YG-OPP-WCS/Projects/永冠OPP/WCS.Service/Works/Station/涂布出库.cs

using DBHelper;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using WCS.Core;
using WCS.Entity;
using WCS.Entity.Protocol;
using WCS.Service.Entity;
using WCS.Service.Extensions;
using WCS.Service.Handlers;
using WCS.Service.Helpers;
using WCS.Service.Log;

namespace WCS.Service.Works.Station
{
    /// <summary>
    /// 涂布堆垛机放货分配目标地址
    /// </summary>
    [WorkTitle(typeof(CoatingHandler), "涂布堆垛机放货分配目标地址")]
    public class 涂布堆垛机放货分配目标地址 : Work<StationDeviceGroup>
    {
        protected override void Do(StationDeviceGroup obj)
        {
            obj.EX(obj =>
            {
                if (obj.Items.Any(v => v.Data.VoucherNo != v.Data2.VoucherNo)) throw new WarnException($"等待执行任务,凭证号不一致");
                if (obj.Items.Any(v => v.Data3.Status.HasFlag(StationStatus.运行状态位))) throw new DoException("运行中");
                //成功处理的任务
                var finishTaskList = new List<FinishTaskList<int>>();

                DB.Do(db =>
                {
                    var devs = new List<FinishTaskList<string>>();
                    foreach (var dev in obj.Items)
                    {
                        //没有请求
                        if (dev.Data2.Request != IstationRequest.堆垛机放货完成请求目标地址)
                        {
                            InfoLog.INFO_INFO($"{obj.Entity.CODE}无请求-堆垛机放货完成请求--4");
                            continue;
                        }
                        //没有光电
                        if (!dev.Data2.Status.HasFlag(IstationStatus.光电状态))
                        {
                            InfoLog.INFO_WarnDb($"{dev.Entity.CODE}有请求无光电", obj.Entity.CODE, WCS_EXCEPTIONTYPE.设备异常);
                            continue;
                        };
                        devs.Add(new FinishTaskList<string>(dev.Entity.CODE, dev.Entity.Create<StationDevice>()));
                    }

                    foreach (var dev in devs)
                    {
                        var task = db.Default.Set<WCS_TASK>().FirstOrDefault(v => v.TYPE == TaskType.出库 && v.SRMSTATION == dev.FinishCode && v.STATUS == TaskStatus.堆垛机完成) ?? throw new WarnException("无任务");
                        var tasks = db.Default.Set<WCS_TASK>().Where(v => v.TaskGroupKey == task.TaskGroupKey);
                        if (tasks.Any(v => v.STATUS != TaskStatus.堆垛机完成 && v.STATUS != TaskStatus.执行中)) throw new WarnException("任务异常，同组任务状态不为堆垛机完成或执行中");

                        task.STATUS = TaskStatus.执行中;
                        task.CreateStatusLog(db, $"状态由[{TaskStatus.堆垛机完成}]变更为[{task.STATUS}]-{obj.Entity.Code}", this.GetType());
                        finishTaskList.Add(new FinishTaskList<int>(task.ID, dev.Station));
                    }
                    db.Default.SaveChanges();
                });

                DB.Do(db =>
                {
                    foreach (var finish in finishTaskList)
                    {
                        var task = db.Default.Set<WCS_TASK>().FirstOrDefault(v => v.ID == finish.FinishCode);
                        if (task == null) continue;
                        finish.Station.Data.Tasknum = task.ID;
                        finish.Station.Data.Goodsstart = finish.Station.Entity.CODE.ToShort();
                        finish.Station.Data.Goodsend = task.ADDRNEXT.ToShort();
                        finish.Station.Data.Goodsnum = finishTaskList.Count.ToShort();
                        finish.Station.Data.CmdType = IstationCmdType.堆垛机放货完成请求目标地址;
                        finish.Station.Data.VoucherNo++;
                    }
                });
            });
        }

        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            return devCodes.Contains(dev.CODE);
        }

        private List<string> devCodes = new List<string>() { "G1283", "G1290", "G1292", "G1299", "G1301", "G1308", "G1310" };
    }

    /// <summary>
    /// 涂布出库分配出库口
    /// </summary>
    [WorkTitle(typeof(CoatingHandler), "涂布出库分配出库口")]
    public class 涂布出库分配出库口 : Work<StationDeviceGroup>
    {
        protected override void Do(StationDeviceGroup obj)
        {
            obj.EX(obj =>
            {
                var key = $"WCS:Lock:CoatingAllocationOutboundDeliveryPoint";
                try
                {
                    if (ProtocolProxy.YG150Redis.Get(key) != null) throw new WarnException($"[CoatingAllocationOutboundDeliveryPoint]--触发并发管控");
                    ProtocolProxy.YG150Redis.Set(key, key);
                    if (obj.Items.Any(v => v.Data.VoucherNo != v.Data2.VoucherNo)) throw new WarnException("等待执行任务,凭证号不一致");
                    if (obj.Items.Any(v => v.Data3.Status.HasFlag(StationStatus.运行状态位))) throw new DoException("运行中");

                    var finishTaskList = new List<FinishTaskList<int>>();

                    DB.Do(db =>
                    {
                        var devs = new List<FinishTaskList<string>>();
                        foreach (var dev in obj.Items)
                        {
                            if (dev.Data2.Request != IstationRequest.请求分配目标地址)
                            {
                                InfoLog.INFO_INFO($"{obj.Entity.CODE}无请求-分配目标地址--2");
                                continue;
                            }
                            if (!dev.Data2.Status.HasFlag(IstationStatus.光电状态))
                            {
                                InfoLog.INFO_WarnDb($"{dev.Entity.CODE}有请求无光电", obj.Entity.CODE, WCS_EXCEPTIONTYPE.设备异常);
                                continue;
                            }
                            if (dev.Data2.Tasknum < 10000)
                            {
                                InfoLog.INFO_WarnDb($"{dev.Entity.CODE}有请求有光电无任务", obj.Entity.CODE, WCS_EXCEPTIONTYPE.设备异常);
                                continue;
                            }
                            devs.Add(new FinishTaskList<string>(dev.Entity.CODE, dev.Entity.Create<StationDevice>()));
                        }
                        var G1 = Device.Find("G1").Create<StationDeviceGroup>();
                        //只能有一组任务的下一个地址是交货点同时，放货点必须无货
                        if (db.Default.Set<WCS_TASK>().Any(v => v.ADDRNEXT == "G1") || 
                            G1.Items.Any(v => v.Data3.Status.HasFlag(StationStatus.运行状态位)
                                            || v.Data2.Status.HasFlag(IstationStatus.光电状态)
                                            || v.Data2.Tasknum > 10000
                                            || !v.Data3.Status.HasFlag(StationStatus.自动))) return;
                        foreach (var dev in devs)
                        {
                            var task = db.Default.Set<WCS_TASK>().FirstOrDefault(v => v.ID == dev.Station.Data2.Tasknum) ?? throw new WarnException("无任务");
                            var tasks = db.Default.Set<WCS_TASK>().Count(v => v.TaskGroupKey == task.TaskGroupKey);
                            if (tasks != devs.Count) throw new WarnException($"可执行任务数{devs.Count},实际任务数{tasks}");

                            task.ADDRNEXT = "G1";
                            task.CreateStatusLog(db, $"分配目标地址{task.ADDRNEXT}", this.GetType());
                            finishTaskList.Add(new FinishTaskList<int>(task.ID, dev.Station));
                        }
                        db.Default.SaveChanges();
                    });

                    DB.Do(db =>
                    {
                        foreach (var finish in finishTaskList)
                        {
                            var task = db.Default.Set<WCS_TASK>().FirstOrDefault(v => v.ID == finish.FinishCode);
                            if (task == null) continue;
                            finish.Station.Data.Tasknum = task.ID;
                            finish.Station.Data.Goodsstart = finish.Station.Entity.CODE.ToShort();
                            finish.Station.Data.Goodsend = task.ADDRNEXT.Replace("G", "").ToShort();
                            finish.Station.Data.Goodsnum = finishTaskList.Count.ToShort();
                            finish.Station.Data.GoodsSize = task.Length.ToShort();
                            finish.Station.Data.CmdType = IstationCmdType.分配目标地址;
                            finish.Station.Data.VoucherNo++;
                        }
                    });
                }
                finally
                {
                    ProtocolProxy.YG150Redis.Del(key);
                }
            });
        }

        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            return devCodes.Contains(dev.CODE);
        }

        private List<string> devCodes = new List<string>() { "G5", "G7", "G9", "G11" };
    }

    /// <summary>
    /// 涂布出库分配AGV取货点
    /// </summary>
    [WorkTitle(typeof(CoatingHandler), "涂布出库分配AGV取货点")]
    public class 涂布出库分配AGV取货点 : Work<StationDeviceGroup>
    {
        protected override void Do(StationDeviceGroup obj)
        {
            obj.EX(obj =>
            {
                //必须满足的条件
                if (obj.Items.Any(v => v.Data2.VoucherNo != v.Data.VoucherNo)) throw new WarnException("凭证号不一致");
                if (obj.Items.Any(v => v.Data3.Status.HasFlag(StationStatus.运行状态位))) throw new DoException("设备运行中");

                //成功处理的任务
                var finishTaskList = new List<FinishTaskList<int>>();

                DB.Do(db =>
                {
                    var devs = new List<FinishTaskList<string>>();

                    //获取需要执行的设备信息
                    foreach (var dev in obj.Items)
                    {
                        if (!dev.Data3.Status.HasFlag(StationStatus.低位))
                        {
                            InfoLog.INFO_INFO($"{dev.Entity.CODE}--不在低位");
                            continue;
                        }
                        if (!dev.Data2.Status.HasFlag(IstationStatus.光电状态))
                        {
                            InfoLog.INFO_INFO($"{dev.Entity.CODE}--没有光电");
                            continue;
                        }
                        if (dev.Data2.Request != IstationRequest.请求分配目标地址)
                        {
                            InfoLog.INFO_WarnDb($"{dev.Entity.CODE}--有光电没有分配目标地址请求--2", obj.Entity.CODE, WCS_EXCEPTIONTYPE.设备异常);
                            continue;
                        };
                        if (dev.Data2.Tasknum < 10000)
                        {
                            InfoLog.INFO_WarnDb($"{dev.Entity.CODE}--有光电有请求没有任务号", obj.Entity.CODE, WCS_EXCEPTIONTYPE.设备异常);
                            continue;
                        }

                        devs.Add(new FinishTaskList<string>(dev.Entity.CODE, dev.Entity.Create<StationDevice>()));
                    }

                    if (!devs.Any()) return; //无可执行任务
                                             //验证可执行任务数与有效任务数是否一致
                    var taskIds = devs.Select(dev => dev.Station.Data2.Tasknum).ToList();
                    var taskList = db.Default.Set<WCS_TASK>().Where(v => taskIds.Contains(v.ID)).ToList();

                    var task1 = taskList.FirstOrDefault();
                    var taskCount = db.Default.Set<WCS_TASK>().Count(v => v.TaskGroupKey == task1.TaskGroupKey && v.TYPE == TaskType.出库);
                    //开始检查任务数是否匹配
                    if (devs.Count != taskCount) throw new WarnException($"可执行数{devs.Count},任务组任务数{taskCount},数量不匹配,{task1.ID}-{task1.TaskGroupKey}");

                    var stationList = new List<FinishTaskList<WCS_TASK>>();

                    //开始处理需要分配目标地址的设备
                    foreach (var dev in devs)
                    {
                        var task = db.Default.Set<WCS_TASK>().FirstOrDefault(v => v.ID == dev.Station.Data2.Tasknum) ?? throw new WarnException($"WCS无[{dev.Station.Data2.Tasknum}]任务信息");
                        var addNext = "";
                        if (dev.Station.Entity.CODE == "1340")
                        {
                            var Station1343 = Device.Find("1343").Create<StationDevice>();
                            addNext = "1343";
                            if (!Station1343.Data3.Status.HasFlag(StationStatus.自动) || Station1343.Data2.Tasknum > 10000)
                                addNext = "1340";
                        }
                        else if (dev.Station.Entity.CODE == "1341")
                        {
                            var Station1344 = Device.Find("1344").Create<StationDevice>();
                            addNext = "1344";
                            if (!Station1344.Data3.Status.HasFlag(StationStatus.自动) || Station1344.Data2.Tasknum > 10000)
                                addNext = "1341";
                        }

                        task.ADDRNEXT = addNext;
                        task.CreateStatusLog(db, $"状态由[{WCS.Entity.TaskStatus.堆垛机完成}]变更为[{task.STATUS}]-{obj.Entity.Code}", this.GetType());
                        finishTaskList.Add(new FinishTaskList<int>(task.ID, dev.Station));
                        stationList.Add(new FinishTaskList<WCS_TASK>(task, dev.Station));
                    }

                    #region 校验两个地址是否一致

                    if (stationList.Count == 2)
                    {
                        stationList = stationList.OrderBy(v => v.FinishCode.ADDRNEXT.ToShort()).ToList();
                        var task3 = stationList[0];
                        var task4 = stationList[1];
                        if (task3.FinishCode.ADDRNEXT == "1343" && task4.FinishCode.ADDRNEXT == "1344")
                        {
                        }
                        else if (task3.FinishCode.ADDRNEXT == "1340" && task4.FinishCode.ADDRNEXT == "1341")
                        {
                        }
                        else
                        {
                            var devs1 = stationList.Select(v => v.Station);
                            foreach (var dev in devs1)
                            {
                                if (!dev.Data3.Status.HasFlag(StationStatus.自动)) throw new WarnException($"{dev.Entity.CODE}--不是自动");
                                if (dev.Data2.Tasknum > 10000) throw new WarnException($"{dev.Entity.CODE}--已有任务");
                            }
                        }
                    }

                    #endregion 校验两个地址是否一致

                    db.Default.SaveChanges();
                });

                DB.Do(db =>
                {
                    foreach (var finish in finishTaskList)
                    {
                        var task = db.Default.Set<WCS_TASK>().FirstOrDefault(v => v.ID == finish.FinishCode) ?? throw new WarnException($"已完成DB任务变更,但写入PLC信息是找不到任务{finish.FinishCode}");

                        finish.Station.Data.Tasknum = task.ID;
                        finish.Station.Data.Goodsstart = finish.Station.Entity.CODE.ToShort();
                        finish.Station.Data.Goodsend = task.ADDRNEXT.ToShort();
                        finish.Station.Data.GoodsSize = task.Length.ToShort();
                        finish.Station.Data.Goodsnum = finishTaskList.Count.ToShort();
                        finish.Station.Data.CmdType = IstationCmdType.分配目标地址;
                        finish.Station.Data.VoucherNo++;
                        InfoLog.INFO_AGV($"出库分配AGV取货点[{finish.FinishCode}]-[{finish.Station.Data.Goodsend}]");
                    }
                });
            });
        }

        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            return dev.CODE == "G1340";
        }
    }

    /// <summary>
    /// 涂布出库返回任务长度
    /// </summary>
    [WorkTitle(typeof(CoatingHandler), "涂布出库返回任务长度")]
    public class 涂布出库返回任务长度 : Work<StationDeviceGroup>
    {
        protected override void Do(StationDeviceGroup obj)
        {
            obj.EX(obj =>
            {
                //必须满足的条件
                if (obj.Items.Any(v => v.Data2.VoucherNo != v.Data.VoucherNo)) throw new WarnException("凭证号不一致");
                if (obj.Items.Any(v => v.Data3.Status.HasFlag(StationStatus.运行状态位))) throw new DoException("设备运行中");

                //成功处理的任务
                var finishTaskList = new List<FinishTaskList<int>>();

                DB.Do(db =>
                {
                    var devs = new List<FinishTaskList<string>>();

                    //获取需要执行的设备信息
                    foreach (var dev in obj.Items)
                    {
                        if (dev.Data2.Request != IstationRequest.请求分配目标地址)
                        {
                            InfoLog.INFO_INFO($"{obj.Entity.CODE}无请求-分配目标地址--2");
                            continue;
                        }
                        if (!dev.Data2.Status.HasFlag(IstationStatus.光电状态))
                        {
                            InfoLog.INFO_WarnDb($"{dev.Entity.CODE}有请求无光电", obj.Entity.CODE, WCS_EXCEPTIONTYPE.设备异常);
                            continue;
                        }
                        if (dev.Data2.Tasknum < 10000)
                        {
                            InfoLog.INFO_WarnDb($"{dev.Entity.CODE}有请求有光电无任务", obj.Entity.CODE, WCS_EXCEPTIONTYPE.设备异常);
                            continue;
                        }
                        devs.Add(new FinishTaskList<string>(dev.Entity.CODE, dev.Entity.Create<StationDevice>()));
                    }

                    if (!devs.Any()) return;//无可执行任务
                                            //验证可执行任务数与有效任务数是否一致
                    var taskIds = devs.Select(dev => dev.Station.Data2.Tasknum).ToList();
                    var taskList = db.Default.Set<WCS_TASK>().Where(v => taskIds.Contains(v.ID)).ToList();
                    var taskCount = db.Default.Set<WCS_TASK>().Count(v => v.TaskGroupKey == taskList.FirstOrDefault().TaskGroupKey && v.TYPE == TaskType.出库);

                    if (devs.Count != taskCount) throw new WarnException($"可执行数{devs.Count},任务组任务数{taskCount},数量不匹配");

                    //开始处理需要分配目标地址的设备
                    foreach (var dev in devs)
                    {
                        var task = db.Default.Set<WCS_TASK>().Find(dev.Station.Data2.Tasknum);
                        if (task == null) throw new WarnException("WCS无该任务信息");
                        task.ADDRNEXT = "G1340";
                        dev.Station.Data.GoodsSize = task.Length.ToShort();
                        dev.Station.Data.VoucherNo++;
                    }
                    db.Default.SaveChanges();
                });
            });
        }

        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            return dev.CODE == "G1334";
        }
    }

    /// <summary>
    /// 涂布叫料
    /// </summary>
    [WorkTitle(typeof(CoatingHandler), "涂布叫料")]
    public class 涂布叫料 : Work<StationDeviceGroup>
    {
        protected override void Do(StationDeviceGroup obj)
        {
            obj.EX(obj =>
             {
                 var station = obj.Entity.CODE;

                 #region 处理新增叫料任务

                 DB.Do(db =>
                 {
                     //找到所有的AGV任务
                     var agvTasks = db.Default.Set<WCS_AGVTask>().Where(v => v.TaskType == AGVTaskType.叫料)
                     .Where(v => v.Status < AGVTaskStatus.完成).ToArray();

                     foreach (var agvtask in agvTasks)
                     {
                         var position = agvtask.Position;
                         if (!ProtocolProxy.AllDatas.ContainsKey(position))
                             ProtocolProxy.AllDatas[position] = new ProdLineData();
                         var pld = ProtocolProxy.AllDatas[position] as ProdLineData;
                         pld.Frame = LogicHandler.Frame;
                         pld.Code = position;
                         pld.TaskList.Add(agvtask);

                         if (agvtask.Status == AGVTaskStatus.新建)
                         {
                             if (obj.Entity.CODE != "G1340") continue;
                             var qty = db.Default.Set<WCS_AGVTask>().Where(v => v.TaskType == AGVTaskType.叫料 && v.Status > AGVTaskStatus.新建 && v.Status < AGVTaskStatus.完成)
                            .Where(v => v.Position == agvtask.Position).Count();

                             if (qty >= 4)
                             {
                                 InfoLog.INFO_WarnDb($"{agvtask.Position}正在执行的叫料任务数量已达{qty},暂停出库", obj.Entity.CODE, WCS_EXCEPTIONTYPE.逻辑异常);
                                 continue;
                             };

                             //涂布叫料默认目标地址G1340，到达G1340后再决定是否要继续前进一步
                             List<I_WCS_GetOutTaskResponseSingle> res;
                             try
                             {
                                 res = WMS.GetOutTask(agvtask.Position.Replace("_OUT", ""), "G1340");
                             }
                             catch (WarnException ex)
                             {
                                 InfoLog.INFO_WarnDb($"{ex.Message}", obj.Entity.CODE, WCS_EXCEPTIONTYPE.设备异常);
                                 continue;
                             };

                             res.ForEach(outTask =>
                             {
                                 var srm = Device.Find(outTask.TunnelNum).ROUTES.Where(v => v.NEXT.IsSC()).Select(v => v.NEXT).FirstOrDefault();

                                 var loc = string.Format("{0}-{1}-{2}", outTask.Row, outTask.Colomn, outTask.Layer);

                                 var task = new WCS_TASK
                                 {
                                     TYPE = TaskType.出库,
                                     STATUS = WCS.Entity.TaskStatus.新建,
                                     ADDRFROM = loc,
                                     ADDRTO = "G1340",
                                     BARCODE = outTask.ContainerBarCode,
                                     TUNNEL = outTask.TunnelNum,
                                     WMSTASK = int.Parse(outTask.WMSTaskNum),
                                     UPDATEUSER = "WCS",
                                     SRMSTATION = "",
                                     DEVICE = srm.CODE,
                                     //ADDRCURRENT = loc,
                                     AgvTask = agvtask.ID,
                                     Length = outTask.Length,
                                     FLOOR = 2
                                 };
                                 db.Default.Set<WCS_TASK>().Add(task);
                                 agvtask.Status = AGVTaskStatus.确认;
                                 agvtask.UpdateTime = DateTime.Now;
                                 db.Default.SaveChanges();
                             });
                             return;
                         }
                         else if (agvtask.AGVStatus == AGVTaskStatus.完成)
                         {
                             agvtask.Status = agvtask.AGVStatus;
                             agvtask.UpdateTime = DateTime.Now;
                             db.Default.SaveChanges();
                         }
                         else if (agvtask.AGVStatus == AGVTaskStatus.取消)
                         {
                             agvtask.Status = agvtask.AGVStatus;
                             agvtask.UpdateTime = DateTime.Now;
                             db.Default.SaveChanges();
                         }
                     }
                 });

                 #endregion 处理新增叫料任务

                 //空闲自动，停止运行
                 if (obj.Items.Any(v => v.Data2.VoucherNo != v.Data.VoucherNo)) throw new WarnException("等待执行任务");
                 if (obj.Items.Any(v => !v.Data3.Status.HasFlag(StationStatus.自动))) return;
                 if (obj.Items.Any(v => v.Data3.Status.HasFlag(StationStatus.运行状态位))) throw new WarnException("设备运行中");

                 var taskIds = new List<int>();
                 obj.Items.ToList().ForEach(dev => taskIds.Add(dev.Data2.Tasknum));
                 DB.Do(db =>
                 {
                     var taskList = db.Default.Set<WCS_TASK>().Where(v => taskIds.Contains(v.ID));
                     if (taskList.Count() == 0) return;
                     if (taskList == null) throw new WarnException($"WCS任务号{JsonConvert.SerializeObject(taskIds)}不存在");
                     if (taskList.Any(v => v.TYPE != TaskType.出库)) throw new WarnException("有任务的类型不是出库");
                     if (taskList.Any(v => v.AgvTask == 0)) throw new WarnException("人工出库任务,请手动搬走");

                     var agvtask = db.Default.Set<WCS_AGVTask>().Find(taskList.FirstOrDefault().AgvTask);
                     if (agvtask == null) throw new WarnException($"AGV任务号{taskList.FirstOrDefault().AgvTask}不存在");
                     if (taskList.Count() != db.Default.Set<WCS_TASK>().Count(v => v.TaskGroupKey == taskList.FirstOrDefault().TaskGroupKey && v.TYPE == TaskType.出库)) throw new WarnException("可执行任务数与实际任务数不符");

                     if (agvtask.Status == AGVTaskStatus.确认)
                     {
                         if (!obj.Items.Any(v => v.Data3.Status.HasFlag(StationStatus.高位))) throw new WarnException("不在高位");
                         var flag = db.Default.Set<WCS_AGVTask>().Where(v => v.TaskType == AGVTaskType.叫料)
                         .Where(v => v.Status > AGVTaskStatus.确认 && v.Status < AGVTaskStatus.取放完成).Count();
                         if (flag >= 2) throw new Exception("有2未完成的AGV出库任务");

                         taskList.ToList().ForEach(task =>
                                 {
                                     task.STATUS = WCS.Entity.TaskStatus.已完成;
                                     task.UPDATETIME = DateTime.Now;
                                     task.ENDTIME = DateTime.Now;
                                 });

                         agvtask.Station = obj.Entity.CODE;
                         agvtask.Status = AGVTaskStatus.执行;
                         agvtask.UpdateTime = DateTime.Now;
                         db.Default.SaveChanges();
                     }
                     else if (agvtask.Status < agvtask.AGVStatus)
                     {
                         if (agvtask.AGVStatus == AGVTaskStatus.请求_允许)
                         {
                             if (!obj.Items.Any(v => v.Data3.Status.HasFlag(StationStatus.高位))) throw new WarnException("不在高位");
                             if (agvtask.Status < AGVTaskStatus.执行) throw new WarnException($"AGV状态错误-{agvtask.Status}");
                             if (obj.Items.Any(v => v.Data2.Status.HasFlag(IstationStatus.AGV取货完成信号))) throw new WarnException("任务清零信号未清除");
                             if (!obj.Items.Any(v => v.Data2.Tasknum > 10000 && v.Data2.Status.HasFlag(IstationStatus.光电状态))) throw new DoException("没有设备有任务且有光电");

                             agvtask.Status = agvtask.AGVStatus;
                             agvtask.UpdateTime = DateTime.Now;
                             db.Default.SaveChanges();
                         }
                         else if (agvtask.AGVStatus == AGVTaskStatus.取放完成)
                         {
                             if (obj.Items.Any(v => v.Data2.Status.HasFlag(IstationStatus.AGV取货完成信号))) throw new WarnException("任务清零信号未清除");
                             if (obj.Items.Any(v => v.Data2.Status.HasFlag(IstationStatus.光电状态))) throw new WarnException("AGV取货完成后依然有光电信号");
                             if (agvtask.Status < AGVTaskStatus.请求_允许) throw new WarnException("AGV任务状态有误");

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

                             foreach (var dev in obj.Items)
                             {
                                 dev.Data.Istation521Status = IstationStatus.AGV取货完成信号;
                             }
                         }
                     }
                 });
             });
        }

        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            return dev.CODE == "G1340" || dev.CODE == "G1343";
        }
    }
}