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

using SqlSugar;
using System;
using System.Collections.Generic;
using System.Data;
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
{
    /// <summary>
    /// 双工位穿梭车
    /// </summary>
    public abstract class Base_DualRgv : Base_Rgv
    {
        #region Properties 
        //工位1
        protected string RgvPosOne { get; set; }
        //工位2
        protected string RgvPosTwo { get; set; }
        /// <summary>
        /// 工位1上料列表
        /// </summary>
        protected List<WCS_RGVOutInInfo> RGVOnPosOneList
        {
            get
            {
                return RGVOnPosList.Where(t => t.PosOneOnMatIsAvailable).ToList();
            }
        }
        /// <summary>
        /// 工位2上料列表
        /// </summary>
        protected List<WCS_RGVOutInInfo> RGVOnPosTwoList
        {
            get
            {
                return RGVOnPosList.Where(t => t.PosTwoOnMatIsAvailable).ToList();
            }
        }
        /// <summary>
        /// 工位1下料列表
        /// </summary>
        protected List<WCS_RGVOutInInfo> RGVUpPosOneList
        {
            get
            {
                return RGVUpPosList.Where(t => t.PosOneUpMatIsAvailable).ToList();
            }
        }
        /// <summary>
        /// 工位2下料列表
        /// </summary>
        protected List<WCS_RGVOutInInfo> RGVUpPosTwoList
        {
            get
            {
                return RGVUpPosList.Where(t => t.PosTwoUpMatIsAvailable).ToList();
            }
        }

        #endregion;

        #region Constructor
        public Base_DualRgv(string rgvPosOne, string rgvPosTwo) : base()
        {
            RgvPosOne = rgvPosOne;
            RgvPosTwo = rgvPosTwo;
        }
        #endregion;

        #region Method 
        private int _locRgvExecute = 0;
        public override void Run()
        {
            if (Interlocked.Exchange(ref _locRgvExecute, 1) == 0)
            {
                try
                {
                    //RGV完成任务
                    Rgv_Finish();
                    //上下料
                    Rgv_OnUpMat();
                    //其它功能
                    Rgv_OtherExtend();
                }
                catch (Exception ex)
                {
                    string errormsg = string.Format("Rgv[{0}]执行异常,消息：{1}", PlcName, ex.ToString());
                    LogMessageHelper.RecordLogMessage(errormsg,ex);
                }
                finally
                {
                    Interlocked.Exchange(ref _locRgvExecute, 0);
                }
            }
        }

        internal void Rgv_OnUpMat()
        {
            if (Rgv.DB521_SystemStatus != 1) return;
            if (Rgv.DB521_WorkMode != 1) return;
            if (string.IsNullOrWhiteSpace(RgvCurrentSition)) return;
            //是否存在执行的任务
            if (SugarBase.DB.Queryable<WCS_TASK>().Any(v => v.TASK_RGVNO == PlcName)) return;
            //1.就近原则;2.均匀原则;3.优先入库原则;4.优先出库原则;(WMS任务优先级高的任务所有原则失效)


            //当前仅支持就近原则
            foreach (var item in RGVOnUpPosList)
            {
                var conv = ConveyorHelper.GetConveyorSignal(item.PLCNAME, item.RGVOUTIN_CONVNO);
                if ((item.RGVOUTIN_OUTINTYPE == "OnMat" || item.RGVOUTIN_OUTINTYPE == "OnUpMat") && conv.CvDB51_PH_Status)
                {
                    //上料
                    if (Rgv_OnMat(item.RGVOUTIN_CONVNO)) break;
                }
                else if (item.RGVOUTIN_OUTINTYPE == "UpMat" || item.RGVOUTIN_OUTINTYPE == "OnUpMat")
                {
                    if((conv.DB521_Tasknum == 0 && conv.CvDB51_PH_Status == false) || (item.IsCheckUpMatPos == false))
                    {
                        //下料
                        if (Rgv_UpMat(item.RGVOUTIN_CONVNO)) break;
                    }
                }
            }
        }
        internal bool Rgv_OnMat(string OnMatSition)
        {
            if (Rgv.DB521_PH_Status_1 && Rgv.DB521_PH_Status_2) return false;

            WCS_TASK wcs_task = null;
            var rgvPos = RgvPosEnum.一号工位;

            if (Rgv.DB521_PH_Status_1 == false && Rgv.DB521_Finish_1)
            {
                if (RGVOnPosOneList.Any(v => v.RGVOUTIN_CONVNO == OnMatSition))
                {
                    wcs_task = Rgv_OnMatCheck_GetTask(OnMatSition, RgvPosEnum.一号工位);
                }
            }
            if (wcs_task == null)
            {
                if (Rgv.DB521_PH_Status_2 == false && Rgv.DB521_Finish_2)
                {
                    if (RGVOnPosTwoList.Any(v => v.RGVOUTIN_CONVNO == OnMatSition))
                    {
                        wcs_task = Rgv_OnMatCheck_GetTask(OnMatSition, RgvPosEnum.二号工位);
                        rgvPos = RgvPosEnum.二号工位;
                    }
                }
            }

            if (wcs_task == null) return false;

            var rgvwrite = new WCSWriteToRgvSignal();
            rgvwrite.Plc = RgvPlc;
            rgvwrite.RgvPos = rgvPos;
            rgvwrite.DBName = WCS_PLCItem.WCS_DBSet.FirstOrDefault(v => v.DB_TypeCh == DB_TypeEnum.WCS可读可写DB).DB_NAME;
            rgvwrite.RgvNo = PlcName;
            rgvwrite.WriteStartAddress = rgvPos == RgvPosEnum.一号工位 ? Rgv.EquDbInfo_ReadWrite.DBReadIndox: Rgv.EquDbInfo_ReadWrite.DBReadIndox + 18;
            rgvwrite.Tasknum = wcs_task.TASK_NO;
            rgvwrite.StartPosition = rgvPos == RgvPosEnum.一号工位 ? Convert.ToInt32(RgvPosOne) : Convert.ToInt32(RgvPosTwo);
            rgvwrite.DestPosition = Convert.ToInt32(wcs_task.TASK_POSIDCUR);
            rgvwrite.TaskType = 1;

            WriteTaskToRgv(rgvwrite);
            return true;
        }
        protected virtual WCS_TASK Rgv_OnMatCheck_GetTask(string OnMatSition, RgvPosEnum rgvPos)
        {
            var task = SugarBase.DB.Queryable<WCS_TASK>().First(v => v.TASK_POSIDCUR == OnMatSition &&
                                                           v.TASK_WKSTATUS == 2 &&
                                                           v.TASK_POSIDTO != OnMatSition); // && v.TASK_POSIDNEXT == OnMatSition
            if (task != null)
            {
                //检测是否有可用的目标地址
                var routeSet = EquRouteHelper.QueryRoute(OnMatSition, task.TASK_POSIDTO);
                var routes = routeSet.Where(v => v.ROUTE_STARTPOS == OnMatSition).ToList();
                var rgvoutinSet = new List<WCS_RGVOutInInfo>();
                if (rgvPos == RgvPosEnum.一号工位)
                {
                    rgvoutinSet = RGVUpPosOneList.Where(v => routes.Any(t => t.ROUTE_SONPOS.Substring(0,4) == v.RGVOUTIN_CONVNO)).ToList();
                }
                else if (rgvPos == RgvPosEnum.二号工位)
                {
                    rgvoutinSet = RGVUpPosTwoList.Where(v => routes.Any(t => t.ROUTE_SONPOS.Substring(0, 4) == v.RGVOUTIN_CONVNO)).ToList();
                }
                bool convIsEmpty = false;
                foreach (var rgvoutin in rgvoutinSet)
                {
                    var cs = ConveyorHelper.GetConveyorSignal(rgvoutin.PLCNAME, rgvoutin.RGVOUTIN_CONVNO);
                    if (!rgvoutin.IsCheckUpMatPos)//不需要判断下料点是否有任务
                    {
                        convIsEmpty = true;
                        break;
                    }
                    else if (cs.CvDB51_PH_Status == false && cs.DB521_Tasknum == 0)
                    {
                        convIsEmpty = true;
                        break;
                    }
                }
                if (convIsEmpty)
                {
                    if (!Rgv_OnMatCheckTask(task, rgvPos, OnMatSition))
                    {
                        task = null;
                    }
                }
                else
                {
                    //Log4netHelper.Logger_Info.InfoFormat(string.Format("任务[{0}]RGV[{1}]上料点[{2}]不能上料，因为无可用下料点。", task.TASK_NO, PlcName, OnMatSition));
                    task = null;
                }
            }
            return task;
        }
        internal void Rgv_Finish()
        {
            if (Rgv.DB521_Finish_1)
            {
                var task_1 = Current.TaskSet.FirstOrDefault(v => v.TASK_NO == Rgv.DB521_TaskID_1 && v.TASK_RGVNO == PlcName);
                if (task_1 != null)
                {
                    task_1.TASK_RGVNO = string.Empty;//内存中置空
                    if (task_1.TASK_WKSTATUS == 4)
                    {
                        task_1.TASK_WKSTATUS = (int)WkStatus.RGV完成;
                        SugarBase.DB.Updateable<WCS_TASK>(it => new WCS_TASK() { TASK_RGVNO = "", TASK_WKSTATUS = 9, TASK_EDITUSERNO = "WCS", TASK_EDITDATETIME = DateTime.Now })
                                 .Where(it => it.TASK_NO == Rgv.DB521_TaskID_1)
                                 .ExecuteCommand();
                    }
                    else
                    {
                        SugarBase.DB.Updateable<WCS_TASK>(it => new WCS_TASK() { TASK_RGVNO = "", TASK_EDITUSERNO = "WCS", TASK_EDITDATETIME = DateTime.Now })
                                 .Where(it => it.TASK_NO == Rgv.DB521_TaskID_1)
                                 .ExecuteCommand();
                    }

                    bool isReducePriority = true;//是否降低优先级(均匀原则)
                    //重新排上料顺序(均匀原则，就近原则)
                    RGVOnPosList.ForEach(item =>
                    {
                        if (isReducePriority)
                        {
                            item.EvenOnMat_Sequence = 1;//降低优先级
                        }
                        else
                        {
                            item.EvenOnMat_Sequence = 0;//提升优先级
                        }
                        int convNo = Convert.ToInt32(item.RGVOUTIN_CONVNO);
                        if (Rgv.DB521_StartPosition_1 == convNo)
                        {
                            isReducePriority = false;
                        }
                    });
                }
            }
            if (Rgv.DB521_Finish_2)
            {
                var task_2 = Current.TaskSet.FirstOrDefault(v => v.TASK_NO == Rgv.DB521_TaskID_2 && v.TASK_RGVNO == PlcName);
                if (task_2 != null)
                {
                    task_2.TASK_RGVNO = string.Empty;//内存中置空
                    if (task_2.TASK_WKSTATUS == 4)
                    {
                        task_2.TASK_WKSTATUS = (int)WkStatus.RGV完成;
                        SugarBase.DB.Updateable<WCS_TASK>(it => new WCS_TASK() { TASK_RGVNO = "", TASK_WKSTATUS = 9, TASK_EDITUSERNO = "WCS", TASK_EDITDATETIME = DateTime.Now })
                                 .Where(it => it.TASK_NO == Rgv.DB521_TaskID_2)
                                 .ExecuteCommand();
                    }
                    else
                    {
                        SugarBase.DB.Updateable<WCS_TASK>(it => new WCS_TASK() { TASK_RGVNO = "", TASK_EDITUSERNO = "WCS", TASK_EDITDATETIME = DateTime.Now })
                                 .Where(it => it.TASK_NO == Rgv.DB521_TaskID_2)
                                 .ExecuteCommand();
                    }

                    bool isReducePriority = true;//是否降低优先级(均匀原则)
                    //重新排上料顺序(均匀原则，就近原则)
                    RGVOnPosList.ForEach(item =>
                    {
                        if (isReducePriority)
                        {
                            item.EvenOnMat_Sequence = 1;//降低优先级
                        }
                        else
                        {
                            item.EvenOnMat_Sequence = 0;//提升优先级
                        }
                        int convNo = Convert.ToInt32(item.RGVOUTIN_CONVNO);
                        if (Rgv.DB521_StartPosition_1 == convNo)
                        {
                            isReducePriority = false;
                        }
                    });
                }
            }
            Rgv_Complete();
        }
        internal bool Rgv_UpMat(string upMatSition)
        {
            if (Rgv.DB521_PH_Status_1 == false && Rgv.DB521_PH_Status_2 == false) return false;

            WCS_TASK wcs_task = null;
            var rgvPos = RgvPosEnum.一号工位;
            if (Rgv.DB521_TaskID_1 > 0 && Rgv.DB521_PH_Status_1 && Rgv.DB521_TaskType_1 == 1 && Rgv.DB521_Finish_1)
            {
                var task = Current.TaskSet.FirstOrDefault(v => v.TASK_NO == Rgv.DB521_TaskID_1 && v.TASK_WKSTATUS != 4);
                if (task != null)
                {
                    var routeSet = EquRouteHelper.QueryRoute(task.TASK_POSIDNEXT, task.TASK_POSIDTO);
                    var routeList = routeSet.Where(v => v.ROUTE_STARTPOS == task.TASK_POSIDNEXT).ToList();

                    if (routeList.Any(v => v.ROUTE_SONPOS.Substring(0, 4) == upMatSition))
                    {
                        if (Rgv_UpMatCheckTask_QueryEndPos(task, rgvPos, upMatSition))
                        {
                            wcs_task = task;
                        }
                    }
                }
            }
            if (wcs_task == null)
            {
                if (Rgv.DB521_TaskID_2 > 0 && Rgv.DB521_PH_Status_2 && Rgv.DB521_TaskType_2 == 1 && Rgv.DB521_Finish_2)
                {
                    var task = Current.TaskSet.FirstOrDefault(v => v.TASK_NO == Rgv.DB521_TaskID_2 && v.TASK_WKSTATUS != 4);
                    if (task != null)
                    {
                        var routeSet = EquRouteHelper.QueryRoute(task.TASK_POSIDNEXT, task.TASK_POSIDTO);
                        var routeList = routeSet.Where(v => v.ROUTE_STARTPOS == task.TASK_POSIDNEXT).ToList();

                        if (routeList.Any(v => v.ROUTE_SONPOS.Substring(0, 4) == upMatSition))
                        {
                            if (Rgv_UpMatCheckTask_QueryEndPos(task, rgvPos, upMatSition))
                            {
                                wcs_task = task;
                                rgvPos = RgvPosEnum.二号工位;
                            }
                        }
                    }
                }
            }

            if (wcs_task == null) return false;

            var rgvwrite = new WCSWriteToRgvSignal();
            rgvwrite.Plc = RgvPlc;
            rgvwrite.RgvPos = rgvPos;
            rgvwrite.DBName = WCS_PLCItem.WCS_DBSet.FirstOrDefault(v => v.DB_TypeCh == DB_TypeEnum.WCS可读可写DB).DB_NAME;
            rgvwrite.RgvNo = PlcName;
            rgvwrite.WriteStartAddress = rgvPos == RgvPosEnum.一号工位 ? Rgv.EquDbInfo_ReadWrite.DBReadIndox : Rgv.EquDbInfo_ReadWrite.DBReadIndox + 18;
            rgvwrite.Tasknum = wcs_task.TASK_NO;
            rgvwrite.StartPosition = rgvPos == RgvPosEnum.一号工位 ? Convert.ToInt32(RgvPosOne) : Convert.ToInt32(RgvPosTwo);
            rgvwrite.DestPosition =Convert.ToInt32(upMatSition);//Convert.ToInt32(wcs_task.TASK_POSIDCUR);
            rgvwrite.TaskType = 2;

            WriteTaskToRgv(rgvwrite);
            return true;
        }
        #endregion; 

        #region virtual,abstract 
        protected virtual void Rgv_Complete() { }
        protected virtual bool Rgv_OnMatCheckTask(WCS_TASK onTask, RgvPosEnum rgvPos,string onMatSition)
        {
            return true;
        }
        protected virtual bool Rgv_UpMatCheckTask_QueryEndPos(WCS_TASK upTask, RgvPosEnum rgvPos,string upMatSition)
        {
            return true;
        }
        protected abstract void Rgv_OtherExtend();
        protected override void UpdateRgvTaskStatus(SqlSugarClient db, WCSWriteToRgvSignal rgvwrite)
        {
            var task = db.Queryable<WCS_TASK>().First(t => t.TASK_NO == rgvwrite.Tasknum);
            string msg = string.Empty;
            if (rgvwrite.TaskType == 1 || rgvwrite.TaskType == 4 || rgvwrite.TaskType == 7)
            {
                //上料
                db.Updateable<WCS_TASK>(it => new WCS_TASK() { TASK_WKSTATUS = (int)WkStatus.RGV上料执行, TASK_RGVNO = PlcName, TASK_POSIDNEXT = rgvwrite.DestPosition.ToString(), TASK_ITEM4 = rgvwrite.DestPosition.ToString(), TASK_EDITUSERNO = "WCS", TASK_EDITDATETIME = DateTime.Now })
                  .Where(it => it.TASK_NO == task.TASK_NO)
                  .ExecuteCommand();

                msg = string.Format("任务[{0}]从输送线[{1}]上料到RGV工位[{2}],已下发给穿梭车[{3}]执行。", rgvwrite.Tasknum, rgvwrite.DestPosition, rgvwrite.StartPosition, rgvwrite.RgvNo);
            }
            else if (rgvwrite.TaskType == 2 || rgvwrite.TaskType == 5 || rgvwrite.TaskType == 6)
            {
                //下料
                db.Updateable<WCS_TASK>(it => new WCS_TASK() { TASK_WKSTATUS = (int)WkStatus.RGV下料执行, TASK_RGVNO = PlcName, TASK_POSIDNEXT = rgvwrite.DestPosition.ToString(), TASK_EDITUSERNO = "WCS", TASK_EDITDATETIME = DateTime.Now })
                  .Where(it => it.TASK_NO == task.TASK_NO)
                  .ExecuteCommand();
                msg = string.Format("任务[{0}]从RGV工位[{1}]下料到输送线[{2}],已下发给穿梭车[{3}]执行。", rgvwrite.Tasknum, rgvwrite.StartPosition, rgvwrite.DestPosition, rgvwrite.RgvNo);
            }
            else
            {
                //移动
                db.Updateable<WCS_TASK>(it => new WCS_TASK() { TASK_WKSTATUS = (int)WkStatus.RGV移动, TASK_RGVNO = PlcName, TASK_POSIDNEXT = rgvwrite.DestPosition.ToString(), TASK_EDITUSERNO = "WCS", TASK_EDITDATETIME = DateTime.Now })
                  .Where(it => it.TASK_NO == task.TASK_NO)
                  .ExecuteCommand();
                msg = string.Format("任务[{0}]从RGV工位[{1}]移动到输送线[{2}],已下发给穿梭车[{3}]执行。", rgvwrite.Tasknum, rgvwrite.StartPosition, rgvwrite.DestPosition, rgvwrite.RgvNo);
            }

            if (!string.IsNullOrWhiteSpace(msg))
            {
                CommonData.AddWCS_TASK_DTL(db, task.TASK_NO, task.TASK_NO, task.TASK_POSIDCUR, rgvwrite.DestPosition.ToString(), msg);
            }
        }
        #endregion; 


        #region 过时的代码
        internal void Rgv_OnMateriel()
        {
            if (Rgv.DB521_Finish_1 == false) return;
            if (Rgv.DB521_WorkMode != 1) return;
            if (Rgv.DB521_PH_Status_1 && Rgv.DB521_PH_Status_2) return;

            //查询待上料的任务信息
            var taskSet = SugarBase.DB.Queryable<WCS_TASK>().Where(v => (v.TASK_WKSTATUS == 2) && RGVOnPosList.Any(t => t.RGVOUTIN_CONVNO == v.TASK_POSIDCUR) && (v.TASK_POSIDCUR != v.TASK_POSIDTO))
                                      .OrderBy(v => v.TASK_PRIORITY, OrderByType.Desc)
                                      .OrderBy(v => v.TASK_EDITDATETIME);
            if (taskSet.Count() == 0) return;

            WCS_TASK task = null;
            var rgvPos = RgvPosEnum.一号工位;
            if (Rgv.DB521_PH_Status_1 == false &&
                SugarBase.DB.Queryable<WCS_TASK>().Any(v => (v.TASK_WKSTATUS == 3 || v.TASK_WKSTATUS == 4) && v.TASK_RGVNO == RgvPosOne) == false)
            {
                var rgvOnPosList = RGVOnPosList.Where(t => t.PosOneIsAvailable);

                var tasks = taskSet.Where(v => rgvOnPosList.Any(t => t.RGVOUTIN_CONVNO == v.TASK_POSIDCUR)).ToList();
                //1号工位可用
                task = Rgv_OnMatCheck_QueryTask(tasks, RgvPosEnum.一号工位);
            }
            if (task == null)
            {
                if (Rgv.DB521_PH_Status_2 == false &&
                    SugarBase.DB.Queryable<WCS_TASK>().Any(v => (v.TASK_WKSTATUS == 3 || v.TASK_WKSTATUS == 4) && v.TASK_RGVNO == RgvPosTwo) == false)
                {
                    var rgvOnPosList = RGVOnPosList.Where(t => t.PosTwoIsAvailable);

                    var tasks = taskSet.Where(v => rgvOnPosList.Any(t => t.RGVOUTIN_CONVNO == v.TASK_POSIDCUR)).ToList();
                    //2号工位可用
                    task = Rgv_OnMatCheck_QueryTask(tasks, RgvPosEnum.二号工位);
                    rgvPos = RgvPosEnum.二号工位;
                }
            }
            if (task == null) return;

            var rgvwrite = new WCSWriteToRgvSignal();
            rgvwrite.Plc = RgvPlc;
            rgvwrite.RgvPos = rgvPos;
            rgvwrite.DBName = WCS_PLCItem.WCS_DBSet.FirstOrDefault(v => v.DB_TypeCh == DB_TypeEnum.WCS可读可写DB).DB_NAME;
            rgvwrite.RgvNo = PlcName;
            rgvwrite.WriteStartAddress = rgvPos == RgvPosEnum.一号工位 ? Rgv.EquDbInfo_ReadWrite.DBReadIndox : Rgv.EquDbInfo_ReadWrite.DBReadIndox + 18;
            rgvwrite.Tasknum = task.TASK_NO;
            rgvwrite.StartPosition = rgvPos == RgvPosEnum.一号工位 ? Convert.ToInt32(RgvPosOne) : Convert.ToInt32(RgvPosTwo);
            rgvwrite.DestPosition = Convert.ToInt32(task.TASK_POSIDCUR);
            rgvwrite.TaskType = 1;

            WriteTaskToRgv(rgvwrite);
        }
        internal void Rgv_UpMateriel()
        {
            if (Rgv.DB521_Finish_1 == false) return;
            if (Rgv.DB521_WorkMode != 1) return;
            if (Rgv.DB521_PH_Status_1 == false && Rgv.DB521_PH_Status_2 == false) return;

            //查询下料的任务
            var taskSet = SugarBase.DB.Queryable<WCS_TASK>().Where(v => v.TASK_POSIDCUR == PlcName).ToList();

            if (Rgv.DB521_TaskID_1 > 0 && Rgv.DB521_PH_Status_1 && Rgv.DB521_TaskType_1 == 1)
            {
                Rgv_UpMateriel(taskSet, RgvPosEnum.一号工位,Convert.ToInt32(Rgv.DB521_TaskID_1));
            }
            if (Rgv.DB521_TaskID_2 > 0 && Rgv.DB521_PH_Status_2 && Rgv.DB521_TaskType_2 == 1)
            {
                Rgv_UpMateriel(taskSet, RgvPosEnum.二号工位, Convert.ToInt32(Rgv.DB521_TaskID_2));
            }
        }
        private void Rgv_UpMateriel(List<WCS_TASK> taskSet, RgvPosEnum rgvPos, int tasknum)
        {
            var task = taskSet.First(v => v.TASK_NO == tasknum);
            if (task != null && task.TASK_WKSTATUS != 4)
            {
                List<string> endPosSet = new List<string>();

                var routeSet = EquRouteHelper.QueryRoute(task.TASK_POSIDNEXT, task.TASK_POSIDTO);
                var routeList = routeSet.Where(v => v.ROUTE_STARTPOS == task.TASK_POSIDNEXT).ToList();
                foreach (var routeitem in routeList)
                {
                    var posinfo_end = RGVUpPosList.FirstOrDefault(v => v.RGVOUTIN_CONVNO == routeitem.ROUTE_SONPOS);
                    var csto = ConveyorHelper.GetConveyorSignal(posinfo_end.PLCNAME, routeitem.ROUTE_SONPOS);

                    if (csto.DB521_Tasknum == 0 && csto.CvDB51_PH_Status == false && csto.DB523_Fault == false)
                    {
                        endPosSet.Add(routeitem.ROUTE_SONPOS);
                    }
                }
                if (endPosSet.Count > 0)
                {
                    string destPosition = Rgv_UpMatCheckTask_QueryEndPos(task, rgvPos, endPosSet);

                    if (string.IsNullOrWhiteSpace(destPosition))
                    {
                        var rgvwrite = new WCSWriteToRgvSignal();
                        rgvwrite.Plc = RgvPlc;
                        rgvwrite.RgvPos = rgvPos;//RGV 工位编号
                        rgvwrite.DBName = WCS_PLCItem.WCS_DBSet.FirstOrDefault(v => v.DB_TypeCh == DB_TypeEnum.WCS可读可写DB).DB_NAME;
                        rgvwrite.RgvNo = PlcName;
                        rgvwrite.WriteStartAddress = rgvPos == RgvPosEnum.一号工位 ? Rgv.EquDbInfo_ReadWrite.DBReadIndox : Rgv.EquDbInfo_ReadWrite.DBReadIndox + 18;
                        rgvwrite.Tasknum = task.TASK_NO;
                        rgvwrite.StartPosition = Convert.ToInt32(RgvPosOne);
                        rgvwrite.DestPosition = Convert.ToInt32(destPosition);
                        rgvwrite.TaskType = 2;

                        WriteTaskToRgv(rgvwrite);
                    }
                }
            }
        }
        private WCS_TASK Rgv_OnMatCheck_QueryTask(List<WCS_TASK> onTaskSet, RgvPosEnum rgvPos)
        {
            WCS_TASK task_result = null;
            foreach (var task in onTaskSet)
            {
                var posinfo_start = RGVOnPosList.FirstOrDefault(v => v.RGVOUTIN_CONVNO == task.TASK_POSIDCUR);
                var convs = ConveyorHelper.GetConveyorSignal(posinfo_start.PLCNAME, task.TASK_POSIDCUR);
                //输送线无任务
                if (convs.DB521_Tasknum <= 0) continue;
                //WCS任务不是输送线的任务号
                if (convs.DB521_Tasknum != task.TASK_NO) continue;

                List<string> endPosSet = new List<string>();
                var routeSet = EquRouteHelper.QueryRoute(task.TASK_POSIDNEXT, task.TASK_POSIDTO);
                var routeList = routeSet.Where(v => v.ROUTE_STARTPOS == task.TASK_POSIDCUR).ToList();
                foreach (var routeitem in routeList)
                {
                    var posinfo_end = RGVOnPosList.FirstOrDefault(v => v.RGVOUTIN_CONVNO == routeitem.ROUTE_SONPOS);
                    var csto = ConveyorHelper.GetConveyorSignal(posinfo_end.PLCNAME, routeitem.ROUTE_SONPOS);
                    if (csto.DB521_Tasknum == 0 && csto.CvDB51_PH_Status == false && csto.DB523_Fault == false)
                    {
                        endPosSet.Add(routeitem.ROUTE_SONPOS);
                    }
                };
                if (endPosSet.Count > 0)
                {
                    if (Rgv_OnMatCheckTask(task, rgvPos, endPosSet))
                    {
                        task_result = task;
                        break;
                    }
                }
            }
            return task_result;
        }
        protected virtual  bool Rgv_OnMatCheckTask(WCS_TASK onTask, RgvPosEnum rgvPos, List<string> EndPosSet)
        {
            return true;
        }
        protected virtual  string Rgv_UpMatCheckTask_QueryEndPos(WCS_TASK upTask, RgvPosEnum rgvPos, List<string> EndPosSet)
        {
            return EndPosSet.FirstOrDefault();
        }
        #endregion
    }
}