device.Find(task.SCSTATION).Device<IStation521, IStation520>();// list.Where(v => v.Entity.Tunnel() == task.TUNNEL).FirstOrDefault();
                    target.Data2.TASKNUM = 0;
                    target.Data2.GOODSTYPE = 0;
                    target.Data2.GOODSSIZE = 0;
                    target.Data2.GOODSEND = 0;

                    task.STATUS = TaskStatus.堆垛机执行;
                    task.STARTTIME = DateTime.Now;
                    task.UPDATETIME = DateTime.Now;
                    db.Default.SaveChanges();
                    Uploader.Upload(db);

                    if (task.ADDRFROM.Split('-').Length != 3) throw new Exception($"[{deviceCode}]出库任务起始位置错误:" + task.ADDRFROM);

                    var arr = task.ADDRFROM.Split('-').Select(v => short.Parse(v)).ToArray();
                    dev.Data2.TaskID = task.ID;
                    dev.Data2.SLine = arr[0];
                    dev.Data2.SCol = arr[1];
                    dev.Data2.SLayer = arr[2];
                    dev.Data2.ELine = target.Entity.Code();
                    dev.Data2.ECol = 0;
                    dev.Data2.ELayer = 0;
                    dev.Data2.Trigger = 1;
                });

                #endregion 出库
            }
        }
    }
}