YG-OPP-WCS-Client/WCS.PLC/Equipment/Base_Srm.cs

using Newtonsoft.Json;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using WCS.Data;
using WCS.Data.Models;
using WCS.Data.Utils;
using WCS.PLC.Model.Equipment;

namespace WCS.PLC
{
    public class Base_Srm: Base_EquPlc
    {
        #region Properties      
        /// <summary>
        /// 任务要执行的当前路由信息
        /// </summary>
        //protected WCS_EQUIPMENTROUTE CurrentRoute { get; set; }
        /// <summary>
        /// 堆垛机信号
        /// </summary>
        protected SrmSignal EquSignal
        {
            get
            {
                return WCS_PLCItem.WCS_EquipmentInfoSet[0].EquSignal_Srm;
            }
        }
        /// <summary>
        /// 写入DB名称
        /// </summary>
        protected int WriteDbName
        {
            get
            {
                return WCS_PLCItem.WCS_DBSet[0].DB_NAME;
            }
        }

        /// <summary>
        /// 堆垛机出入库口设置列表
        /// </summary>
        protected List<WCS_SrmOutInInfo> SrmOutInInfoSet = new List<WCS_SrmOutInInfo>();
        #endregion;

        #region Constructor
        public Base_Srm() : base()
        {
        }
        #endregion;

        #region Method 
        private int _locExecute = 0;
        public override void Run()
        {
            if (Interlocked.Exchange(ref _locExecute, 1) == 0)
            {
                try
                {
                    //加载刷新堆垛机执行需要的最新参数设置
                    Init_Refresh();

                    //分配入库货位
                    ThreadHelper.TaskThread(AssignInWareCell);

                    if (WCS_PLCItem.IsConnSuccess == false) return;

                    if (string.IsNullOrWhiteSpace(PlcName)) return;

                    //写入心跳
                    //WriteHandShake();
                    //完成任务
                    SRMCompleteTask();
                    //执行任务
                    SRMStartExecuteTask();
                }
                catch (Exception ex)
                {
                    string errormsg = string.Format("堆垛机[{0}]执行异常,消息：{1}", PlcName, ex.ToString());
                    LogMessageHelper.RecordLogMessage(errormsg, ex);
                }
                finally
                {
                    Interlocked.Exchange(ref _locExecute, 0);
                }
            }
        }

        /// <summary>
        /// 加载堆垛机刷新数据
        /// </summary>
        private void Init_Refresh()
        {
            var srmconvinfoset = Current.WCS_SrmOutInInfoSet.Where(v => v.SRMOUTIN_SRMNO == PlcName && v.SRMOUTIN_ISSTOP == false).OrderBy(p => p.SRMOUTIN_PRIORITY).OrderBy(t => t.SRMOUTIN_SEQUENCE).ToList();

            if (SrmOutInInfoSet.Count != srmconvinfoset.Count ||  //元素个数不相同
                srmconvinfoset.Any(v => v.SRMOUTIN_ISUPDATE))  //元素已更新
            {
                SrmOutInInfoSet = srmconvinfoset;
                SugarBase.DB.Updateable<WCS_SrmOutInInfo>(it => new WCS_SrmOutInInfo() { SRMOUTIN_ISUPDATE = false })
                            .Where(it => it.SRMOUTIN_SRMNO == PlcName)
                            .ExecuteCommand();
            }
        }
        /// <summary>
        /// 写入心跳
        /// </summary>
        protected void WriteHandShake()
        {
            int heartbeat = 0;
            if (EquSignal.DB521_Handshake_to_wcs)
            {
                if (EquSignal.DB520_Handshake_from_wcs == 0)
                {
                    heartbeat = 1;
                }
            }
            else
            {
                if (EquSignal.DB520_Handshake_from_wcs == 1)
                {
                    heartbeat = 0;
                }
            }
            //写入心跳
            if (WCS_PLCItem.Plc.WriteSignal((ushort)WriteDbName, 0, 2, heartbeat) == false)
            {
                Log4netHelper.Logger_Error.ErrorFormat(string.Format("堆垛机PLC[{0}]写入心跳失败", PlcName));
                //throw new Exception(string.Format("堆垛机PLC[{0}]写入心跳失败", SrmNo));
            }
        }

        /// <summary>
        /// 堆垛机任务完成
        /// </summary>
        protected virtual void SRMCompleteTask()
        {
            try
            {
                //当前任务完成
                if (EquSignal.DB521_Task_Finishi == false) return;
                //查询任务
                var task = SugarBase.DB.Queryable<WCS_TASK>().First(v => v.TASK_NO == EquSignal.DB521_Taskfinishi_ID);
                if (task == null) return;
                if (task.TASK_WKSTATUS >= 99) return;

                if ((task.TASK_COMTYPE == (int)ComTypeEnum.入库 && task.TASK_POSIDTO.Length > 5) || task.TASK_COMTYPE == (int)ComTypeEnum.移库)
                {
                    //完成任务
                    string result = TryCachHelper.TryTranExecute((db) =>
                    {
                        //修改任务的状态
                        db.Updateable<WCS_TASK>(it => new WCS_TASK() { TASK_WKSTATUS = 99, TASK_EDITUSERNO = "WCS", TASK_EDITDATETIME = DateTime.Now })
                                    .Where(it => it.TASK_NO == task.TASK_NO)
                                    .ExecuteCommand();
                        
                        //添加修改明细
                        string msg = string.Format("任务[{0}]完成", task.TASK_NO);
                        CommonData.AddWCS_TASK_DTL(db, task.TASK_NO, task.TASK_NO, task.TASK_POSIDCUR, task.TASK_POSIDTO, msg);
                    });
                    DateTime lastfinishtime = SugarBase.DB.GetDate();
                    //更新最后完成时间
                    SugarBase.DB.Updateable<WCS_PLC>(it => new WCS_PLC() { PLC_LASTFINISHTIME = lastfinishtime }).Where(it => it.PLC_NAME == task.TASK_SRMNO).ExecuteCommand();
                    if (string.IsNullOrWhiteSpace(result))
                    {
                        if (task.TASK_COMTYPE == (int)ComTypeEnum.入库)
                        {
                            SrmConvNoMoveToLast(task.TASK_POSIDCUR);
                        }
                    }
                }
                else if (task.TASK_COMTYPE == (int)ComTypeEnum.出库 || task.TASK_COMTYPE == (int)ComTypeEnum.搬运)
                {
                    if (task.TASK_WKSTATUS == (int)WkStatus.堆垛机执行)
                    {
                        //var routeSet = EquRouteHelper.QueryRoute(task.TASK_SRMNO, task.TASK_POSIDTO);
                        //var routes = routeSet.Where(v => v.ROUTE_STARTPOS == task.TASK_SRMNO).ToList();
                        //var route = QueryOutEquRouteItem(task, routes);
                        int wksstatus = 6;
                        //if (route.ISEND)
                        //{
                        //    wksstatus = 99;
                        //}
                        string result = TryCachHelper.TryTranExecute((db) =>
                        {
                            //修改任务的状态
                            db.Updateable<WCS_TASK>(it => new WCS_TASK() { TASK_WKSTATUS = wksstatus, TASK_POSIDCUR = task.TASK_POSIDNEXT, TASK_EDITUSERNO = "WCS", TASK_EDITDATETIME = DateTime.Now })
                                        .Where(it => it.TASK_NO == task.TASK_NO)
                                        .ExecuteCommand();
                            //添加修改明细
                            string msg = string.Format("任务[{0}]堆垛机完成,修改当前地址为[{1}]", task.TASK_NO, task.TASK_POSIDNEXT);
                            CommonData.AddWCS_TASK_DTL(db, task.TASK_NO, task.TASK_NO, task.TASK_POSIDNEXT, task.TASK_POSIDNEXT, msg);
                        });
                        DateTime lastfinishtime = SugarBase.DB.GetDate();
                        //更新最后完成时间
                        SugarBase.DB.Updateable<WCS_PLC>(it => new WCS_PLC() { PLC_LASTFINISHTIME = lastfinishtime }).Where(it => it.PLC_NAME == task.TASK_SRMNO).ExecuteCommand();
                        if (string.IsNullOrWhiteSpace(result))
                        {
                            SrmConvNoMoveToLast(task.TASK_POSIDNEXT);
                        }
                    }
                }
                //TaskComplete(task.TASK_SRMNO, task.TASK_ID, task.TASK_COMTYPE);
            }
            catch (Exception ex)
            {
                LogMessageHelper.RecordLogMessage(ex);
            }
        }
        /// <summary>
        /// 调整堆垛机出入口顺序
        /// </summary>
        /// <param name="convNo"></param>
        private void SrmConvNoMoveToLast(string convNo)
        {
            //检测是否是最后一项
            if (SrmOutInInfoSet[SrmOutInInfoSet.Count() - 1].SRMOUTIN_CONVNO == convNo) return;
            //查询要调整执行顺序的输送线
            var outininfo = SrmOutInInfoSet.FirstOrDefault(v => v.SRMOUTIN_CONVNO == convNo);
            //删除当前
            SrmOutInInfoSet.Remove(outininfo);
            //添加到最后
            SrmOutInInfoSet.Add(outininfo);
        }
        /// <summary>
        /// 任务完成
        /// </summary>
        /// <param name="db"></param>
        /// <param name="conveyorOut">设备编号</param>
        /// <param name="taskno">任务号</param>
        /// <param name="temptype">类型  1：入库任务完成  2：堆垛机出库任务完成  3.移库完成 4：出库任务完成 5.堆垛机码盘完成</param>
        //public void TaskComplete(string equNo, string task_id, int temptype)
        //{
        //    var param = new TASKCOMPLETEPARAM();
        //    param.TASK_ID = task_id;
        //    param.FINISHTYPE = temptype;
        //    RESULTINFO result = Current.WmsInterface.TASKCOMPLETE(param);
        //    if (result.ISSUCCESS)
        //    {
        //        Log4netHelper.Logger_Info.InfoFormat(string.Format("堆垛机[{0}]完成WMS任务成功，传递参数:任务号[{1}]类型[{2}]反馈消息：[{3}]", equNo, task_id, temptype, result.MASSAGE));
        //    }
        //    else
        //    {
        //        Log4netHelper.Logger_Error.ErrorFormat(string.Format("堆垛机[{0}]完成WMS任务失败，传递参数:任务号[{1}]类型[{2}]反馈消息：[{3}]", equNo, task_id, temptype, result.MASSAGE));
        //    }
        //}

        private void SRMStartExecuteTask()
        {
            //检测堆垛机模式
            if (EquSignal.DB521_Auto_status != (int)SrmModeEnum.远程) return;
            //检测堆垛机报警
            if (EquSignal.SrmDB541_Alarm) return;
            //检测堆垛机状态
            if (EquSignal.DB521_Srm_Status != (int)SrmStateFork1Enum.空闲) return;
            if (EquSignal.DB520_Task_trigger != 0) return;
            //检测堆垛机禁用
            //if (Current.SysSets.FirstOrDefault(v => v.SET_ID == SrmNo).SET_VALUE.Trim() == "1") return;

            TryCachHelper.TryExecute((db) =>
            {
                var taskSet = db.Queryable<WCS_TASK>().Where(v => v.TASK_SRMNO == PlcName).ToList();

                var task = taskSet.FirstOrDefault(v => (v.TASK_WKSTATUS == (int)WkStatus.堆垛机执行));
                if (task == null)
                {
                    //移库
                    if (PlcName == "srm01")
                    {
                        var firsttask = SugarBase.DB.Queryable<WCS_TASK>().Where(v => v.TASK_SRMNO == PlcName && v.TASK_COMTYPE == 2 && v.TASK_WKSTATUS <= 1).OrderBy(v => v.TASK_ADDDATETIME).First();
                        if (firsttask == null)
                        {
                            //移库
                            if (MoveStock(db)) return;
                        }
                        else
                        {
                            var dtime = SugarBase.DB.GetDate();
                            if (firsttask.TASK_ADDDATETIME.AddMinutes(20) > dtime)//出库任务在20分钟内
                            {
                                //移库
                                if (MoveStock(db)) return;
                            }
                        }
                    }
                    else
                    {
                        //移库
                        if (MoveStock(db)) return;
                    }

                    taskSet = taskSet.Where(v => v.TASK_WKSTATUS <= 2).ToList();

                    OutInStock(db, taskSet);
                }
                else
                {
                    Log4netHelper.Logger_Error.ErrorFormat(string.Format("堆垛机[{0}]状态正常，但是存在执行中的任务[{1}]", PlcName, task.TASK_NO));
                }
            });
        }

        protected bool MoveStock(SqlSugarClient db)
        {
            bool result = false;
            var task = QueryMoveTask(db);
            if (task == null) return result;

            if (string.IsNullOrWhiteSpace(task.TASK_POSIDTO) || task.TASK_POSIDTO == WCS_PLCItem.PLC_NAME)
            {
                //分配货位
                bool assignresult = GetWareCell(task);
                if (assignresult == false) return result;
                //分配货位
                //bool assignresult = WareCell_Assign(db, task);
                //if (assignresult == false) return result;
            }
            var writeSignal = new WCSWriteToSrmSignal();
            writeSignal.Start_number = 0;
            writeSignal.End_number = 0;
            writeSignal.Goodtype = 0;
            //查询货位表巷道,深度
            //var location1 = db.Queryable<BASE_WARECELL>().First(v => v.F_NO == task.TASK_POSIDFROM);
            writeSignal.RowPos1 = task.FromRow; // location1.F_LINE;
            writeSignal.Travelpos1 = task.FromCol;
            writeSignal.Liftpos1 = task.FromLayer;
            //writeSignal.Fork_start_pos1 = location1.F_DEPTH;
            writeSignal.End_number = 0;
            //查询货位表巷道,深度
            //var location2 = db.Queryable<BASE_WARECELL>().First(v => v.F_NO == task.TASK_POSIDTO);
            writeSignal.RowPos2 = task.ToRow;//location2.F_LINE;
            writeSignal.Travelpos2 = task.ToCol;
            writeSignal.Liftpos2 = task.ToLayer;
            //writeSignal.Fork_dest_pos2 = location2.F_DEPTH;
            writeSignal.TaskID = task.TASK_NO;
            writeSignal.End_number = 0;
            //执行任务
            SrmOutIn(writeSignal, task.TASK_POSIDFROM, task.TASK_POSIDTO);
            result = true;
            return result;
        }

        private WCS_TASK QueryMoveTask(SqlSugarClient db)
        {
            WCS_TASK task = null;
            var movetaskSet = db.Queryable<WCS_TASK>().Where(v => v.TASK_COMTYPE == (int)ComTypeEnum.移库 && v.TASK_WKSTATUS <= 1 && v.TASK_SRMNO == WCS_PLCItem.PLC_NAME).ToList();

            if (movetaskSet.Count > 0) task = movetaskSet[0];
            return task;
        }
        public bool GetWareCell(WCS_TASK task)
        {
            string resultMsg = string.Empty;
            //调度接口获取货位
            var getWareCell = Current.WmsInterface.I_WCS_GetWareCell(new GetWareCellParam() { WMSTaskNum = task.TASK_WMSNO.ToString(), TunnelNum = task.TASK_EndTunnelNum, PickUpEquipmentNo = task.TASK_POSIDNEXT });
            if (getWareCell.ResType)
            {
                resultMsg = TryCachHelper.TryTranExecute((db) =>
                {
                    //修改任务分配货位
                    db.Updateable<WCS_TASK>(it => new WCS_TASK() { TASK_WKSTATUS = 2, TASK_POSIDNEXT = getWareCell.CellNo, TASK_POSIDTO = getWareCell.CellNo, TASK_EDITUSERNO = "WCS", TASK_EDITDATETIME = DateTime.Now })
                                .Where(it => it.TASK_NO == task.TASK_NO)
                                .ExecuteCommand();
                    //添加修改明细
                    string msg = string.Format("任务[{0}]分配货位[{1}]成功。", task.TASK_NO, getWareCell.CellNo);
                    CommonData.AddWCS_TASK_DTL(db, task.TASK_NO, task.TASK_NO, task.TASK_POSIDCUR, task.TASK_POSIDNEXT, msg);
                });
            }
            else
            {
                resultMsg = string.Format("任务[{0}]调用接口分配货位[{1}]失败,原因：{2}", task.TASK_NO, getWareCell.CellNo, getWareCell.ResMessage);
                LogMessageHelper.RecordLogMessage(resultMsg);
            }

            if (string.IsNullOrWhiteSpace(resultMsg))
            {
                task.TASK_POSIDNEXT = getWareCell.CellNo;
                task.TASK_POSIDTO = getWareCell.CellNo;
                return true;
            }
            else
            {
                return false;
            }
        }
        //public bool WareCell_Assign(SqlSugarClient db, WCS_TASK task)
        //{
        //    bool result = false;
        //    Log4netHelper.Logger_Info.InfoFormat(string.Format("任务[{0}]开始分配货位", task.TASK_NO));

        //    var param = new WARECELL_ASSIGNPARAM();
        //    param.TASK_ID = task.TASK_ID;
        //    var posIdToMsg = Current.WmsInterface.WARECELL_ASSIGN(param);
        //    string posIdTo = posIdToMsg.MSGCODE;
        //    Log4netHelper.Logger_Info.InfoFormat(string.Format("任务[{0}]分配货位结束，得到货位[{1}]", task.TASK_NO, posIdTo));
        //    if (string.IsNullOrWhiteSpace(posIdToMsg.MSGCODE))
        //    {
        //        Log4netHelper.Logger_Error.ErrorFormat(posIdToMsg.MASSAGE);
        //    }
        //    else
        //    {
        //        Log4netHelper.Logger_Info.InfoFormat(posIdToMsg.MASSAGE);
        //        var wcs_task = db.Queryable<WCS_TASK>().First(v => v.TASK_POSIDTO == posIdTo);

        //        var warecell = db.Queryable<BASE_WARECELL>().First(v => v.F_NO == posIdTo);
        //        if (warecell.F_STATENUM != 1)
        //        {
        //            Log4netHelper.Logger_Error.ErrorFormat(string.Format("货位[{0}]非空闲，分配货位错误", posIdTo));
        //        }
        //        else if (wcs_task != null)
        //        {
        //            Log4netHelper.Logger_Info.InfoFormat("货位[{0}]已经分配给任务[{1}]不能分给当前任务[{2}]", posIdTo, wcs_task.TASK_NO, task.TASK_NO);
        //        }
        //        //else if (posIdTo == lastastWareCell)
        //        //{
        //        //    Current.Logger_Info.InfoFormat("任务[{0}]分配货位[{1}]当前状态[{2}]", task.TASK_NO, posIdTo, warecell.F_STATENUM);
        //        //    Current.Logger_Info.InfoFormat("任务[{0}]堆垛机[{1}]上次分配货位[{2}]本次分配货位[{3}],不能是相同货位。", task.TASK_NO, task.TASK_SRMNO, lastastWareCell, posIdTo);
        //        //}
        //        else
        //        {
        //            task.TASK_POSIDTO = posIdTo;

        //            string assignresult = TryCachHelper.TryExecute((db2) => {
        //                //更新任务目标地址
        //                if (db2.Updateable<WCS_TASK>(v => new WCS_TASK() { TASK_POSIDTO = task.TASK_POSIDTO })
        //                       .Where(it => it.TASK_NO == task.TASK_NO)
        //                       .ExecuteCommand() < 0)
        //                {
        //                    throw new Exception(string.Format("任务[{0}]更新目标地址为[{1}]失败", task.TASK_NO, task.TASK_POSIDTO));
        //                }
        //                //锁货位
        //                //if (db2.Updateable<BASE_WARECELL>(v => new BASE_WARECELL() { F_STATENUM = 3 })
        //                //       .Where(it => it.F_NO == task.TASK_POSIDTO)
        //                //       .ExecuteCommand() < 0)
        //                //{
        //                //    throw new Exception(string.Format("任务[{0}]锁定货位[{1}]失败", task.TASK_NO, task.TASK_POSIDTO));
        //                //}
        //            });
        //            if (string.IsNullOrWhiteSpace(assignresult))
        //            {
        //                var base_warecell = db.Queryable<BASE_WARECELL>().First(v => v.F_NO == posIdTo);
        //                if (base_warecell.F_STATENUM == 3)
        //                {
        //                    Log4netHelper.Logger_Info.InfoFormat(string.Format("任务[{0}]锁定货位[{1}]成功", task.TASK_NO, posIdTo));
        //                    //lastastWareCell = posIdTo;
        //                }
        //                else
        //                {
        //                    Log4netHelper.Logger_Info.ErrorFormat(string.Format("任务[{0}]锁定货位[{1}]失败，请检测原因", task.TASK_NO, posIdTo));
        //                    result = false;
        //                }
        //                result = true;
        //            }
        //        }
        //    }
        //    return result;
        //}

        private void SrmOutIn(WCSWriteToSrmSignal srmSignal, string startPos, string posIdnext)
        {
            if (EquSignal.DB520_Start_number == srmSignal.Start_number &&
                EquSignal.DB520_End_number == srmSignal.End_number &&
                EquSignal.DB520_Goodtype == srmSignal.Goodtype &&
                EquSignal.DB520_Runmode == srmSignal.Runmode &&
                EquSignal.DB520_FromRowPos == srmSignal.RowPos1 &&
                EquSignal.DB520_FromColumnPos == srmSignal.Travelpos1 &&
                EquSignal.DB520_FromLayerPos == srmSignal.Liftpos1 &&
                EquSignal.DB520_Fork_start_pos1 == srmSignal.Fork_start_pos1 &&
                EquSignal.DB520_ToRowPos == srmSignal.RowPos2 &&
                EquSignal.DB520_ToColumnPos == srmSignal.Travelpos2 &&
                EquSignal.DB520_ToLayerPos == srmSignal.Liftpos2 &&
                EquSignal.DB520_Fork_dest_pos2 == srmSignal.Fork_dest_pos2 &&
                EquSignal.DB520_TaskID == srmSignal.TaskID)
            {
                string result = TryCachHelper.TryTranExecute((db) =>
                {
                    var task = db.Queryable<WCS_TASK>().First(t => t.TASK_NO == srmSignal.TaskID);

                    db.Updateable<WCS_TASK>(it => new WCS_TASK() { TASK_WKSTATUS = (int)WkStatus.堆垛机执行, TASK_POSIDNEXT = posIdnext, TASK_EDITUSERNO = "WCS", TASK_EDITDATETIME = DateTime.Now })
                       .Where(it => it.TASK_NO == srmSignal.TaskID).ExecuteCommand();
                    string msg = string.Format("任务[{0}]已下发给堆垛机执行,起点位置[{1}]目标地址[{2}]", task.TASK_NO, startPos, posIdnext);
                    CommonData.AddWCS_TASK_DTL(db, task.TASK_NO, task.TASK_NO, task.TASK_POSIDCUR, posIdnext, msg);

                    if (EquSignal.DB520_Task_trigger != 1)
                    {
                        string mes = string.Format("读取plc信息:任务号[{0}]起始行[{1}]起始列[{2}]起始层[{3}]目标行[{4}]目标列[{5}]目标层[{6}]",
                        EquSignal.DB520_TaskID, EquSignal.DB520_FromRowPos, EquSignal.DB520_FromColumnPos, EquSignal.DB520_FromLayerPos,
                        EquSignal.DB520_ToRowPos, EquSignal.DB520_ToColumnPos, EquSignal.DB520_ToLayerPos);
                        Log4netHelper.Logger_Info.InfoFormat(mes);
                        if (WCS_PLCItem.Plc.WriteSignal((ushort)WriteDbName, 30, 2, 1))
                        {
                            Log4netHelper.Logger_Info.InfoFormat(string.Format("任务[{0}]写入触发信号成功。", srmSignal.TaskID));
                        }
                        else
                        {
                            throw new Exception(string.Format("任务[{0}]写入触发信号失败。", srmSignal.TaskID));
                        }
                    }
                });
                if (!string.IsNullOrWhiteSpace(result))
                {
                    throw new Exception(string.Format("任务[{0}]堆垛机执行失败，原因：[{1}]", srmSignal.TaskID, result));
                }
            }
            else
            {
                WriteTaskToSrm(srmSignal);
            }
        }
        private void SrmOutIn2(WCSWriteToSrmSignal srmSignal, string startPos, string posIdnext)
        {
            string result = TryCachHelper.TryTranExecute((db) =>
            {
                var task = db.Queryable<WCS_TASK>().First(t => t.TASK_NO == srmSignal.TaskID);

                db.Updateable<WCS_TASK>(it => new WCS_TASK() { TASK_WKSTATUS = (int)WkStatus.堆垛机执行, TASK_POSIDNEXT = posIdnext, TASK_EDITUSERNO = "WCS", TASK_EDITDATETIME = DateTime.Now })
                   .Where(it => it.TASK_NO == srmSignal.TaskID).ExecuteCommand();
                string msg = string.Format("任务[{0}]已下发给堆垛机执行,起点位置[{1}]目标地址[{2}]", task.TASK_NO, startPos, posIdnext);
                CommonData.AddWCS_TASK_DTL(db, task.TASK_NO, task.TASK_NO, task.TASK_POSIDCUR, posIdnext, msg);


                List<byte> list = new List<byte>();
                list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Start_number).ToList());
                list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.End_number).ToList());
                list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Goodtype).ToList());
                list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Runmode).ToList());
                list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.RowPos1).ToList());
                list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Travelpos1).ToList());
                list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Liftpos1).ToList());
                list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Fork_start_pos1).ToList());
                list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.RowPos2).ToList());
                list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Travelpos2).ToList());
                list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Liftpos2).ToList());
                list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Fork_dest_pos2).ToList());
                list.AddRange(ExtendsUtil.UintToByte((uint)srmSignal.TaskID).ToList());
                ushort trigger = 1;
                list.AddRange(ExtendsUtil.UshortToByte(trigger).ToList());

                Log4netHelper.Logger_Info.InfoFormat(string.Format("写入任务[{0}]信息", srmSignal.TaskID));

                if (WCS_PLCItem.Plc.Write((ushort)WriteDbName, 2, list.ToArray()))
                {
                    Log4netHelper.Logger_Info.InfoFormat(string.Format("堆垛机[{0}]写入任务[{1}]信息成功", PlcName, srmSignal.TaskID));
                }
                else
                {
                    throw new Exception(string.Format("堆垛机[{0}]写入任务[{1}]信息失败", PlcName, srmSignal.TaskID));
                }
            });
            if (!string.IsNullOrWhiteSpace(result))
            {
                throw new Exception(string.Format("任务[{0}]堆垛机执行失败，原因：[{1}]", srmSignal.TaskID, result));
            }
        }

        private void WriteTaskToSrm(WCSWriteToSrmSignal srmSignal)
        {
            List<byte> list = new List<byte>();
            list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Start_number).ToList());
            list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.End_number).ToList());
            list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Goodtype).ToList());
            list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Runmode).ToList());
            list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.RowPos1).ToList());
            list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Travelpos1).ToList());
            list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Liftpos1).ToList());
            list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Fork_start_pos1).ToList());
            list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.RowPos2).ToList());
            list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Travelpos2).ToList());
            list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Liftpos2).ToList());
            list.AddRange(ExtendsUtil.UshortToByte((ushort)srmSignal.Fork_dest_pos2).ToList());
            list.AddRange(ExtendsUtil.UintToByte((uint)srmSignal.TaskID).ToList());
            Log4netHelper.Logger_Info.InfoFormat(string.Format("写入任务[{0}]信息", srmSignal.TaskID));
            bool result = WCS_PLCItem.Plc.Write((ushort)WriteDbName, 2, list.ToArray());
            if (result)
            {
                Log4netHelper.Logger_Info.InfoFormat(string.Format("堆垛机[{0}]写入任务[{1}]信息成功", PlcName, srmSignal.TaskID));
            }
            else
            {
                throw new Exception(string.Format("堆垛机[{0}]写入任务[{1}]信息失败", PlcName, srmSignal.TaskID));
            }
        }

        private void OutInStock(SqlSugarClient db, List<WCS_TASK> tasks)
        {
            if (tasks.Count == 0) return;
            int taskMaxPriority = tasks.Max(v => v.TASK_PRIORITY);
            for (int index = taskMaxPriority; index >= 0; index--)
            {
                var tasks_Temp = tasks.Where(v => v.TASK_PRIORITY == index).ToList();

                if (tasks_Temp.Count > 0)
                {
                    var task = QueryTask2(db, tasks_Temp);
                    if (task != null)
                    {
                        if (task.TASK_COMTYPE == (int)ComTypeEnum.入库)
                        {
                            if (InStock(db, task)) break;
                        }
                        else if (task.TASK_COMTYPE == (int)ComTypeEnum.出库)
                        {
                            if (OutStock(db, task)) break;
                        }
                        else if (task.TASK_COMTYPE == (int)ComTypeEnum.搬运)
                        {
                            if (Carry(db, task)) break;
                        }
                    }
                }
            }
        }

        private WCS_TASK QueryTask2(SqlSugarClient db, List<WCS_TASK> tasks)
        {
            WCS_TASK wcs_task = null;
            //克隆集合
            List<WCS_SrmOutInInfo> outininfoSet = SrmOutInInfoSet.GetRange(0, SrmOutInInfoSet.Count);
            foreach (var outininfo in outininfoSet)
            {
                if (outininfo.SRMOUTIN_OUTINTYPE == "in" || outininfo.SRMOUTIN_OUTINTYPE == "outIn")
                {
                    var intasks = tasks.SingleOrDefault(v => v.TASK_WKSTATUS != (int)WkStatus.堆垛机执行 &&
                                                       v.TASK_POSIDCUR == outininfo.SRMOUTIN_CONVNO &&
                                                       //v.TASK_POSIDNEXT == outininfo.SRMOUTIN_CONVNO &&
                                                       (v.TASK_COMTYPE == 1 || v.TASK_COMTYPE == 4));
                    if (intasks != null)
                    {
                        var temptask = QueryInConvTask(outininfo, intasks);
                        if (temptask != null)
                        {
                            wcs_task = temptask;
                            break;
                        }
                    }
                }

                if (outininfo.SRMOUTIN_OUTINTYPE == "out" || outininfo.SRMOUTIN_OUTINTYPE == "outIn")
                {
                    //检测出口状态
                    var convSignal = ConveyorHelper.GetConveyorSignal(outininfo.SRMOUTIN_CONVPLCNAME, outininfo.SRMOUTIN_CONVNO);
                    if (convSignal.DB521_Request == false && convSignal.DB521_Tasknum <= 0 && convSignal.CvDB51_PH_Status == false)
                    {
                        var outTask = db.Queryable<WCS_TASK>().First(v => v.TASK_POSIDCUR == outininfo.SRMOUTIN_CONVNO);
                        if (outTask == null ||
                           ((outTask.TASK_WKSTATUS != (int)WkStatus.输送机执行) && (outTask.TASK_WKSTATUS != (int)WkStatus.堆垛机完成)))
                        {
                            //检测是否存在该出口的任务列表
                            List<WCS_TASK> list = new List<WCS_TASK>();
                            var taskList = tasks.Where(v => v.TASK_COMTYPE == 2 && v.TASK_WKSTATUS <= 1).ToList();
                            WCS_EQUIPMENTROUTE routeitem = null;
                            foreach (var task in taskList)
                            {
                                var routes = EquRouteHelper.QueryRoute(task.TASK_SRMNO, task.TASK_POSIDTO).Where(v => v.ROUTE_STARTPOS == PlcName).ToList();

                                routeitem = routes.FirstOrDefault(v => v.ROUTE_SONPOS == outininfo.SRMOUTIN_CONVNO);

                                //if (CurrentRoute == null)
                                //{
                                //    LogMessageHelper.RecordLogMessage(string.Format("任务[{0}]目标地址[{1}]堆垛机[{2}]没有查询到路由。", task.TASK_NO, task.TASK_POSIDTO, PlcName));
                                //}

                                if (routeitem != null && CheckAreaOutAddress(task, routeitem))
                                {
                                    if (task.TASK_WKSTATUS <= 1)
                                    {
                                        list.Add(task);
                                    }
                                }
                            }
                            //有任务则调用虚方法并返回要执行的任务
                            var curouttask = QueryOutTask(db, list);
                            if (curouttask != null)
                            {
                                wcs_task = curouttask;
                                break;
                            }
                        }
                    }
                }
                //无任务则移动到最后
                SrmConvNoMoveToLast(outininfo.SRMOUTIN_CONVNO);
            }
            return wcs_task;
        }
        /// <summary>
        /// 查询堆垛机入库口任务
        /// </summary>
        protected virtual WCS_TASK QueryInConvTask(WCS_SrmOutInInfo outininfo, WCS_TASK task)
        {
            WCS_TASK wcs_task = null;
            var convSignal = ConveyorHelper.GetConveyorSignal(outininfo.SRMOUTIN_CONVPLCNAME, outininfo.SRMOUTIN_CONVNO);
            if (convSignal.DB521_Tasknum == task.TASK_NO && convSignal.CvDB51_PH_Status
                //&& convSignal.DB521_Goodsend.ToString() == outininfo.SRMOUTIN_CONVNO
                )
            {
                if (task.TASK_COMTYPE == 1)
                {
                    if (string.IsNullOrWhiteSpace(task.TASK_POSIDTO) || task.TASK_POSIDTO == PlcName)
                    {
                        wcs_task = null;
                    }
                    else
                    {
                        wcs_task = task;
                    }
                }
                else if (task.TASK_COMTYPE == 4)
                {
                    var route = EquRouteHelper.QueryRoute(task.TASK_SRMNO, task.TASK_POSIDTO).FirstOrDefault(v => v.ROUTE_STARTPOS == PlcName);

                    var srmoutin = SrmOutInInfoSet.SingleOrDefault(v => v.SRMOUTIN_CONVNO == route.ROUTE_NEXTPOS && v.SRMOUTIN_SRMNO == PlcName);
                    //检测出口状态
                    var outConv = ConveyorHelper.GetConveyorSignal(srmoutin.SRMOUTIN_CONVPLCNAME, srmoutin.SRMOUTIN_CONVNO);
                    if (outConv.DB521_Tasknum == 0 && outConv.CvDB51_PH_Status == false)
                    {
                        wcs_task = task;
                    }
                }
            }
            return wcs_task;
        }
        //private WCS_TASK QueryTask(SqlSugarClient db, List<WCS_TASK> tasks)
        //{
        //    WCS_TASK wcs_task = null;
        //    //查询最小优先级
        //    int priority = SrmOutInInfoSet.Max(v => v.SRMOUTIN_PRIORITY);
        //    for (int index = 1; index <= priority; index++)
        //    {
        //        //查询相同优先级的出入口
        //        var outininfoSet_temp = SrmOutInInfoSet.Where(v => v.SRMOUTIN_PRIORITY == index && v.SRMOUTIN_ISSTOP == false).ToList();
        //        //克隆集合
        //        List<WCS_SrmOutInInfo> outininfoSet = outininfoSet_temp.GetRange(0, outininfoSet_temp.Count);

        //        foreach (var outininfo in outininfoSet)
        //        {
        //            if (outininfo.SRMOUTIN_OUTINTYPE == "in")
        //            {
        //                //检测入库口状态
        //                var convSignal = ConveyorHelper.GetConveyorSignal(outininfo.SRMOUTIN_CONVPLCNAME, outininfo.SRMOUTIN_CONVNO);
        //                if (convSignal.DB521_Tasknum > 0 &&
        //                    convSignal.DB521_Goodsend.ToString() == outininfo.SRMOUTIN_CONVNO)
        //                {
        //                    var curtask = tasks.FirstOrDefault(v => v.TASK_NO == convSignal.DB521_Tasknum);
        //                    if (curtask != null && curtask.TASK_WKSTATUS != (int)WkStatus.堆垛机执行)
        //                    {
        //                        wcs_task = curtask;
        //                        break;
        //                    }
        //                }
        //            }
        //            else if (outininfo.SRMOUTIN_OUTINTYPE == "out")
        //            {
        //                //检测出口状态
        //                var convSignal = ConveyorHelper.GetConveyorSignal(outininfo.SRMOUTIN_CONVPLCNAME, outininfo.SRMOUTIN_CONVNO);
        //                if (convSignal.DB521_Request == false && convSignal.DB521_Tasknum <= 0)
        //                {
        //                    var curOutTask = db.Queryable<WCS_TASK>().First(v => v.TASK_POSIDCUR == outininfo.SRMOUTIN_CONVNO);
        //                    if (curOutTask == null ||
        //                       ((curOutTask.TASK_WKSTATUS != (int)WkStatus.输送机执行) && (curOutTask.TASK_WKSTATUS != (int)WkStatus.堆垛机完成)))
        //                    {
        //                        //检测是否存在该出口的任务列表
        //                        List<WCS_TASK> list = new List<WCS_TASK>();
        //                        foreach (var task in tasks)
        //                        {
        //                            var route = EquRouteHelper.QueryRoute(task.TASK_SRMNO, task.TASK_POSIDTO).FirstOrDefault(v => v.ROUTE_STARTPOS == SrmNo);
        //                            if (route == null)
        //                            {
        //                                Log4netHelper.Logger_Error.ErrorFormat(string.Format("任务[{0}]目标地址[{1}]堆垛机[{2}]", task.TASK_NO, task.TASK_POSIDTO, SrmNo));
        //                            }
        //                            if (outininfo.SRMOUTIN_CONVNO == route.ROUTE_NEXTPOS)
        //                            {
        //                                if (task.TASK_WKSTATUS <= 1)
        //                                {
        //                                    list.Add(task);
        //                                }
        //                            }
        //                        }
        //                        //有任务则调用虚方法并返回要执行的任务
        //                        var curouttask = QueryOutTask(db, list);
        //                        if (curOutTask != null)
        //                        {
        //                            wcs_task = curouttask;
        //                            break;
        //                        }
        //                    }
        //                }
        //            }
        //            //无任务则移动到最后
        //            SrmConvNoMoveToLast(outininfo.SRMOUTIN_CONVNO);
        //        }
        //    }
        //    return wcs_task;
        //}

        protected bool InStock(SqlSugarClient db, WCS_TASK task)
        {
            bool result = false;

            if (task != null)
            {
                //检测任务当前位置存在于srm当前入口输送线列表中
                if (SrmOutInInfoSet.Any(v => v.SRMOUTIN_CONVNO == task.TASK_POSIDCUR && (v.SRMOUTIN_OUTINTYPE == "in" || v.SRMOUTIN_OUTINTYPE=="outIn")))
                {
                    if (string.IsNullOrWhiteSpace(task.TASK_POSIDTO) || task.TASK_POSIDTO == PlcName)
                    {
                        //分配货位
                        //bool assignresult = GetWareCell(task); //WareCell_Assign(db, task);
                        //if (assignresult == false) return false;
                        Log4netHelper.Logger_Error.ErrorFormat(string.Format("任务[{0}]未分配货位，堆垛机不能执行", task.TASK_NO));
                        return false;
                    }
                    //task = db.Queryable<WCS_TASK>().First(v => v.TASK_NO == task.TASK_NO);
                    //if (string.IsNullOrWhiteSpace(task.TASK_POSIDTO) || task.TASK_POSIDTO == SrmNo)
                    //{
                    //    throw new Exception(string.Format("任务[{0}]未分配货位。", task.TASK_NO));
                    //}
                    //else
                    //{
                    //    Log4netHelper.Logger_Info.InfoFormat("任务[{0}]货位分配成功", task.TASK_NO);
                    //}
                    var writeSignal = new WCSWriteToSrmSignal();
                    writeSignal.Start_number = 0;
                    writeSignal.Goodtype = 0;

                    if (task.TASK_COMTYPE == 4)//移动
                    {
                        //var startCvToEnd = ConveyorHelper.SrmMoveCvSet.FirstOrDefault(v => v.StartConveyor == task.TASK_POSIDCUR);
                        //writeSignal.RowPos1 = startCvToEnd.SrmStartRow;
                        //writeSignal.Travelpos1 = startCvToEnd.SrmStartColumn;
                        //writeSignal.Liftpos1 = startCvToEnd.SrmStartLayer;
                        //writeSignal.Fork_start_pos1 = startCvToEnd.SrmStartDepth;

                        //writeSignal.RowPos2 = startCvToEnd.SrmEndRow;
                        //writeSignal.Travelpos2 = startCvToEnd.SrmEndColumn;
                        //writeSignal.Liftpos2 = startCvToEnd.SrmEndLayer;
                        //writeSignal.Fork_dest_pos2 = startCvToEnd.SrmEndDepth;
                    }
                    else
                    {
                        var route = Current.EquRouteSet.FirstOrDefault(v => v.ROUTE_STARTPOS == task.TASK_POSIDCUR);
                        writeSignal.RowPos1 = (int)route.SRMROW;
                        writeSignal.Travelpos1 = (int)route.SRMCOLUMN;
                        writeSignal.Liftpos1 = (int)route.SRMLAYER;
                        //writeSignal.Fork_start_pos1 = (int)route.DEPTH;
                        //查询货位表巷道,深度
                        //var location = db.Queryable<Base_Location>().First(v => v.Loc_No == task.TASK_POSIDTO);
                        writeSignal.RowPos2 = task.ToRow;// location.Loc_Tunnel;
                        writeSignal.Travelpos2 = task.ToCol;
                        writeSignal.Liftpos2 = task.ToLayer;
                        //writeSignal.Fork_dest_pos2 = task.ToDepth; //location.Loc_Depth;
                    }

                    //if (task.TASK_COMTYPE == 5)
                    //{
                    //    var warecell = db.Queryable<BASE_WARECELL>().First(v => v.F_NO == task.TASK_POSIDTO);
                    //    int count = db.Queryable<BILL_INVCONTR>().Where(v => v.F_CONTRGRPNO == warecell.F_CNTRGRPNO).Count();
                    //    writeSignal.End_number = count;
                    //}
                    writeSignal.TaskID = task.TASK_NO;
                    //执行任务
                    SrmOutIn(writeSignal, task.TASK_POSIDCUR, task.TASK_POSIDTO);
                    result = true;
                }
            }
            return result;
        }

        protected bool OutStock(SqlSugarClient db, WCS_TASK task)
        {
            bool result = false;

            if (task != null && task.FromDepth == 2 && task.TASK_POSIDCUR == task.TASK_POSIDFROM)
            {

                var tasktemps = db.Queryable<WCS_TASK>().Where(v => v.TASK_SRMNO == PlcName).ToList();
                var task_DepthOne = tasktemps.Where(v => Current.WareNameList.Contains(v.TASK_WHID)).ToList()
                    .FirstOrDefault(v => v.FromNo == task.FromNo && v.FromCol == task.FromCol && v.FromLayer == task.FromLayer && v.FromDepth == 1 && v.TASK_WKSTATUS <= 1 && (v.TASK_COMTYPE == 2 || v.TASK_COMTYPE == 3));
                if (task_DepthOne == null)
                {
                    if (string.IsNullOrWhiteSpace(task.TASK_POSIDMOVE))
                    {
                        //调用生成移库任务接口
                        var moveTaskresult = Current.WmsInterface.I_WCS_GetMoveTask(new GetMoveTaskParam() { WMSTaskNum = task.TASK_WMSNO });
                        if (moveTaskresult.ResType == 0)
                        {
                            LogMessageHelper.RecordLogMessage(string.Format("任务[{0}]调用移库接口报错:[{1}]", task.TASK_NO, moveTaskresult.ResMessage));
                            return result;
                        }
                        else if (moveTaskresult.ResType == 2)
                        {
                            //创建移库任务并执行
                            var moveTask = new WCS_TASK();
                            moveTask.TASK_WMSNO = moveTaskresult.WMSTaskNum;
                            moveTask.TASK_COMTYPE = 3;
                            moveTask.TASK_SYSTYPE = "wcs";
                            moveTask.TASK_POSIDFROM = moveTaskresult.MoveStartWareCell;
                            moveTask.TASK_POSIDCUR = moveTask.TASK_POSIDFROM;
                            moveTask.TASK_POSIDNEXT = moveTask.TASK_POSIDFROM;
                            moveTask.TASK_POSIDTO = moveTaskresult.MoveEndWareCell;
                            moveTask.TASK_POSIDMOVE = moveTask.TASK_POSIDTO;
                            moveTask.TASK_PRIORITY = 0;
                            moveTask.TASK_WKSTATUS = 0;
                            moveTask.TASK_WHID = moveTaskresult.WareHouseName;
                            moveTask.TASK_ADDUSERNO = "wcs";
                            moveTask.TASK_ADDDATETIME = db.GetDate();
                            moveTask.TASK_EDITUSERNO = "wcs";
                            moveTask.TASK_EDITDATETIME = moveTask.TASK_ADDDATETIME;
                            moveTask.TASK_NOTES = string.Empty;
                            moveTask.TASK_SRMNO = PlcName;
                            moveTask.TASK_BOXBARCODE = moveTaskresult.ContainerBarCode;
                            moveTask.TASK_FromTunnelNum = moveTaskresult.FromTunnelNum;
                            moveTask.TASK_EndTunnelNum = moveTaskresult.EndTunnelNum;

                            int inserttask = db.Insertable(moveTask).ExecuteCommand();
                            if (inserttask <= 0)
                            {
                                throw new Exception(string.Format("任务[{0}]生成移库添加移库任务失败.", task.TASK_NO));
                            }

                            //修改任务的移库字段
                            int updatetask = db.Updateable<WCS_TASK>(it => new WCS_TASK() { TASK_POSIDMOVE = moveTask.TASK_POSIDMOVE, TASK_PRIORITY = 100, TASK_EDITUSERNO = "WCS", TASK_EDITDATETIME = DateTime.Now })
                                               .Where(it => it.TASK_NO == task.TASK_NO)
                                               .ExecuteCommand();
                            if (updatetask <= 0)
                            {
                                throw new Exception(string.Format("任务[{0}]生成移库时修改需要移库的任务失败.", task.TASK_NO));
                            }

                            task = db.Queryable<WCS_TASK>().First(v => v.TASK_WMSNO == moveTask.TASK_WMSNO);
                        }
                        else if (moveTaskresult.ResType == 3)
                        {
                            if (string.IsNullOrWhiteSpace(moveTaskresult.Memo1.Trim()))
                            {
                                LogMessageHelper.RecordLogMessage(string.Format("调用移库接口报错:堆垛机[{0}]优先执行的入库任务号不能为空。", PlcName));
                                return result;
                            }
                            else
                            {
                                int task_no = Convert.ToInt32(moveTaskresult.Memo1.Trim());
                                if (task_no <= 0)
                                {
                                    LogMessageHelper.RecordLogMessage(string.Format("调用移库接口报错:堆垛机[{0}]优先执行的入库任务号不能为零。", PlcName));
                                    return result;
                                }
                                db.Updateable<WCS_TASK>(it => new WCS_TASK() { TASK_PRIORITY = 10, TASK_EDITDATETIME = DateTime.Now })
                                  .Where(it => it.TASK_NO == task_no)
                                  .ExecuteCommand();
                                return result;
                            }
                        }
                    }
                }
                else if (task_DepthOne.TASK_WKSTATUS <= 1)
                {
                    task = task_DepthOne;
                }

            }
            if (task == null) return result;

            var writeSignal = new WCSWriteToSrmSignal();
            writeSignal.Start_number = 0;
            writeSignal.End_number = 0;
            writeSignal.Goodtype = 0;
            //查询货位表巷道,深度
            //var location = db.Queryable<Base_Location>().First(v => v.Loc_No == outtask.TASK_POSIDFROM);
            if(task.TASK_POSIDCUR == task.TASK_POSIDFROM)
            {
                //堆垛机出库
                writeSignal.RowPos1 = task.FromRow;//location.Loc_Tunnel;
                writeSignal.Travelpos1 = task.FromCol;//outtask.ToCol;
                writeSignal.Liftpos1 = task.FromLayer;//outtask.ToLayer;
            }
            else
            {
                //堆垛机搬运任务
                var routes = Current.EquRouteSet.Where(v => v.ROUTE_STARTPOS == task.TASK_POSIDCUR).ToList();
                var route = routes.FirstOrDefault(v => v.ROUTE_SONPOS == PlcName);
                writeSignal.RowPos1 = (int)route.SRMROW;//location.Loc_Tunnel;
                writeSignal.Travelpos1 = (int)route.SRMCOLUMN;//outtask.ToCol;
                writeSignal.Liftpos1 = (int)route.SRMLAYER;//outtask.ToLayer;
            }

            //writeSignal.Fork_start_pos1 = outtask.FromDepth;// location.Loc_Depth; location.Loc_EquimentNo

            if (task.TASK_COMTYPE == 2)
            {
                var routeSet = EquRouteHelper.QueryRoute(task.TASK_SRMNO, task.TASK_POSIDTO);
                var routes = routeSet.Where(v => v.ROUTE_STARTPOS == task.TASK_SRMNO).ToList();
                var route = QueryOutEquRouteItem(task, routes);

                writeSignal.RowPos2 = (int)route.SRMROW;
                writeSignal.Travelpos2 = (int)route.SRMCOLUMN;
                writeSignal.Liftpos2 = (int)route.SRMLAYER;
                //writeSignal.Fork_dest_pos2 = (int)route.DEPTH;
                writeSignal.TaskID = task.TASK_NO;
                //执行任务
                SrmOutIn(writeSignal, task.TASK_POSIDFROM, route.ROUTE_SONPOS);
            }
            else if (task.TASK_COMTYPE == 3)
            {
                if (string.IsNullOrWhiteSpace(task.TASK_POSIDTO) || task.TASK_POSIDTO == WCS_PLCItem.PLC_NAME)
                {
                    bool assignresult = GetWareCell(task);
                    if (assignresult == false) return result;
                }
                writeSignal.RowPos2 = task.ToRow;
                writeSignal.Travelpos2 = task.ToCol;
                writeSignal.Liftpos2 = task.ToLayer;
                //writeSignal.Fork_dest_pos2 = outtask.ToDepth;
                writeSignal.TaskID = task.TASK_NO;
                //执行任务
                SrmOutIn(writeSignal,task.TASK_POSIDFROM, task.TASK_POSIDTO);
            }
            result = true;
            return result;
        }

        protected virtual WCS_EQUIPMENTROUTE QueryOutEquRouteItem(WCS_TASK task, List<WCS_EQUIPMENTROUTE> routeSet)
        {
            return routeSet.Single();
        }
        /// <summary>
        /// 检测区域出口地址(弯轨堆垛机，多项道转换堆垛机)
        /// </summary>
        protected virtual bool CheckAreaOutAddress(WCS_TASK task, WCS_EQUIPMENTROUTE route)
        {
            return true;
        }

        protected bool Carry(SqlSugarClient db, WCS_TASK task)
        {
            bool result = false;

            var writeSignal = new WCSWriteToSrmSignal();
            writeSignal.Start_number = 0;
            writeSignal.End_number = 0;
            writeSignal.Goodtype = 0;
            var routeItem = Current.EquRouteSet.SingleOrDefault(v => v.ROUTE_STARTPOS == task.TASK_POSIDNEXT && v.ROUTE_SONPOS == PlcName);
            //查询货位表巷道,深度
            //var location = db.Queryable<Base_Location>().First(v => v.Loc_No == outtask.TASK_POSIDFROM);
            writeSignal.RowPos1 = (int)routeItem.SRMROW;//task.FromRow;//location.Loc_Tunnel;
            writeSignal.Travelpos1 = (int)routeItem.SRMCOLUMN; //task.FromCol;//outtask.ToCol;
            writeSignal.Liftpos1 = (int)routeItem.SRMLAYER;//task.FromLayer;//outtask.ToLayer;
                                                           //writeSignal.Fork_start_pos1 = outtask.FromDepth;// location.Loc_Depth; location.Loc_EquimentNo

            var routeSet = EquRouteHelper.QueryRoute(task.TASK_SRMNO, task.TASK_POSIDTO);
            var route = routeSet.FirstOrDefault(v => v.ROUTE_STARTPOS == task.TASK_SRMNO);

            writeSignal.RowPos2 = (int)route.SRMROW;
            writeSignal.Travelpos2 = (int)route.SRMCOLUMN;
            writeSignal.Liftpos2 = (int)route.SRMLAYER;
            //writeSignal.Fork_dest_pos2 = (int)route.DEPTH;
            writeSignal.TaskID = task.TASK_NO;
            //执行任务
            SrmOutIn(writeSignal, task.TASK_POSIDNEXT, route.ROUTE_SONPOS);

            result = true;
            return result;
        }

        protected virtual WCS_TASK QueryOutTask(SqlSugarClient db, List<WCS_TASK> taskSet)
        {
            return taskSet.OrderBy(n => n.TASK_EDITDATETIME).ToList().FirstOrDefault();
        }

        private int _assignInWareCell = 0;
        /// <summary>
        /// 分配入库货位
        /// </summary>
        private void AssignInWareCell()
        {
            if (Interlocked.Exchange(ref _assignInWareCell, 1) == 0)
            {
                try
                {
                    var taskSet = SugarBase.DB.Queryable<WCS_TASK>().Where(v => v.TASK_SRMNO == PlcName && v.TASK_WKSTATUS != 5 && v.TASK_WKSTATUS > 1).ToList().OrderByDescending(v => v.TASK_PRIORITY).ToList();
                    var taskSet_In = taskSet.Where(v => v.TASK_COMTYPE == 1).ToList();
                    foreach (var task in taskSet_In)
                    {
                        if (SrmOutInInfoSet.Any(v => v.SRMOUTIN_CONVNO == task.TASK_POSIDCUR && (v.SRMOUTIN_OUTINTYPE == "in" || v.SRMOUTIN_OUTINTYPE == "outIn")) || task.TASK_POSIDCUR=="1025")
                        {
                            if (string.IsNullOrWhiteSpace(task.TASK_POSIDTO) || task.TASK_POSIDTO == PlcName)
                            {
                                if (task.TASK_WKSTATUS != 7)
                                {
                                    //入库任务分配货位
                                    GetWareCell(task);
                                }
                            }
                        }
                    }
                }
                catch (Exception ex)
                {
                    LogMessageHelper.RecordLogMessage(string.Format("分配入库货位异常：[{0}]", ex.Message), ex);
                }
                finally
                {
                    Interlocked.Exchange(ref _assignInWareCell, 0);
                }
            }
        }
      

        #endregion;

        #region 测试



        private void SRMExecuteTask()
        {
            //var taskSet = Current.TaskSet.Where(v => v.TASK_SRMNO == SrmNo && v.TASK_WKSTATUS != 5).OrderByDescending(v => v.TASK_PRIORITY).ToList();
            #region 准备堆垛机执行的入库任务
            //var taskSet_In = taskSet.Where(v => v.TASK_COMTYPE == 1).ToList();
            //foreach (var task in taskSet_In)
            //{
            //    if(SrmOutInInfoSet.Any(v => v.SRMOUTIN_CONVNO == task.TASK_POSIDCUR && v.SRMOUTIN_OUTINTYPE == "in"))
            //    {
            //        if (string.IsNullOrWhiteSpace(task.TASK_POSIDTO) || task.TASK_POSIDTO == SrmNo)
            //        {
            //            //入库任务分配货位
            //            bool assignresult = GetWareCell(task);
            //        }
            //    }
            //}
            #endregion;

            #region 准备堆垛机执行的出库任务
            //var taskSet_Out = taskSet.Where(v => v.TASK_COMTYPE == 2 && v.TASK_WKSTATUS <= 1).ToList();
            ////堆垛机出口列表
            //var srmOutConvInfoSet = SrmOutInInfoSet.Where(v => v.SRMOUTIN_OUTINTYPE == "out").ToList();
            //foreach (var outConv in srmOutConvInfoSet)
            //{
            //    if (!taskSet.Any(v => v.TASK_COMTYPE == 2 && v.TASK_WKSTATUS == 11 && v.TASK_SRMOUTCONVNO == outConv.SRMOUTIN_CONVNO))
            //    {
            //        var outtaskSet = taskSet_Out.Where(v => v.TASK_SRMOUTCONVNO == outConv.SRMOUTIN_CONVNO).ToList();
            //        var outtasks = QueryOutTask(outtaskSet);
            //        foreach (var outtask in outtasks)
            //        {
            //            if (outtask.FromDepth == 2)
            //            {
            //                var temptask = taskSet.First(v => v.FromRow == outtask.FromRow && v.FromLayer == outtask.FromLayer && v.FromDepth == 1);
            //                if (temptask == null)
            //                {
            //                    //调用生成移库任务接口

            //                    break;
            //                }
            //                else if (temptask.TASK_WKSTATUS >= 1)
            //                {
            //                    //1升位和2升位任务堆垛机出口不一致，
            //                    if (temptask.TASK_SRMOUTCONVNO != outConv.SRMOUTIN_CONVNO)
            //                    {
            //                        continue;
            //                    }
            //                    //outtask = temptask;
            //                }
            //            }
            //            //修改任务状态

            //            break;
            //        }
            //    }
            //}
            #endregion;

        }
        //internal virtual List<WCS_TASK> QueryOutTask(List<WCS_TASK> taskSet)
        //{
        //    return taskSet.OrderByDescending(v => v.TASK_PRIORITY).OrderBy(v => v.TASK_EDITDATETIME).ToList();
        //}
        #endregion;
    }

    //public class SrmList
    //{
    //    /// <summary>
    //    /// Srm运行
    //    /// </summary>
    //    public static void SrmRun()
    //    {
    //        try
    //        {
    //            foreach (var srm in Current.SrmSet)
    //            {
    //                //if (srm.SrmNo == "srm11" || srm.SrmNo == "srm10")
    //                    ThreadHelper.TaskThread(srm.ExecuteSrm);
    //            }
    //        }
    //        catch (Exception ex)
    //        {
    //            Log4netHelper.Logger_Error.ErrorFormat(ex.ToString());
    //        }
    //    }
    //}
    public class WCSWriteToSrmSignal
    {
        //码垛起始货位原有数量
        public int Start_number;
        //码垛终点货位叉取数量
        public int End_number;
        //货物类型
        public int Goodtype;
        /// <summary>
        /// 速度模式
        /// </summary>
        public int Runmode;
        //任务起始行
        public int RowPos1;
        //任务行走起始列
        public int Travelpos1;
        //任务提升起始层
        public int Liftpos1;
        //任务起始深度(0:中位, 1:深度1, 2：深度2)
        public int Fork_start_pos1;
        //任务目标行
        public int RowPos2;
        //任务行走目标列
        public int Travelpos2;
        //任务提升目标层
        public int Liftpos2;
        //任务目标深度(0:中位, 1:深度1, 2：深度2)
        public int Fork_dest_pos2;
        //任务ID
        public int TaskID;
    }
}