1、任务执行新增，更具目标库位判断是否为电梯库位进行呼梯操作

2、放货确认接口新增代码逻辑

WarehouseMgr/Tnb.WarehouseMgr.Entities/Consts/ElevatorConsts.cs

@@ -0,0 +1,60 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Tnb.WarehouseMgr.Entities.Consts
+{
+    public class ElevatorConsts
+    {
+        /// <summary>
+        /// 系统状态
+        /// </summary>
+        public const string SysStatus = "SysStatus";
+        /// <summary>
+        /// 运行状态
+        /// </summary>
+        public const string RunStatus = "RunStatus";
+        /// <summary>
+        /// 门状态
+        /// </summary>
+        public const string DoorStatus = "DoorStatus";
+        /// <summary>
+        /// 门状态
+        /// </summary>
+        public const string FloorNo = "FloorNo";
+        /// <summary>
+        /// 载重信息
+        /// </summary>
+        public const string LoadInfor = "LoadInfor";
+        /// <summary>
+        /// 故障码
+        /// </summary>
+        public const string ErrCode = "ErrCode";
+        /// <summary>
+        /// 门触发
+        /// </summary>
+        public const string DoorExecute = "DoorExecute";
+        /// <summary>
+        /// 通讯状态
+        /// </summary>
+        public const string CommStatus = "CommStatus";
+        /// <summary>
+        /// 楼层触发
+        /// </summary>
+        public const string FloorExecute = "FloorExecute";
+        /// <summary>
+        /// AGV控制
+        /// </summary>
+        public const string AGVControl = "AGVControl";
+        /// <summary>
+        /// AGV状态
+        /// </summary>
+        public const string AGVStatus = "AGVStatus";
+        /// <summary>
+        /// AGV心跳
+        /// </summary>
+        public const string AGVKeepalive = "AGVKeepalive";
+    }
+}

WarehouseMgr/Tnb.WarehouseMgr.Entities/Entity/WmsElevatorH.cs

@@ -1,4 +1,5 @@
-using JNPF.Common.Contracts;
+using System.Security.Principal;
+using JNPF.Common.Contracts;
 using JNPF.Common.Security;
 using SqlSugar;
 
@@ -88,5 +89,13 @@ public partial class WmsElevatorH : BaseEntity<string>
     /// 时间戳(用于并发控制)
     /// </summary>
     public DateTime? timestamp { get; set; }
+    /// <summary>
+    /// 门状态
+    /// </summary>
+    public int door_status { get; set; }
+    /// <summary>
+    /// 当前电梯所在楼层
+    /// </summary>
+    public int current_floor { get; set; }
 
 }

WarehouseMgr/Tnb.WarehouseMgr.Entities/Entity/WmsElevatorUnexecute.cs

@@ -0,0 +1,47 @@
+using JNPF.Common.Contracts;
+using JNPF.Common.Security;
+using SqlSugar;
+
+namespace Tnb.WarehouseMgr.Entities;
+
+/// <summary>
+/// 
+/// </summary>
+[SugarTable("wms_elevator_unexecute")]
+public partial class WmsElevatorUnexecute : BaseEntity<string>
+{
+    public WmsElevatorUnexecute()
+    {
+        id = SnowflakeIdHelper.NextId();
+    }
+    /// <summary>
+    /// 电梯Id
+    /// </summary>
+    public string? elevator_id { get; set; }
+
+    /// <summary>
+    /// 电梯编号
+    /// </summary>
+    public string? elevator_code { get; set; }
+
+    /// <summary>
+    /// 目标楼层
+    /// </summary>
+    public int? floor { get; set; }
+
+    /// <summary>
+    /// 任务状态
+    /// </summary>
+    public string? task_status { get; set; }
+
+    /// <summary>
+    /// 创建人
+    /// </summary>
+    public string? create_id { get; set; }
+
+    /// <summary>
+    /// 创建时间
+    /// </summary>
+    public DateTime? create_time { get; set; }
+
+}

WarehouseMgr/Tnb.WarehouseMgr.Entities/Enums/EnumAgvControl.cs

@@ -0,0 +1,16 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Tnb.WarehouseMgr.Entities.Enums
+{
+    public enum EnumAgvControl
+    {
+        前门开门 = 3,
+        前门关门 = 4,
+        后门开门 = 5,
+        后门关门 = 6,
+    }
+}

WarehouseMgr/Tnb.WarehouseMgr.Entities/Enums/EnumAgvStatus.cs

@@ -0,0 +1,16 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Tnb.WarehouseMgr.Entities.Enums
+{
+    public enum EnumAgvStatus
+    {
+        正常状态 = 0,
+        等待进入AGV状态 = 1,
+        AGV运行状态 = 2,
+
+    }
+}

WarehouseMgr/Tnb.WarehouseMgr.Entities/Enums/EnumDoorStatus.cs

@@ -0,0 +1,18 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Tnb.WarehouseMgr.Entities.Enums
+{
+    public enum EnumDoorStatus
+    {
+        未知状态 = 0,
+        开门过程 = 1,
+        开门到位保持 = 2,
+        关门过程 = 3,
+        关门到位保持 = 4,
+
+    }
+}

WarehouseMgr/Tnb.WarehouseMgr.Entities/Enums/EnumRunStatus.cs

@@ -0,0 +1,18 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Tnb.WarehouseMgr.Entities.Enums
+{
+    /// <summary>
+    /// 电梯运行状态
+    /// </summary>
+    public enum EnumRunStatus
+    {
+        停梯 = 0,
+        上运行 = 2,
+        下运行 = 2,
+    }
+}

WarehouseMgr/Tnb.WarehouseMgr.Entities/Enums/EnumSysStatus.cs

@@ -0,0 +1,20 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Tnb.WarehouseMgr.Entities.Enums
+{
+    /// <summary>
+    /// 电梯系统状态枚举
+    /// </summary>
+    public enum EnumSysStatus
+    {
+        故障状态 = 0,
+        消防状态 = 1,
+        其他非服务状态 = 2,
+        正常状态 = 3,
+        地震状态 = 4
+    }
+}

WarehouseMgr/Tnb.WarehouseMgr.Interfaces/IElevatorControlService.cs

@@ -0,0 +1,51 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Tnb.WarehouseMgr.Interfaces
+{
+    /// <summary>
+    /// 电梯控制服务接口
+    /// </summary>
+    public interface IElevatorControlService
+    {
+        /// <summary>
+        /// 向指定的标签属性写入值
+        /// </summary>
+        /// <param name="tagName">标签名称</param>
+        /// <param name="value">标签值</param>
+        /// <returns></returns>
+        Task<dynamic> WriteTagAsync(string devName, string tagName, int value);
+        /// <summary>
+        /// 根据标签名称获取标签单个属性值
+        /// </summary>
+        /// <param name="tagName"></param>
+        /// <returns></returns>
+        Task<int> GetTagAsync(string devName, string tagName);
+        /// <summary>
+        /// 获取电梯状态
+        /// </summary>
+        /// <param name="token">取消标志</param>
+        /// <returns></returns>
+        Task<(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus)> GetElevatorStatus(string devName, CancellationToken token);
+        /// <summary>
+        /// 检查Agv状态
+        /// </summary>
+        /// <param name="token"></param>
+        /// <returns></returns>
+        Task<bool> CheckAgvStatus(string devName, CancellationToken cancellationToken);
+        /// <summary>
+        /// 向系统发送开关门指令
+        /// </summary>
+        /// <param name="value">
+        /// 3前门开门
+        /// 4前门关门
+        /// 5后门开门
+        /// 6后门关门
+        /// </param>
+        /// <returns></returns>
+        Task<bool> SendOpenCloseCmd(string devName,int value);
+    }
+}

WarehouseMgr/Tnb.WarehouseMgr/DeviceProviderService.cs

@@ -16,6 +16,7 @@ using JNPF.FriendlyException;
 using JNPF.Logging;
 using JNPF.Systems.Entitys.System;
 using JNPF.Systems.Interfaces.System;
+using JNPF.WorkFlow.Entitys.Dto.FlowLaunch;
 using Microsoft.AspNetCore.Authorization;
 using Microsoft.AspNetCore.Mvc;
 using Newtonsoft.Json;
@@ -24,10 +25,12 @@ using Senparc.NeuChar.ApiHandlers;
 using SqlSugar;
 using Tnb.EquipMgr.Entities;
 using Tnb.WarehouseMgr.Entities;
+using Tnb.WarehouseMgr.Entities.Consts;
 using Tnb.WarehouseMgr.Entities.Dto;
 using Tnb.WarehouseMgr.Entities.Dto.Inputs;
 using Tnb.WarehouseMgr.Entities.Dto.Outputs;
 using Tnb.WarehouseMgr.Entities.Entity;
+using Tnb.WarehouseMgr.Entities.Enums;
 using Tnb.WarehouseMgr.Interfaces;
 
 namespace Tnb.WarehouseMgr
@@ -43,12 +46,14 @@ namespace Tnb.WarehouseMgr
         private readonly ICacheManager _cacheManager;
         private readonly IEventPublisher _eventPublisher;
         private readonly IUserManager _userManager;
+        private readonly IElevatorControlService _elevatorControlService;
 
 
         public DeviceProviderService(ISqlSugarRepository<WmsInstockH> repository, IWareHouseService wareHouseService,
                         ICacheManager cacheManager,
             IEventPublisher eventPublisher,
-            IUserManager userManger
+            IUserManager userManger,
+            IElevatorControlService elevatorControlService
             )
         {
             _db = repository.AsSugarClient();
@@ -56,6 +61,7 @@ namespace Tnb.WarehouseMgr
             _cacheManager = cacheManager;
             _eventPublisher = eventPublisher;
             _userManager = userManger;
+            _elevatorControlService = elevatorControlService;
         }
 
         /// <summary>
@@ -78,10 +84,10 @@ namespace Tnb.WarehouseMgr
         {
             try
             {
-                var eles = await _db.Queryable<WmsElevatorH>().LeftJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
+                //var eles = await _db.Queryable<WmsElevatorH>().LeftJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
-                    .LeftJoin<WmsDistaskH>((a, b, c) => b.location_id == c.startlocation_id)
+                //    .LeftJoin<WmsDistaskH>((a, b, c) => b.location_id == c.startlocation_id)
-                    .Where((a, b, c) => c.startlocation_code == input.sourceName && c.bill_code == input.taskCode)
+                //    .Where((a, b, c) => c.startlocation_code == input.sourceName && c.bill_code == input.taskCode)
-                    .ToListAsync();
+                //    .ToListAsync();
             }
             catch (Exception)
             {
@@ -101,17 +107,38 @@ namespace Tnb.WarehouseMgr
         {
             try
             {
-                var eles = await _db.Queryable<WmsElevatorH>().LeftJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
+                //根据Agv传递的参数获取，对应的电梯
+                var elevator = await _db.Queryable<WmsElevatorH>().LeftJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
                     .LeftJoin<WmsDistaskH>((a, b, c) => b.location_id == c.endlocation_id)
                     .Where((a, b, c) => c.endlocation_code == input.targetName && c.bill_code == input.taskCode)
-                    .ToListAsync();
+                    .OrderBy(a => a.elevator_code)
+                    .FirstAsync();
+                (int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await _elevatorControlService.GetElevatorStatus(elevator.elevator_code,CancellationToken.None);
+                Log.Information($"电梯当前状态->系统状态:{sysStatus.ToEnum<EnumSysStatus>().ToString()},运行状态:{runStatus.ToEnum<EnumRunStatus>().ToString()},Agv状态:{agvStatus.ToEnum<EnumAgvStatus>().ToString()},当前楼层：{floorNo}");
+                //判断Agv电梯是否进入状态
+                if (agvStatus.ToEnum<EnumAgvStatus>() != EnumAgvStatus.AGV运行状态)
+                {
+                    await _elevatorControlService.WriteTagAsync(elevator.elevator_code, ElevatorConsts.AGVControl, 1);
+                }
+                
+                //电梯到达目标楼层后，判断当前电梯门状态是否为开门到位保持状态
+
+                if (sysStatus.ToEnum<EnumSysStatus>() == EnumSysStatus.正常状态 && runStatus.ToEnum<EnumRunStatus>() == EnumRunStatus.停梯
+                    && doorStatus.ToEnum<EnumDoorStatus>() == EnumDoorStatus.开门到位保持 && floorNo == 4)
+                {
+                    elevator.current_floor = floorNo;
+                    await _db.Updateable(elevator).UpdateColumns(it => it.current_floor).ExecuteCommandAsync();
+                    return await ToApiResult(HttpStatusCode.OK, "成功");
+                }
+                return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
+
+
             }
             catch (Exception)
             {
-                return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
+                return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
                 throw;
             }
-            return await ToApiResult(HttpStatusCode.OK, "未启用");
         }
 
         /// <summary>

WarehouseMgr/Tnb.WarehouseMgr/ElevatorControlService.cs

@@ -6,6 +6,7 @@ using System.Linq.Expressions;
 using System.Text;
 using System.Threading.Tasks;
 using JNPF;
+using JNPF.Common.Extension;
 using JNPF.DependencyInjection;
 using Microsoft.AspNetCore.Mvc;
 using Microsoft.Extensions.Configuration;
@@ -15,13 +16,16 @@ using Newtonsoft.Json.Linq;
 using Tnb.Common.Extension;
 using Tnb.Common.Utils;
 using Tnb.WarehouseMgr.Entities.Configs;
+using Tnb.WarehouseMgr.Entities.Consts;
+using Tnb.WarehouseMgr.Entities.Enums;
+using Tnb.WarehouseMgr.Interfaces;
 
 namespace Tnb.WarehouseMgr
 {
     /// <summary>
     /// 电梯控制业务服务类
     /// </summary>
-    public class ElevatorControlService : BaseWareHouseService
+    public class ElevatorControlService : BaseWareHouseService, IElevatorControlService
     {
         private readonly ElevatorControlConfiguration _elevatorCtlCfg = new();
         private readonly BackgroundService _agvHeartbeatMonitor;
@@ -41,53 +45,57 @@ namespace Tnb.WarehouseMgr
         [HttpPost]
         public async Task<dynamic> FirstFloorElevatorFlow(string value)
         {
-            CancellationTokenSource cts = new CancellationTokenSource();//扩展用
+            //CancellationTokenSource cts = new CancellationTokenSource();//扩展用
-            //获取电梯状态
+            ////如果不是1楼,判断电梯状态，如果电梯是空闲的向电梯发送一个到一楼的指令
-            (int sysStatus, int runStatus, int floorNo) multi = (-1, -1, -1);
+            //var wirteRes = await SetAgvControlStatus(1);
-            do
+            //JObject jo = JObject.Parse(wirteRes);
-            {
+            //var propName = "IsStarted";
-                multi = await GetElevatorStatus(CancellationToken.None);
+            //if (!_fetchStartedStausValue.TryGetValue(propName, out var func))
-                await Task.Delay(2000);
+            //{
-            } while (multi.sysStatus != 3 && multi.runStatus != 0);
+            //    var isStartedProp = _agvHeartbeatMonitor.GetType().GetProperty(propName);
-            if (multi.sysStatus == 3 && multi.runStatus == 0 && multi.floorNo != 1)
+            //    var paramExp = Expression.Parameter(typeof(BackgroundService), "_agvHeartbeatMonitor");
-            {
+            //    var propExp = Expression.Property(Expression.ConvertChecked(paramExp, isStartedProp.DeclaringType), isStartedProp);
-                //如果不是1楼,判断电梯状态，如果电梯是空闲的向电梯发送一个到一楼的指令
+            //    var body = Expression.Lambda<System.Func<BackgroundService, Boolean>>(propExp, paramExp);
-                var wirteRes = await SetAgvControlStatus(0);
+            //    func = body.Compile();
-                JObject jo = JObject.Parse(wirteRes);
+            //    _fetchStartedStausValue[propName] = func;
+            //}
+            //var isStarted = func(_agvHeartbeatMonitor);
+            //if (!isStarted)
+            //{
+            //    _agvHeartbeatMonitor.StartAsync(cts.Token);
+            //}
 
-                if (true) //此处为Agv到一楼开门位，通知操作目前默认为true
+            ////获取电梯状态
-                {
+            //(int sysStatus, int runStatus, int floorNo) multi = (-1, -1, -1);
-                    var propName = "IsStarted";
+            //do
-                    if (!_fetchStartedStausValue.TryGetValue(propName, out var func))
+            //{
-                    {
+            //    //multi = await GetElevatorStatus(CancellationToken.None);
-                        var isStartedProp = _agvHeartbeatMonitor.GetType().GetProperty(propName);
+            //    await Task.Delay(2000);
-                        var paramExp = Expression.Parameter(typeof(BackgroundService), "_agvHeartbeatMonitor");
+            //} while (multi.sysStatus != 3 && multi.runStatus != 0);
-                        var propExp = Expression.Property(Expression.ConvertChecked(paramExp, isStartedProp.DeclaringType), isStartedProp);
+            //if (multi.sysStatus == 3 && multi.runStatus == 0 && multi.floorNo != 1)
-                        var body = Expression.Lambda<System.Func<BackgroundService, Boolean>>(propExp, paramExp);
+            //{
-                        func = body.Compile();
+            //    await WriteTagAsync("FloorExecute", 1);
-                        _fetchStartedStausValue[propName] = func;
-                    }
-                    var isStarted = func(_agvHeartbeatMonitor);
-                    if (!isStarted)
-                    {
-                        _agvHeartbeatMonitor.StartAsync(cts.Token);
-                    }
-                    //向电梯发送前门开门指令
-                    await SendOpenCloseCmd(3);
-                    //获取门状态 是否为 开门到位保持
-                    var doorStatus = await GetTagAsync("DoorStatus");
-                    if (doorStatus == 3)
-                    {
-                        //通知Agv进入电梯，放货,默认为true
-                        if (true)
-                        {
-                            //向电梯发送关门指令
-                            await SendOpenCloseCmd(4);
-                        }
-                    }
 
-                }
+
-            }
+            //    if (true) //此处为Agv到一楼开门位，通知操作目前默认为true
+            //    {
+
+            //        //向电梯发送前门开门指令
+            //        await SendOpenCloseCmd(3);
+            //        //获取门状态 是否为 开门到位保持
+            //        var doorStatus = await GetTagAsync("DoorStatus");
+            //        if (doorStatus == 3)
+            //        {
+            //            //通知Agv进入电梯，放货,默认为true
+            //            if (true)
+            //            {
+            //                //向电梯发送关门指令
+            //                await SendOpenCloseCmd(4);
+            //            }
+            //        }
+
+            //    }
+            //}
             return Task.FromResult(0);
         }
         /// <summary>
@@ -97,78 +105,59 @@ namespace Tnb.WarehouseMgr
         [HttpPost]
         public async Task<dynamic> ThreeFloorElevatorFlow()
         {
+            //test by close door
+            _agvHeartbeatMonitor.StartAsync(CancellationToken.None);
+            //await SendOpenCloseCmd(4);
+            //await SetAgvControlStatus(1);
             //监听电梯门是否为关闭的状态
-            var dataStatus = 0;
+            //var dataStatus = 0;
-            do
+            //do
-            {
+            //{
-                dataStatus = await GetTagAsync("DoorStatus");
+            //    dataStatus = await GetTagAsync("DoorStatus");
-            } while (dataStatus != 4);
+            //} while (dataStatus != 4);
-            if (dataStatus == 4)
+
-            {
+            //if (dataStatus == 4)
-                //根据状态确认关闭后，向电梯发送指令从1~3楼 //FloorExecute 楼层触发
+            //{
-                await WriteTagAsync("FloorExecute", 48);
+            //    //根据状态确认关闭后，向电梯发送指令从1~3楼 //FloorExecute 楼层触发
-                //获取电梯到达3楼的到位信号
+            //    await WriteTagAsync("FloorExecute", 1);
-                (_, int runStatus, int floorNo) = (-1, -1, -1);
+            //    //获取电梯到达3楼的到位信号
-                do
+            //    (_, int runStatus, int floorNo) = (-1, -1, -1);
-                {
+            //    do
-                    var multi = await GetElevatorStatus(CancellationToken.None);
+            //    {
-                    runStatus = multi.sysStatus; floorNo = multi.floorNo;
+            //        var multi = await GetElevatorStatus(CancellationToken.None);
-                } while (runStatus != 0 && floorNo != 3);
+            //        runStatus = multi.sysStatus; floorNo = multi.floorNo;
-                // 控制电梯到达指定楼层默认开门的行为，改为默认不开门 条件：Agv 到达3楼开门位时，为true
+            //    } while (runStatus != 0 && floorNo != 3);
-                if (true)//3楼Agv到达开门位后，向电梯发送开门指令, 默认true 当前
+            //    // 控制电梯到达指定楼层默认开门的行为，改为默认不开门 条件：Agv 到达3楼开门位时，为true
-                {
+            //    if (true)//3楼Agv到达开门位后，向电梯发送开门指令, 默认true 当前
+            //    {
 
 
-                    //向电梯发送前门开门指令
+            //        //向电梯发送前门开门指令
-                    await SendOpenCloseCmd(3);
+            //        await SendOpenCloseCmd(3);
-                    //获取门状态 是否为 开门到位保持
+            //        //获取门状态 是否为 开门到位保持
-                    var doorStatus = await GetTagAsync("DoorStatus");
+            //        var doorStatus = await GetTagAsync("DoorStatus");
-                    if (doorStatus == 3) //开门到位保持状态
+            //        if (doorStatus == 3) //开门到位保持状态
-                    {
+            //        {
-                        //通知Agv进入电梯，取货
+            //            //通知Agv进入电梯，取货
-                        //向电梯发送关门指令
+            //            //向电梯发送关门指令
-                        await SendOpenCloseCmd(4);
+            //            await SendOpenCloseCmd(4);
-                        doorStatus = await GetTagAsync("DoorStatus");
+            //            doorStatus = await GetTagAsync("DoorStatus");
-                        if (doorStatus == 4) //门状态，为关门到位保持
+            //            if (doorStatus == 4) //门状态，为关门到位保持
-                        {
+            //            {
-                            //解锁，Agv状态，将其至为
+            //                //解锁，Agv状态，将其至为
-                            var agvStatus = await GetTagAsync("AGVStatus");
+            //                var agvStatus = await GetTagAsync("AGVStatus");
-                            if (agvStatus != 2)
+            //                if (agvStatus != 2)
-                            {
+            //                {
-                                await SetAgvControlStatus(0);
+            //                    await SetAgvControlStatus(0);
-                            }
+            //                }
-                        }
+            //            }
-                    }
+            //        }
-                }
+            //    }
-            }
+            //}
             return Task.FromResult(0);
         }
 
-        /// <summary>
+      
-        /// x2server测试
-        /// </summary>
-        /// <returns></returns>
-        [HttpGet]
-        public async Task<dynamic> X2ServerTest()
-        {
-            //var r = new Random();
-            int currentValue = 0;
-
-            while (true)
-            {
-                var readRes = await GetElevatorStatus(CancellationToken.None);
-                await Console.Out.WriteLineAsync($"接收结果：{readRes}");
-
-                currentValue = 1 - currentValue; // 切换为0或1
-                dynamic obj = new ExpandoObject();
-                obj.TagName = "AGVControl";
-                obj.Value = currentValue;
-                var parameter = await SetParameter(obj);
-                var wirteRes = await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: parameter);
-                await Console.Out.WriteLineAsync($"写入结果：{wirteRes}");
-                await Task.Delay(1000);
-            }
-        }
 
         private Task<object> SetRequestParameter(string tagName, object value)
         {
@@ -206,14 +195,23 @@ namespace Tnb.WarehouseMgr
         /// </summary>
         /// <param name="value">开关门指令</param>
         /// <returns></returns>
-        private async Task SendOpenCloseCmd(int value)
+        public async Task<bool> SendOpenCloseCmd(string devName, int value)
         {
             var dicCommand = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase);
-            dicCommand["DevName"] = _elevatorCtlCfg.DevName;
+            dicCommand["DevName"] = devName;
             dicCommand["token"] = _elevatorCtlCfg.token;
             dicCommand["TagName"] = "DoorExecute";
             dicCommand["Value"] = value.ToString();
-            await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
+            var result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
+            if (result.IsNotEmptyOrNull())
+            {
+                JObject jo = JObject.Parse(result);
+                if (jo != null)
+                {
+                    return jo.Value<string>("Result").Equals("Ok", StringComparison.OrdinalIgnoreCase);
+                }
+            }
+            return false;
         }
         /// <summary>
         /// 设置Agv控制请求状态
@@ -225,9 +223,9 @@ namespace Tnb.WarehouseMgr
         {
             var dicCommand = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase);
             dicCommand["DevName"] = _elevatorCtlCfg.DevName;
-            dicCommand["token"] = _elevatorCtlCfg.token;
             dicCommand["TagName"] = "AGVControl";
             dicCommand["Value"] = value.ToString();
+            dicCommand["token"] = _elevatorCtlCfg.token;
             return await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
         }
 
@@ -237,10 +235,10 @@ namespace Tnb.WarehouseMgr
         /// <param name="tagName"></param>
         /// <param name="value"></param>
         /// <returns></returns>
-        private async Task<dynamic> WriteTagAsync(string tagName, int value)
+        public async Task<dynamic> WriteTagAsync(string devName, string tagName, int value)
         {
             var dicCommand = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase);
-            dicCommand["DevName"] = _elevatorCtlCfg.DevName;
+            dicCommand["DevName"] = devName;
             dicCommand["token"] = _elevatorCtlCfg.token;
             dicCommand["TagName"] = tagName;
             dicCommand["Value"] = value.ToString();
@@ -253,10 +251,10 @@ namespace Tnb.WarehouseMgr
         /// <param name="tagName"></param>
         /// <returns></returns>
 
-        private async Task<int> GetTagAsync(string tagName)
+        public async Task<int> GetTagAsync(string devName, string tagName)
         {
             var dicCommand = new Dictionary<string, string>();
-            dicCommand["DevName"] = _elevatorCtlCfg.DevName;
+            dicCommand["DevName"] = devName;
             dicCommand["token"] = _elevatorCtlCfg.token;
             dicCommand["TagName"] = tagName;
             var result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: dicCommand);
@@ -264,47 +262,17 @@ namespace Tnb.WarehouseMgr
             return jo.Value<int>("V");
         }
 
-        /// <summary>
-        /// 获取Agv状态 0：正常状态 1：等待进入 AGV 状态 2： AGV 运行状态
-        /// </summary>
-        /// <returns></returns>
-        //private async Task<int> GetAgvStatus()
-        //{
-        //    var dicCommand = new Dictionary<string, string>();
-        //    dicCommand["DevName"] = _elevatorCtlCfg.DevName;
-        //    dicCommand["token"] = _elevatorCtlCfg.token;
-        //    dicCommand["TagName"] = "AGVStatus";
-        //    var result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: dicCommand);
-        //    JObject jo = JObject.Parse(result);
-        //    return jo.Value<int>("V");
-        //}
-
-        /// <summary>
-        /// 获取门状态
-        /// </summary>
-        /// <returns></returns>
-        //private async Task<int> GetDoorStatus()
-        //{
-        //    var doorStatusParam = new Dictionary<string, string>();
-        //    doorStatusParam["DevName"] = _elevatorCtlCfg.DevName;
-        //    doorStatusParam["token"] = _elevatorCtlCfg.token;
-        //    doorStatusParam["TagName"] = "DoorStatus";
-        //    var result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: doorStatusParam);
-        //    JObject jo = JObject.Parse(result);
-        //    return jo.Value<int>("V");
-        //}
-
         /// <summary>
         /// 获取电梯状态
         /// </summary>
         /// <param name="token"></param>
         /// <returns></returns>
 
-        private async Task<(int sysStatus, int runStatus, int floorNo)> GetElevatorStatus(CancellationToken token)
+        public async Task<(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus)> GetElevatorStatus(string devName, CancellationToken token)
         {
-            (int sysStatus, int runStatus, int floorNo) multi = (-1, -1, -1);
+            (int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) multi = (-1, -1, -1, -1, -1);
             var pars = new Dictionary<string, string>();
-            pars["DevName"] = _elevatorCtlCfg.DevName;
+            pars["DevName"] = devName;
             pars["Pos"] = "1";
             pars["Count"] = "4";
             pars["token"] = _elevatorCtlCfg.token;
@@ -318,11 +286,38 @@ namespace Tnb.WarehouseMgr
                     && objs[1].Value<string>("Name").Equals("RunStatus")
                     && objs[3].Value<string>("Name").Equals("FloorNo"))
                 {
-                    multi = ((objs[0].Value<int>("V")), objs[1].Value<int>("V"), objs[2].Value<int>("V"));
+                    multi = (objs[0].Value<int>("V"), objs[1].Value<int>("V"), objs[3].Value<int>("V"), objs[2].Value<int>("V"), objs[10].Value<int>("V"));
                 }
             }
             return multi;
 
         }
+
+        /// <summary>
+        /// 检查Agv状态
+        /// </summary>
+        /// <param name="cancellationToken"></param>
+        /// <returns></returns>
+        public async Task<bool> CheckAgvStatus(string devName, CancellationToken cancellationToken)
+        {
+            var isInAgvStatus = false;
+            var agvStatus = await GetTagAsync(devName, ElevatorConsts.AGVStatus);
+            if (agvStatus.ToEnum<EnumAgvStatus>() != EnumAgvStatus.AGV运行状态)
+            {
+                var result = await WriteTagAsync(devName, ElevatorConsts.AGVControl, 1);
+                JObject jo = JObject.Parse(result);
+                if (jo != null && jo.Value<string>("Result").Equals("Ok", StringComparison.OrdinalIgnoreCase))
+                {
+                    isInAgvStatus = true;
+                }
+            }
+            return isInAgvStatus;
+        }
+    }
+
+    public class ElevatorData
+    {
+        public string name { get; set; }
+        public string value { get; set; }
     }
 }

WarehouseMgr/Tnb.WarehouseMgr/WareHouseService.cs

@@ -65,14 +65,19 @@ namespace Tnb.WarehouseMgr
         private readonly IBillRullService _billRullService;
         private readonly IUserManager _userManager;
         private readonly ICacheManager _cacheManager;
+        private readonly IElevatorControlService _elevatorControlService;
+        private static Dictionary<string, object> _elevatorMap = new Dictionary<string, object>();
 
-        public WareHouseService(ISqlSugarRepository<WmsInstockH> repository, IDictionaryDataService dictionaryDataService, IBillRullService billRullService, IUserManager userManager, ICacheManager cacheManager)
+
+        public WareHouseService(ISqlSugarRepository<WmsInstockH> repository, IDictionaryDataService dictionaryDataService,
+            IBillRullService billRullService, IUserManager userManager, ICacheManager cacheManager, IElevatorControlService elevatorControlService)
         {
             _db = repository.AsSugarClient();
             _dictionaryDataService = dictionaryDataService;
             _billRullService = billRullService;
             _userManager = userManager;
             _cacheManager = cacheManager;
+            _elevatorControlService = elevatorControlService;
         }
 
 
@@ -232,6 +237,11 @@ namespace Tnb.WarehouseMgr
             Stopwatch sw = Stopwatch.StartNew();
             CancellationTokenSource agvCts = new();
 
+            if (_elevatorMap.Count < 1)
+            {
+                _elevatorMap = await _db.Queryable<WmsElevatorH>().ToDictionaryAsync(x => x.elevator_id, x => x.elevator_code);
+            }
+
             var db = _db.CopyNew();
             try
             {
@@ -369,6 +379,42 @@ namespace Tnb.WarehouseMgr
                         var respBody = await HttpClientHelper.PostStreamAsync(url, reqBody, agvCts.Token);
                         Log.Information($"调用Agv接口响应结果:{respBody}");
                     }
+                    //呼梯操作
+                    var endLocCodes = disTasks.Select(it => (it.endlocation_code, it.device_id)).Where(it => it.endlocation_code.StartsWith("DT", StringComparison.OrdinalIgnoreCase)).ToList();
+                    if (endLocCodes?.Count > 0)
+                    {
+                        foreach (var (_, devId) in endLocCodes)
+                        {
+                            var elevatorQueue = await _db.Queryable<WmsElevatorUnexecute>().Where(it => it.elevator_id == devId).ToListAsync();
+                            if (_elevatorMap.ContainsKey(devId) && elevatorQueue?.Count < 1)
+                            {
+                                var devName = _elevatorMap[devId].ToString();
+                                (int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await _elevatorControlService.GetElevatorStatus(devName, CancellationToken.None);
+                                //判断当前楼层是否是放货楼层,如不是则呼叫电梯到当前楼层
+                                if (sysStatus.ToEnum<EnumSysStatus>() == EnumSysStatus.正常状态 && runStatus.ToEnum<EnumRunStatus>() == EnumRunStatus.停梯 &&
+                                    agvStatus.ToEnum<EnumAgvStatus>() != EnumAgvStatus.AGV运行状态 && floorNo != 4)
+                                {
+                                    if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.关门到位保持)
+                                    {
+                                        await _elevatorControlService.SendOpenCloseCmd(devName, (int)EnumAgvControl.前门关门);
+                                    }
+                                    await _elevatorControlService.WriteTagAsync(devName, ElevatorConsts.FloorExecute, 5); //呼叫电梯到4楼
+                                                                                                                          //将当前呼梯任务放入待执行队列
+                                    WmsElevatorUnexecute elevatorQueueItem = new()
+                                    {
+                                        elevator_id = devId,
+                                        elevator_code = _elevatorMap[devId].ToString(),
+                                        floor = 4,
+                                        create_id = _userManager.UserId,
+                                        create_time = DateTime.Now
+                                    };
+                                    await _db.Storageable(elevatorQueueItem).ExecuteCommandAsync();
+                                }
+                            }
+
+                        }
+                    }
+
                 }
             }
             catch (Exception ex) when (ex is HttpRequestException hReqEx)
@@ -582,7 +628,7 @@ namespace Tnb.WarehouseMgr
         {
             //如果预任务出现起终库位相同，则删除对应预任务 
             //modifiy by ly on 20230922 将当前预任务操作者设为四场管理员
-            preTasks.ForEach(pt => 
+            preTasks.ForEach(pt =>
             {
                 pt.org_id = WmsWareHouseConst.AdministratorOrgId;
                 pt.create_id = WmsWareHouseConst.AdministratorUserId;