二楼下升降机机械手边调度逻辑

ProductionMgr/Tnb.ProductionMgr/RedisBackGround.cs

@@ -35,6 +35,7 @@ using Tnb.ProductionMgr.Interfaces;
 using Tnb.WarehouseMgr.Entities;
 using Tnb.WarehouseMgr.Entities.Configs;
 using Tnb.WarehouseMgr.Entities.Consts;
+using Tnb.WarehouseMgr.Entities.Dto.Inputs;
 using Tnb.WarehouseMgr.Entities.Enums;
 using Tnb.WarehouseMgr.Interfaces;
 
@@ -64,9 +65,11 @@ namespace Tnb.ProductionMgr
         private readonly IUserManager _userManager;
         private readonly IBillRullService _billRullService;
         private readonly IWareHouseService _wareHouseService;
+        private readonly IWmsCarryBindService _wmsCarryBindService;
+
         private readonly ElevatorControlConfiguration _eleCtlCfg = App.Configuration.Build<ElevatorControlConfiguration>();
         public RedisBackGround(RedisData redisData, IPrdInstockService prdInstockService, ISqlSugarRepository<RedisReadConfig> repository, IWmsPDAScanInStockService wmsPDAScanInStock
-            , IUserManager userManager, IBillRullService billRullService, IWareHouseService wareHouseService)
+            , IUserManager userManager, IBillRullService billRullService, IWareHouseService wareHouseService, IWmsCarryBindService wmsCarryBindService)
         {
             _redisData = redisData;
             _prdInstockService = prdInstockService;
@@ -75,6 +78,7 @@ namespace Tnb.ProductionMgr
             _userManager = userManager;
             _billRullService = billRullService;
             _wareHouseService = wareHouseService;
+            _wmsCarryBindService = wmsCarryBindService;
         }
         //获取redis数据
         private void GetRedisData(object state)
@@ -621,6 +625,13 @@ where carry_code = '{coderesult}' and status = '{WmsWareHouseConst.TASK_BILL_STA
                     target = targetConfigs.First();
                     LoggerFloor2UpDownMachine.LogInformation($@"【上升降机】当前条码目标料架区为 {JsonConvert.SerializeObject(target)}");
 
+                    // 料架信息
+                    WmsCarryH rack = db.Queryable<WmsCarryH>().Where(r => r.id == target.rackid).ToList()[0];
+
+                    // 料箱信息
+                    WmsCarryH LX = db.Queryable<WmsCarryH>().Where(r => r.carry_code == barcode).ToList()[0];
+
+
                     // 判断《上升降机空托1/2送到》是否为true
                     string tag_上升降机空托送到 = $@"上升降机空托{target.stackingposition}送到";
 
@@ -646,6 +657,16 @@ where carry_code = '{coderesult}' and status = '{WmsWareHouseConst.TASK_BILL_STA
                             remainbindracknum = r.remainbindracknum - 1
                         }).Where(r => r.id == WmsEmptyOutstockH.id).ExecuteCommandAsync();
                         LoggerFloor2UpDownMachine.LogInformation($@"【上升降机】回写出库单的剩余可绑定料架数量");
+
+                        // 绑定料箱到料架
+                        CarryBindFloor2UpDownMachineInput carryBindFloor2UpDownMachineInput = new() { };
+                        carryBindFloor2UpDownMachineInput.carry_id = target.rackid;
+                        carryBindFloor2UpDownMachineInput.carry_code= target.rackcode;
+                        carryBindFloor2UpDownMachineInput.membercarry_id = LX.id;
+                        carryBindFloor2UpDownMachineInput.membercarry_code = LX.carry_code;
+                        carryBindFloor2UpDownMachineInput.carrystd_id = rack.carrystd_id;
+
+                        await _wmsCarryBindService.CarryBindFloor2UpDownMachine(carryBindFloor2UpDownMachineInput);
                     }
                     else
                     {
@@ -665,17 +686,109 @@ where carry_code = '{coderesult}' and status = '{WmsWareHouseConst.TASK_BILL_STA
             }
         }
 
-        // 下升降机
-        private void Floor2DownMachinecode(object args)
+
+
+        private async void Floor2DownMachinecode(object args)
         {
-            // 补充料架
+            using (var db = _repository.AsSugarClient().CopyNew())
+            {
 
-            // 扫码分配拆垛位
+                // 读取上升降机的左右料架区配置
+                string[] configs = new string[2] { "二楼下升降机机械臂左", "二楼下升降机机械臂右" };
+
+                // 左右料架区配置
+                List<WmsMechanicalArmH> WmsMechanicalArmHs = db.Queryable<WmsMechanicalArmH>()
+                    .Where(r => configs.Contains(r.name) && r.mechanicalconfirm == 1 && r.stackingcount < r.maxnum).ToList();
+
+                // 是否可以放货
+                if (WmsMechanicalArmHs.Count == 0)
+                {
+                    LoggerFloor2UpDownMachine.LogWarning($@"【下升降机】目前没有可以取货的料架区");
+                    return;
+                }
+
+                WmsMechanicalArmH target;
+                target = WmsMechanicalArmHs.First();
 
 
+                // 待拆垛列表
+                List<WmsCarrybindH> WmsCarrybindHs = db.Queryable<WmsMechanicalArmH>()
+                    .InnerJoin<WmsCarrybindH>((a, b) => a.rackid == b.carry_id)
+                    .Where(a => configs.Contains(a.name) && a.mechanicalconfirm == 1 && a.id == target.id).Select((a, b) => b).OrderBy(a => a.id).ToList();
 
+                // 料架拆垛完成
+                if (WmsCarrybindHs.Count() == 0)
+                {
+                    return;
+                }
+                string barcode = WmsCarrybindHs[0].membercarry_code;
+
+                // 如果条码已被绑定
+                if (WmsMechanicalArmHs.Where(r => !string.IsNullOrEmpty(r.barcodes) && r.barcodes.Contains(barcode)).Count() > 0)
+                {
+                    LoggerFloor2UpDownMachine.LogWarning($@"【下升降机】条码{barcode}已被绑定");
+                    return;
+                }
+                LoggerFloor2UpDownMachine.LogInformation($@"【下升降机】扫描到有效条码 {barcode}");
+
+                await db.Ado.BeginTranAsync();
+                try
+                {
+                    LoggerFloor2UpDownMachine.LogInformation($@"【下升降机】当前条码目标料架区为 {JsonConvert.SerializeObject(target)}");
+
+                    // 料架信息
+                    WmsCarryH rack = db.Queryable<WmsCarryH>().Where(r => r.id == target.rackid).ToList()[0];
+
+                    // 料箱信息
+                    WmsCarryH LX = db.Queryable<WmsCarryH>().Where(r => r.carry_code == barcode).ToList()[0];
+
+
+                    // 判断《下升降机满托1/2送到》是否为true
+                    string tag_下升降机满托送到 = $@"下升降机满托{target.stackingposition}送到";
+
+                    bool 下升降机满托送到 = (bool)Floor2UpDownMachinecode_GetTag<bool>(tag_下升降机满托送到);
+
+                    LoggerFloor2UpDownMachine.LogInformation($@"【下降机】取值 {tag_下升降机满托送到} 结果为 {下升降机满托送到}");
+                    if (下升降机满托送到)
+                    {
+                        // 开始拆垛
+                        bool result = await Floor2UpDownMachinecode_SetTag(MechanicalArmConsts.下升降机当前码垛位, target.stackingposition.ToString());
+                        LoggerFloor2UpDownMachine.LogInformation($@"【下升降机】拆垛结果 {result}");
+                        // 回写料箱条码、码垛计数
+                        await db.Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
+                        {
+                            barcodes = $"{target.barcodes},{barcode}".Trim(','),
+                            stackingcount = r.stackingcount + 1
+                        }).Where(r => r.id == target.id).ExecuteCommandAsync();
+                        LoggerFloor2UpDownMachine.LogInformation($@"【下升降机】回写料箱条码、拆垛计数");
+
+                        // 解除绑定料箱到料架
+                        CarryBindFloor2UpDownMachineInput carryBindFloor2UpDownMachineInput = new() { };
+                        carryBindFloor2UpDownMachineInput.carry_id = target.rackid;
+                        carryBindFloor2UpDownMachineInput.carry_code = target.rackcode;
+                        carryBindFloor2UpDownMachineInput.membercarry_id = LX.id;
+                        carryBindFloor2UpDownMachineInput.membercarry_code = LX.carry_code;
+                        carryBindFloor2UpDownMachineInput.carrystd_id = rack.carrystd_id;
+
+                        await _wmsCarryBindService.CarryUnbindFloor2UpDownMachine(carryBindFloor2UpDownMachineInput);
+                    }
+                    else
+                    {
+                        LoggerFloor2UpDownMachine.LogError($@"【下升降机】料架未送到 料架区{target.stackingposition}");
+                    }
+
+
+                    await db.Ado.CommitTranAsync();
+
+                }
+                catch (Exception ex)
+                {
+                    LoggerFloor2UpDownMachine.LogError(ex.ToString());
+                    LoggerFloor2UpDownMachine.LogError(ex.StackTrace);
+                    await db.Ado.RollbackTranAsync();
+                }
+            }
         }
-
         /// <summary>
         /// 检查机械臂料架区信号(上升降机空托1送到)
         /// </summary>
@@ -712,6 +825,46 @@ where carry_code = '{coderesult}' and status = '{WmsWareHouseConst.TASK_BILL_STA
             }
         }
 
+
+        /// <summary>
+        /// 检查机械臂料架区信号(上升降机满托1送到)
+        /// </summary>
+        /// <returns></returns>
+        public async Task<bool> 检查机械臂料架区信号_下升降机满托1送到()
+        {
+            using (var db = _repository.AsSugarClient().CopyNew())
+            {
+                string[] configs_upMachine = new string[2] { "二楼下升降机机械臂左", "二楼下升降机机械臂右" };
+
+                // 找到AGV已到货，没有机械臂确认的数据
+                ISugarQueryable<WmsMechanicalArmH> WmsMechanicalArmHsuagar = db.Queryable<WmsMechanicalArmH>()
+                    .Where(r => r.agvconfirm == 1 && r.mechanicalconfirm == 0 && configs_upMachine.Contains(r.name));
+
+                foreach (WmsMechanicalArmH wmsMechanicalArmH in WmsMechanicalArmHsuagar.ToList())
+                {
+                    bool 上升降机请求送空托 = (bool)Floor2UpDownMachinecode_GetTag<bool>($"下升降机请求送满托{wmsMechanicalArmH.stackingposition}");
+
+                    string data = _redisData.GetHash("东面提升机输送线", $"下升降机满托{wmsMechanicalArmH.stackingposition}送到").Result;
+                    JObject? res = JsonConvert.DeserializeObject<JObject>(data);
+                    bool result = res != null && res["Value"] != null ? res.Value<bool>("Value") : false;
+                    LoggerFloor2RackDelivery.LogInformation($"【送满托到上升降区】 下升降机满托{wmsMechanicalArmH.stackingposition}送到 结果为{result}");
+                    if (result)
+                    {
+                        int LXCount = db.Queryable<WmsCarrybindH>().Where(r => r.carry_id == wmsMechanicalArmH.rackid).Count();
+
+                        // 绑定料架
+                        await db.Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
+                        {
+                            mechanicalconfirm = 1,
+                            maxnum = LXCount
+                        }).Where(r => r.id == wmsMechanicalArmH.id).ExecuteCommandAsync();
+                    }
+                }
+
+                return true;
+            }
+        }
+
         /// <summary>
         /// 送空托到上升降区
         /// </summary>
@@ -736,94 +889,209 @@ where carry_code = '{coderesult}' and status = '{WmsWareHouseConst.TASK_BILL_STA
                 }
 
                 // 料架区
-                WmsMechanicalArmH wmsMechanicalArmH = WmsMechanicalArmHs[0];
-
-                bool 上升降机请求送空托 = (bool)Floor2UpDownMachinecode_GetTag<bool>($"上升降机请求送空托{wmsMechanicalArmH.stackingposition}");
-                if (!上升降机请求送空托)
+                foreach (WmsMechanicalArmH wmsMechanicalArmH in WmsMechanicalArmHs)
                 {
-                    LoggerFloor2RackDelivery.LogWarning($"【送空托到上升降区】 料架区 {wmsMechanicalArmH.name}{wmsMechanicalArmH.stackingposition} 上升降机请求送空托{wmsMechanicalArmH.stackingposition}信号不为true");
-                    return false;
+
+                    bool 上升降机请求送空托 = (bool)Floor2UpDownMachinecode_GetTag<bool>($"上升降机请求送空托{wmsMechanicalArmH.stackingposition}");
+                    if (!上升降机请求送空托)
+                    {
+                        LoggerFloor2RackDelivery.LogWarning($"【送空托到上升降区】 料架区 {wmsMechanicalArmH.name}{wmsMechanicalArmH.stackingposition} 上升降机请求送空托{wmsMechanicalArmH.stackingposition}信号不为true");
+                        return false;
+                    }
+
+                    LoggerFloor2RackDelivery.LogInformation($"【送空托到上升降区】 即将补充料架区{wmsMechanicalArmH.name}");
+
+
+                    // 找到占用且未锁定的库位上的空料架
+                    ISugarQueryable<BasLocation> rackStartLocations =
+                        _repository.AsSugarClient().Queryable<BasLocation>()
+                        .InnerJoin<WmsCarryH>((a, b) => a.id == b.location_id)
+                        .LeftJoin<WmsCarrybindH>((a, b, c) => b.id == c.carry_id)
+                        .Where((a, b, c) => a.wh_id == "33780009364245" && a.is_use == "1" && a.is_lock == 0 && string.IsNullOrEmpty(c.id)
+                        && b.carrystd_id == WmsWareHouseConst.CARRY_LJSTD_ID).OrderBy(a => a.id).Take(1);
+
+                    if (rackStartLocations.Count() == 0)
+                    {
+                        LoggerFloor2RackDelivery.LogWarning($"【送空托到上升降区】 暂存仓中没有可用的空料架 {rackStartLocations.ToSqlString()}");
+                        return false;
+                    }
+
+                    BasLocation startLocation = rackStartLocations.First();
+
+                    List<WmsPointH> startPoints = _repository.AsSugarClient().Queryable<WmsPointH>().Where(r => r.location_id == startLocation.id).ToList();
+
+                    if (startPoints.Count == 0)
+                    {
+                        LoggerFloor2RackDelivery.LogError($"【送空托到上升降区】 起始库位{startLocation.location_code}未在点位表维护对应的点位");
+                        return false;
+                    }
+
+                    List<WmsPointH> endPoints = _repository.AsSugarClient().Queryable<WmsPointH>().Where(r => r.id == wmsMechanicalArmH.point_id).ToList();
+
+                    if (endPoints.Count == 0)
+                    {
+                        LoggerFloor2RackDelivery.LogError($"【送空托到上升降区】 终点{wmsMechanicalArmH.point_id} {wmsMechanicalArmH.point_code}未在点位表维护对应的点位");
+                        return false;
+                    }
+
+                    List<WmsCarryH> wmsCarryHs = _repository.AsSugarClient().Queryable<WmsCarryH>().Where(r => r.location_id == startLocation.id).ToList();
+                    if (wmsCarryHs.Count == 0)
+                    {
+                        LoggerFloor2RackDelivery.LogError($"【送空托到上升降区】 起点{startLocation.id} {startLocation.location_code}上找不到料架");
+                        return false;
+                    }
+
+                    if (wmsCarryHs.Count > 1)
+                    {
+                        LoggerFloor2RackDelivery.LogError($"【送空托到上升降区】 起点{startLocation.id} {startLocation.location_code}上存在多个料架");
+                        return false;
+                    }
+
+                    // 空料架
+                    WmsCarryH targetCarry = wmsCarryHs[0];
+
+                    WmsPointH startPoint = startPoints.First();
+                    WmsPointH endPoint = endPoints.First();
+
+                    await _repository.AsSugarClient().Updateable<BasLocation>().SetColumns(r => new BasLocation
+                    {
+                        is_lock = 1
+                    }).Where(r => r.id == startLocation.id).ExecuteCommandAsync();
+                    await _repository.AsSugarClient().Updateable<WmsPointH>().SetColumns(r => new WmsPointH
+                    {
+                        is_lock = 1
+                    }).Where(r => r.id == endPoint.id).ExecuteCommandAsync();
+
+
+                    LoggerFloor2RackDelivery.LogInformation($"【送空托到上升降区】 开始生成预任务 起点{startPoint.point_code} 终点{endPoint.point_code} 料架 {targetCarry.carry_code}");
+                    List<WmsPointH> points = new List<WmsPointH>();
+                    points.Add(startPoint);
+                    points.Add(endPoint);
+
+                    Tuple<bool, WmsPretaskH> result = await Floor2UpDownMachinecode_createPretask(points, targetCarry.id, targetCarry.carry_code);
+                    if (!result.Item1)
+                    {
+                        throw new Exception("【送空托到上升降区】 未成功生成预任务");
+                    }
                 }
-
-                LoggerFloor2RackDelivery.LogInformation($"【送空托到上升降区】 即将补充料架区{wmsMechanicalArmH.name}");
-
-
-                // 找到占用且未锁定的库位上的空料架
-                ISugarQueryable<BasLocation> rackStartLocations =
-                    _repository.AsSugarClient().Queryable<BasLocation>()
-                    .InnerJoin<WmsCarryH>((a, b) => a.id == b.location_id)
-                    .LeftJoin<WmsCarrybindCode>((a, b, c) => b.id == c.carrybind_id)
-                    .Where((a, b, c) => a.wh_id == "33780009364245" && a.is_use == "1" && a.is_lock == 0 && string.IsNullOrEmpty(c.id)
-                    && b.carrystd_id == WmsWareHouseConst.CARRY_LJSTD_ID).OrderBy(a => a.id).Take(1);
-
-                if (rackStartLocations.Count() == 0)
-                {
-                    LoggerFloor2RackDelivery.LogWarning($"【送空托到上升降区】 暂存仓中没有可用的空料架 {rackStartLocations.ToSqlString()}");
-                    return false;
-                }
-
-                BasLocation startLocation = rackStartLocations.First();
-
-                List<WmsPointH> startPoints = _repository.AsSugarClient().Queryable<WmsPointH>().Where(r => r.location_id == startLocation.id).ToList();
-
-                if (startPoints.Count == 0)
-                {
-                    LoggerFloor2RackDelivery.LogError($"【送空托到上升降区】 起始库位{startLocation.location_code}未在点位表维护对应的点位");
-                    return false;
-                }
-
-                List<WmsPointH> endPoints = _repository.AsSugarClient().Queryable<WmsPointH>().Where(r => r.id == wmsMechanicalArmH.point_id).ToList();
-
-                if (endPoints.Count == 0)
-                {
-                    LoggerFloor2RackDelivery.LogError($"【送空托到上升降区】 终点{wmsMechanicalArmH.point_id} {wmsMechanicalArmH.point_code}未在点位表维护对应的点位");
-                    return false;
-                }
-
-                List<WmsCarryH> wmsCarryHs = _repository.AsSugarClient().Queryable<WmsCarryH>().Where(r => r.location_id == startLocation.id).ToList();
-                if (wmsCarryHs.Count == 0)
-                {
-                    LoggerFloor2RackDelivery.LogError($"【送空托到上升降区】 起点{startLocation.id} {startLocation.location_code}上找不到料架");
-                    return false;
-                }
-
-                if (wmsCarryHs.Count > 1)
-                {
-                    LoggerFloor2RackDelivery.LogError($"【送空托到上升降区】 起点{startLocation.id} {startLocation.location_code}上存在多个料架");
-                    return false;
-                }
-
-                // 空料架
-                WmsCarryH targetCarry = wmsCarryHs[0];
-
-                WmsPointH startPoint = startPoints.First();
-                WmsPointH endPoint = endPoints.First();
-
-                await _repository.AsSugarClient().Updateable<BasLocation>().SetColumns(r => new BasLocation
-                {
-                    is_lock = 1
-                }).Where(r => r.id == startLocation.id).ExecuteCommandAsync();
-                await _repository.AsSugarClient().Updateable<WmsPointH>().SetColumns(r => new WmsPointH
-                {
-                    is_lock = 1
-                }).Where(r => r.id == endPoint.id).ExecuteCommandAsync();
-
-
-                LoggerFloor2RackDelivery.LogInformation($"【送空托到上升降区】 开始生成预任务 起点{startPoint.point_code} 终点{endPoint.point_code} 料架 {targetCarry.carry_code}");
-                List<WmsPointH> points = new List<WmsPointH>();
-                points.Add(startPoint);
-                points.Add(endPoint);
-
-                bool isOk = await Floor2UpDownMachinecode_createPretask(points, targetCarry.id, targetCarry.carry_code);
-                if (!isOk)
-                {
-                    throw new Exception("【送空托到上升降区】 未成功生成预任务");
-                }
-
                 return true;
             }
         }
 
+        /// <summary>
+        /// 送满托到下升降区
+        /// </summary>
+        /// <returns></returns>
+        public async Task<bool> 送满托到下升降区()
+        {
+            using (var db = _repository.AsSugarClient().CopyNew())
+            {
+                string[] configs_upMachine = new string[2] { "二楼下升降机机械臂左", "二楼下升降机机械臂右" };
+
+                // 找到没有绑定料架的且点位未锁定的料架区
+                ISugarQueryable<WmsMechanicalArmH> WmsMechanicalArmHsuagar = _repository.AsSugarClient().Queryable<WmsMechanicalArmH>().
+                    InnerJoin<WmsPointH>((a, b) => a.point_id == b.id)
+                    .Where((a, b) => string.IsNullOrEmpty(a.rackcode) && b.is_lock == 0 && configs_upMachine.Contains(a.name));
+
+                List<WmsMechanicalArmH> WmsMechanicalArmHs = WmsMechanicalArmHsuagar.ToList();
+
+                if (WmsMechanicalArmHs.Count() == 0)
+                {
+                    LoggerFloor2RackDelivery.LogWarning($"【送满托到下升降区】 无需补充料架区 {WmsMechanicalArmHsuagar.ToSqlString()}");
+                    return false;
+                }
+
+                // 料架区
+                foreach (WmsMechanicalArmH wmsMechanicalArmH in WmsMechanicalArmHs)
+                {
+
+                    bool 下升降机请求送满托 = (bool)Floor2UpDownMachinecode_GetTag<bool>($"下升降机请求送满托{wmsMechanicalArmH.stackingposition}");
+                    if (!下升降机请求送满托)
+                    {
+                        LoggerFloor2RackDelivery.LogWarning($"【送满托到下升降区】 料架区 {wmsMechanicalArmH.name}{wmsMechanicalArmH.stackingposition} 下升降机请求送满托{wmsMechanicalArmH.stackingposition}信号不为true");
+                        return false;
+                    }
+
+                    LoggerFloor2RackDelivery.LogInformation($"【送满托到下升降区】 即将补充料架区{wmsMechanicalArmH.name}");
+
+
+                    // 找到占用且未锁定的库位上的满料架
+                    ISugarQueryable<BasLocation> rackStartLocations =
+                        _repository.AsSugarClient().Queryable<BasLocation>()
+                        .InnerJoin<WmsCarryH>((a, b) => a.id == b.location_id)
+                        .LeftJoin<WmsCarrybindH>((a, b, c) => b.id == c.carry_id)
+                        .Where((a, b, c) => a.wh_id == "33780009364245" && a.is_use == "1" && a.is_lock == 0 && !string.IsNullOrEmpty(c.id)
+                        && b.carrystd_id == WmsWareHouseConst.CARRY_LJSTD_ID).OrderBy(a => a.id).Take(1);
+
+                    if (rackStartLocations.Count() == 0)
+                    {
+                        LoggerFloor2RackDelivery.LogWarning($"【送满托到下升降区】 暂存仓中没有可用的满料架 {rackStartLocations.ToSqlString()}");
+                        return false;
+                    }
+
+                    BasLocation startLocation = rackStartLocations.First();
+
+                    List<WmsPointH> startPoints = _repository.AsSugarClient().Queryable<WmsPointH>().Where(r => r.location_id == startLocation.id).ToList();
+
+                    if (startPoints.Count == 0)
+                    {
+                        LoggerFloor2RackDelivery.LogError($"【送满托到下升降区】 起始库位{startLocation.location_code}未在点位表维护对应的点位");
+                        return false;
+                    }
+
+                    List<WmsPointH> endPoints = _repository.AsSugarClient().Queryable<WmsPointH>().Where(r => r.id == wmsMechanicalArmH.point_id).ToList();
+
+                    if (endPoints.Count == 0)
+                    {
+                        LoggerFloor2RackDelivery.LogError($"【送满托到下升降区】 终点{wmsMechanicalArmH.point_id} {wmsMechanicalArmH.point_code}未在点位表维护对应的点位");
+                        return false;
+                    }
+
+                    List<WmsCarryH> wmsCarryHs = _repository.AsSugarClient().Queryable<WmsCarryH>().Where(r => r.location_id == startLocation.id).ToList();
+                    if (wmsCarryHs.Count == 0)
+                    {
+                        LoggerFloor2RackDelivery.LogError($"【送满托到下升降区】 起点{startLocation.id} {startLocation.location_code}上找不到料架");
+                        return false;
+                    }
+
+                    if (wmsCarryHs.Count > 1)
+                    {
+                        LoggerFloor2RackDelivery.LogError($"【送满托到下升降区】 起点{startLocation.id} {startLocation.location_code}上存在多个料架");
+                        return false;
+                    }
+
+                    // 满料架
+                    WmsCarryH targetCarry = wmsCarryHs[0];
+
+                    WmsPointH startPoint = startPoints.First();
+                    WmsPointH endPoint = endPoints.First();
+
+                    await _repository.AsSugarClient().Updateable<BasLocation>().SetColumns(r => new BasLocation
+                    {
+                        is_lock = 1
+                    }).Where(r => r.id == startLocation.id).ExecuteCommandAsync();
+                    await _repository.AsSugarClient().Updateable<WmsPointH>().SetColumns(r => new WmsPointH
+                    {
+                        is_lock = 1
+                    }).Where(r => r.id == endPoint.id).ExecuteCommandAsync();
+
+
+                    LoggerFloor2RackDelivery.LogInformation($"【送满托到下升降区】 开始生成预任务 起点{startPoint.point_code} 终点{endPoint.point_code} 料架 {targetCarry.carry_code}");
+                    List<WmsPointH> points = new List<WmsPointH>();
+                    points.Add(startPoint);
+                    points.Add(endPoint);
+
+                    Tuple<bool, WmsPretaskH> result = await Floor2UpDownMachinecode_createPretask(points, targetCarry.id, targetCarry.carry_code);
+                    if (!result.Item1)
+                    {
+                        throw new Exception("【送满托到下升降区】 未成功生成预任务");
+                    }
+                }
+                return true;
+            }
+        }
+        
+
         /// <summary>
         /// 移走上升降区未生成预任务且满托的料架
         /// </summary>
@@ -839,6 +1107,7 @@ where carry_code = '{coderesult}' and status = '{WmsWareHouseConst.TASK_BILL_STA
 
                 foreach (WmsMechanicalArmH wmsMechanicalArmH in WmsMechanicalArmHs)
                 {
+                    LoggerFloor2RackDelivery.LogInformation($"【移走上升降区满托的料架】 开始执行预任务生成 {wmsMechanicalArmH.point_code} {wmsMechanicalArmH.outbill} {wmsMechanicalArmH.barcodes}");
                     try
                     {
                         // 判断是否 上升降机请求取满托
@@ -887,14 +1156,24 @@ where carry_code = '{coderesult}' and status = '{WmsWareHouseConst.TASK_BILL_STA
                             LoggerFloor2RackDelivery.LogError($"【移走上升降区满托的料架】 终点库位{endLocation.location_code}未在点位表维护对应的点位");
                             return false;
                         }
+
                         WmsPointH endPoint = endPoints.First();
                         points.Add(endPoint);
 
+                        // 锁住终点库位
+                        await db.Updateable<BasLocation>(r => new BasLocation
+                        {
+                            is_lock = 1
+                        }).Where(r => r.id == endLocation.id).ExecuteCommandAsync();
+                        await db.Updateable<WmsPointH>(r => new WmsPointH
+                        {
+                            is_lock = 1
+                        }).Where(r => r.id == endPoint.id).ExecuteCommandAsync();
 
-                        LoggerFloor2RackDelivery.LogInformation($"开始执行预任务生成: 料架区为{wmsMechanicalArmH.name}{wmsMechanicalArmH.stackingposition} 料架为{wmsMechanicalArmH.rackcode}");
+                        LoggerFloor2RackDelivery.LogInformation($"【移走上升降区满托的料架】 开始执行预任务生成: 料架区为{wmsMechanicalArmH.name}{wmsMechanicalArmH.stackingposition} 料架为{wmsMechanicalArmH.rackcode}");
 
-                        bool isOk = await Floor2UpDownMachinecode_createPretask(points, wmsMechanicalArmH.rackid, wmsMechanicalArmH.rackcode);
-                        if (!isOk)
+                        Tuple<bool, WmsPretaskH> result = await Floor2UpDownMachinecode_createPretask(points, wmsMechanicalArmH.rackid, wmsMechanicalArmH.rackcode);
+                        if (!result.Item1)
                         {
                             throw new Exception("未成功生成预任务");
                         }
@@ -909,6 +1188,104 @@ where carry_code = '{coderesult}' and status = '{WmsWareHouseConst.TASK_BILL_STA
             }
         }
 
+
+        /// <summary>
+        /// 移走下升降区未生成预任务且空托的料架
+        /// </summary>
+        /// <returns></returns>
+        public async Task<bool> 移走下升降区未生成预任务且空托的料架()
+        {
+            using (var db = _repository.AsSugarClient().CopyNew())
+            {
+                string[] configs_upMachine = new string[2] { "二楼下升降机机械臂左", "二楼下升降机机械臂右" };
+                // 读取下升降机的左右料架区配置
+
+                List<WmsMechanicalArmH> WmsMechanicalArmHs = _repository.AsSugarClient().Queryable<WmsMechanicalArmH>().Where(r => r.stackingcount == r.maxnum && r.maxnum != 0 && !string.IsNullOrEmpty(r.rackcode) && r.iscreatepretask == 0 && configs_upMachine.Contains(r.name)).ToList();
+
+                foreach (WmsMechanicalArmH wmsMechanicalArmH in WmsMechanicalArmHs)
+                {
+                    LoggerFloor2RackDelivery.LogInformation($"【移走下升降区空托的料架】 开始执行预任务生成 {wmsMechanicalArmH.point_code} {wmsMechanicalArmH.outbill} {wmsMechanicalArmH.barcodes}");
+                    try
+                    {
+                        // 判断是否 上升降机请求取满托
+                        bool 下升降机请求取空托 = (bool)Floor2UpDownMachinecode_GetTag<bool>($"下升降机请求取空托{wmsMechanicalArmH.stackingposition}");
+                        if (!下升降机请求取空托)
+                        {
+                            LoggerFloor2RackDelivery.LogError($"【移走下升降区空托的料架】下升降机请求取空托{wmsMechanicalArmH.stackingposition}");
+                            return false;
+                        }
+
+                        await _repository.AsSugarClient().Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
+                        {
+                            iscreatepretask = 1
+                        }).Where(r => r.id == wmsMechanicalArmH.id).ExecuteCommandAsync();
+
+                        List<WmsPointH> points = new List<WmsPointH>();
+
+                        List<WmsPointH> startPoints = _repository.AsSugarClient().Queryable<WmsPointH>().Where(r => r.id == wmsMechanicalArmH.point_id).ToList();
+
+                        if (startPoints.Count == 0)
+                        {
+                            LoggerFloor2RackDelivery.LogError($"【移走下升降区空托的料架】 起点{wmsMechanicalArmH.point_id} {wmsMechanicalArmH.point_code}未在点位表维护对应的点位");
+                            return false;
+                        }
+
+                        WmsPointH startPoint = startPoints.First();
+                        points.Add(startPoint);
+
+                        // 找到未占用且未锁定的库位
+                        ISugarQueryable<BasLocation> rackEndLocations =
+                            _repository.AsSugarClient().Queryable<BasLocation>()
+                            .Where(r => r.wh_id == "33780009364245" && r.is_use == "0" && r.is_lock == 0).OrderBy(a => a.id).Take(1);
+
+                        if (rackEndLocations.Count() == 0)
+                        {
+                            LoggerFloor2RackDelivery.LogWarning($"【移走下升降区空托的料架】 暂存仓中没有可用的空库位 {rackEndLocations.ToSqlString()}");
+                            return false;
+                        }
+
+                        BasLocation endLocation = rackEndLocations.First();
+
+                        List<WmsPointH> endPoints = _repository.AsSugarClient().Queryable<WmsPointH>().Where(r => r.location_id == endLocation.id).ToList();
+
+                        if (endPoints.Count == 0)
+                        {
+                            LoggerFloor2RackDelivery.LogError($"【移走下升降区空托的料架】 终点库位{endLocation.location_code}未在点位表维护对应的点位");
+                            return false;
+                        }
+
+                        WmsPointH endPoint = endPoints.First();
+                        points.Add(endPoint);
+
+                        // 锁住终点库位
+                        await db.Updateable<BasLocation>(r => new BasLocation
+                        {
+                            is_lock = 1
+                        }).Where(r => r.id == endLocation.id).ExecuteCommandAsync();
+                        await db.Updateable<WmsPointH>(r => new WmsPointH
+                        {
+                            is_lock = 1
+                        }).Where(r => r.id == endPoint.id).ExecuteCommandAsync();
+
+                        LoggerFloor2RackDelivery.LogInformation($"【移走下升降区空托的料架】 开始执行预任务生成: 料架区为{wmsMechanicalArmH.name}{wmsMechanicalArmH.stackingposition} 料架为{wmsMechanicalArmH.rackcode}");
+
+                        Tuple<bool, WmsPretaskH> result = await Floor2UpDownMachinecode_createPretask(points, wmsMechanicalArmH.rackid, wmsMechanicalArmH.rackcode);
+                        if (!result.Item1)
+                        {
+                            throw new Exception("未成功生成预任务");
+                        }
+                    }
+                    catch (Exception ex)
+                    {
+                        LoggerFloor2RackDelivery.LogError(ex.ToString());
+                        LoggerFloor2RackDelivery.LogError(ex.StackTrace);
+                    }
+                }
+                return true;
+            }
+        }
+        
+
         // 料架配送
         private async void Floor2RackDelivery(object args)
         {
@@ -916,16 +1293,24 @@ where carry_code = '{coderesult}' and status = '{WmsWareHouseConst.TASK_BILL_STA
             await s_taskExecuteRackDelivery.WaitAsync();
             try
             {
-
                 // 检查机械臂料架区信号(上升降机空托1送到)
                 await 检查机械臂料架区信号_上升降机空托1送到();
 
+                // 检查机械臂料架区信号(下升降机满托1送到)
+                await 检查机械臂料架区信号_下升降机满托1送到();
+
                 // 送空托到上升降区
                 await 送空托到上升降区();
 
+                // 送满托到下升降区
+                await 送满托到下升降区();
+
                 // 移走上升降区未生成预任务且满托的料架
                 await 移走上升降区未生成预任务且满托的料架();
 
+                // 移走下升降区未生成预任务且空托的料架
+                await 移走下升降区未生成预任务且空托的料架();
+
                 _ = _wareHouseService.GenTaskExecute();
 
             }
@@ -940,15 +1325,17 @@ where carry_code = '{coderesult}' and status = '{WmsWareHouseConst.TASK_BILL_STA
         
 
         // 上下升降机生成预任务（补充料架、上升降机取货到料架、上升降机满托运走，下升降机拿货到输送线、下升降机空托运走）
-        private async Task<bool> Floor2UpDownMachinecode_createPretask(List<WmsPointH> points, string carry_id, string carry_code)
+        private async Task<Tuple<bool, WmsPretaskH>> Floor2UpDownMachinecode_createPretask(List<WmsPointH> points, string carry_id, string carry_code)
         {
             //根据获取的路径点生成预任务,生成顺序必须预路径算法返回的起终点的顺序一致（预任务顺序）
+            WmsPretaskH preTask = null;
+            string bill_code = _billRullService.GetBillNumber(WmsWareHouseConst.WMS_PRETASK_H_ENCODE).GetAwaiter().GetResult();
             List<WmsPretaskH> preTasks = points.Where(it => !it.location_id.IsNullOrEmpty()).GroupBy(g => g.area_code).Select(it =>
             {
                 WmsPointH? sPoint = it.FirstOrDefault();
                 WmsPointH? ePoint = it.LastOrDefault();
 
-                WmsPretaskH preTask = new()
+                preTask = new()
                 {
                     org_id = "",
                     startlocation_id = sPoint?.location_id!,
@@ -961,7 +1348,7 @@ where carry_code = '{coderesult}' and status = '{WmsWareHouseConst.TASK_BILL_STA
                     startpoint_code = sPoint?.point_code!,
                     endpoint_id = ePoint?.id!,
                     endpoint_code = ePoint?.point_code!,
-                    bill_code = _billRullService.GetBillNumber(WmsWareHouseConst.WMS_PRETASK_H_ENCODE).GetAwaiter().GetResult(),
+                    bill_code = bill_code,
                     status = WmsWareHouseConst.PRETASK_BILL_STATUS_DXF_ID,
                     biz_type = "",
                     task_type = "",
@@ -984,9 +1371,9 @@ where carry_code = '{coderesult}' and status = '{WmsWareHouseConst.TASK_BILL_STA
             if (result)
             {
                 LoggerFloor2RackDelivery.LogInformation($"成功生成预任务：{preTasks.First().bill_code}");
-                return true;
+                return new Tuple<bool, WmsPretaskH>(true, preTask);
             }
-            return false;
+            return new Tuple<bool, WmsPretaskH>(false, null);
         }
 
         private object Floor2UpDownMachinecode_GetTag<T>(string tag)
@@ -1069,7 +1456,7 @@ where carry_code = '{coderesult}' and status = '{WmsWareHouseConst.TASK_BILL_STA
                     reqBody.taskChainPriority = 0;
                     reqBody.taskList = v;
                     reqBody.floor = dis.end_floor;
-                    LoggerFloor2UpDownMachine.LogInformation($"【AgvDispatch】 Agv任务执行 开始请求联核/task-chain/create接口 请求地址:{url} 请求参数:{reqBody} ");
+                    LoggerFloor2UpDownMachine.LogInformation($"【AgvDispatch】 Agv任务执行 开始请求联核/task-chain/create接口 请求地址:{url} 请求参数:{JsonConvert.SerializeObject(reqBody)} ");
                     dynamic respBody = await HttpClientHelper.PostStreamAsync(url, reqBody, token);
                     LoggerFloor2UpDownMachine.LogInformation($"【AgvDispatch】 Agv任务执行 接收到联核/task-chain/create接口信息:{respBody}");
                 }
@@ -1086,15 +1473,15 @@ where carry_code = '{coderesult}' and status = '{WmsWareHouseConst.TASK_BILL_STA
 
         public Task StartAsync(CancellationToken cancellationToken)
         {
-            Readtimer = new Timer(GetRedisData, null, TimeSpan.Zero, TimeSpan.FromSeconds(300));
-            CheckGettimer = new Timer(CheckGet, null, TimeSpan.Zero, TimeSpan.FromSeconds(10));
-            Scantimer = new Timer(ScanInStock, null, TimeSpan.Zero, TimeSpan.FromSeconds(60));
-            SSXcodetimer = new Timer(SSXcode, null, TimeSpan.Zero, TimeSpan.FromSeconds(10));
+            //Readtimer = new Timer(GetRedisData, null, TimeSpan.Zero, TimeSpan.FromSeconds(300));
+            //CheckGettimer = new Timer(CheckGet, null, TimeSpan.Zero, TimeSpan.FromSeconds(10));
+            //Scantimer = new Timer(ScanInStock, null, TimeSpan.Zero, TimeSpan.FromSeconds(60));
+            //SSXcodetimer = new Timer(SSXcode, null, TimeSpan.Zero, TimeSpan.FromSeconds(10));
 
             // 二楼上升降机
-            Floor2UpMachinecodetimer = new Timer(Floor2UpMachinecode, null, TimeSpan.Zero, TimeSpan.FromSeconds(20));
+            Floor2UpMachinecodetimer = new Timer(Floor2UpMachinecode, null, TimeSpan.Zero, TimeSpan.FromSeconds(10));
             // 二楼下升降机
-            //Floor2DownMachinecodetimer = new Timer(Floor2DownMachinecode, null, TimeSpan.Zero, TimeSpan.FromSeconds(10));
+            Floor2DownMachinecodetimer = new Timer(Floor2DownMachinecode, null, TimeSpan.Zero, TimeSpan.FromSeconds(60));
             // 二楼料架配送
             Floor2RackDeliverytimer = new Timer(Floor2RackDelivery, null, TimeSpan.Zero, TimeSpan.FromSeconds(60));
 

WarehouseMgr/Tnb.WarehouseMgr.Entities/Dto/Inputs/CarryBindFloor2UpDownMachineInput.cs

@@ -0,0 +1,17 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Tnb.WarehouseMgr.Entities.Dto.Inputs
+{
+    public class CarryBindFloor2UpDownMachineInput
+    {
+        public string? carry_id { get; set; }
+        public string? carry_code { get; set; }
+        public string? carrystd_id { get; set; }
+        public string? membercarry_id { get; set; }
+        public string? membercarry_code { get; set; }
+    }
+}

WarehouseMgr/Tnb.WarehouseMgr.Entities/Dto/Inputs/CarryMaterialBindInput.cs

@@ -20,6 +20,6 @@ namespace Tnb.WarehouseMgr.Entities.Dto.Inputs
         public string? codeqty { get; set; }
         public int is_out { get; set; }
         public string? unit_id { get; set; }
- 
+
     }
 }

WarehouseMgr/Tnb.WarehouseMgr.Entities/Entity/WmsCarrybindH.cs

@@ -37,7 +37,7 @@ public partial class WmsCarrybindH : BaseEntity<string>
     /// <summary>
     /// 载具名称
     /// </summary>
-    public string carry_name { get; set; } = string.Empty;
+    //public string carry_name { get; set; } = string.Empty;
 
     /// <summary>
     /// dataType

WarehouseMgr/Tnb.WarehouseMgr.Interfaces/IWmsCarryBindService.cs

@@ -1,4 +1,5 @@
 using JNPF.Common.Dtos.VisualDev;
+using Tnb.WarehouseMgr.Entities.Dto.Inputs;
 
 namespace Tnb.WarehouseMgr.Interfaces
 {
@@ -8,5 +9,8 @@ namespace Tnb.WarehouseMgr.Interfaces
     public interface IWmsCarryBindService
     {
         Task<dynamic> CarryBind(VisualDevModelDataCrInput input);
+
+        Task<dynamic> CarryBindFloor2UpDownMachine(CarryBindFloor2UpDownMachineInput input);
+        Task<dynamic> CarryUnbindFloor2UpDownMachine(CarryBindFloor2UpDownMachineInput input);
     }
 }

WarehouseMgr/Tnb.WarehouseMgr/WareHouseService.cs

@@ -440,6 +440,12 @@ namespace Tnb.WarehouseMgr
         /// <returns></returns>
         public async Task<bool> Floor2MechanicalComplete(WmsDistaskH disTask, string action)
         {
+            List<string> rackAreaPoints = new List<string>();
+            // 二楼料架区点位
+            rackAreaPoints.Add("AS01");
+            rackAreaPoints.Add("AS02");
+            rackAreaPoints.Add("AX01");
+            rackAreaPoints.Add("AX02");
             if (disTask.area_code == "E")
             {
                 Logger.Information($"【二楼机械臂Floor2MechanicalComplete】收到到货完成信号 传入参数: {disTask.bill_code} {action}");
@@ -447,53 +453,80 @@ namespace Tnb.WarehouseMgr
 
                 if (action == "UNLOAD")
                 {
-                    ISugarQueryable<WmsMechanicalArmH> WmsMechanicalArmHs = db.Queryable<WmsMechanicalArmH>().Where(r => r.point_code == disTask.endpoint_code);
-                    if (WmsMechanicalArmHs.Count() == 0)
+                    // 去料架区放货
+                    if (rackAreaPoints.Contains(disTask.endlocation_code))
                     {
-                        Logger.Information($"【二楼机械臂Floor2MechanicalComplete】 任务执行终点{disTask.endpoint_code} 与料架区的点位不匹配");
-                        return false;
-                    }
-                    WmsMechanicalArmH target = WmsMechanicalArmHs.First();
+                        ISugarQueryable<WmsMechanicalArmH> WmsMechanicalArmHs = db.Queryable<WmsMechanicalArmH>().Where(r => r.point_code == disTask.endpoint_code);
+                        if (WmsMechanicalArmHs.Count() == 0)
+                        {
+                            Logger.Information($"【二楼机械臂Floor2MechanicalComplete】 任务执行终点{disTask.endpoint_code} 与料架区的点位不匹配");
+                            return false;
+                        }
+                        WmsMechanicalArmH target = WmsMechanicalArmHs.First();
 
-                    // 回写料架和AGV确认
-                    await db.Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
+                        // 回写料架和AGV确认
+                        await db.Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
+                        {
+                            agvconfirm = 1,
+                            rackid = disTask.carry_id,
+                            rackcode = disTask.carry_code
+                        }).Where(r => r.id == target.id).ExecuteCommandAsync();
+                        Logger.Information($"【二楼机械臂Floor2MechanicalComplete】{disTask.bill_code} AGV已到货");
+                    }
+                    else // 去暂存仓放货
                     {
-                        agvconfirm = 1,
-                        rackid = disTask.carry_id,
-                        rackcode = disTask.carry_code
-                    }).Where(r => r.id == target.id).ExecuteCommandAsync();
-                    Logger.Information($"【二楼机械臂Floor2MechanicalComplete】{disTask.bill_code} AGV已到货");
+                        // 回写料架料箱绑定表的库位
+                        ISugarQueryable<WmsCarrybindH> wmsCarryHs = db.Queryable<WmsCarrybindH>().Where(r => r.carry_code == disTask.carry_code);
+                        var wmsCarryHList = wmsCarryHs.ToList();
+                        wmsCarryHList.ForEach(r => 
+                        {
+                            r.location_id = disTask.endlocation_id;
+                            r.location_code = disTask.endlocation_code;
+                            r.source_id = disTask.id;
+                            r.source_code = disTask.bill_code;
+                        });
+                        await db.Updateable(wmsCarryHList).ExecuteCommandAsync();
+                    }
                 }
                 else
                 {
-                    ISugarQueryable<WmsMechanicalArmH> WmsMechanicalArmHs = db.Queryable<WmsMechanicalArmH>().Where(r => r.point_code == disTask.startpoint_code);
-                    if (WmsMechanicalArmHs.Count() == 0)
+                    // 去暂存仓取货
+                    if (rackAreaPoints.Contains(disTask.endlocation_code))
                     {
-                        Logger.Information($"【二楼机械臂Floor2MechanicalComplete】 任务执行起点{disTask.endpoint_code} 与料架区的点位不匹配");
-                        return false;
+                        
+                        Logger.Information($"【二楼机械臂Floor2MechanicalComplete】{disTask.bill_code} AGV在暂存仓取货完成");
                     }
-                    WmsMechanicalArmH target = WmsMechanicalArmHs.First();
-
-                    //回写出库单状态
-                    await db.Updateable<WmsEmptyOutstockH>().SetColumns(r=>new WmsEmptyOutstockH
+                    else // 去料架区取货
                     {
-                        bindrackcomplete = WmsWareHouseConst.BILLSTATUS_COMPLETE_ID
-                    }).Where(r => r.bill_code == target.outbill).ExecuteCommandAsync();
+                        ISugarQueryable<WmsMechanicalArmH> WmsMechanicalArmHs = db.Queryable<WmsMechanicalArmH>().Where(r => r.point_code == disTask.startpoint_code);
+                        if (WmsMechanicalArmHs.Count() == 0)
+                        {
+                            Logger.Information($"【二楼机械臂Floor2MechanicalComplete】 任务执行起点{disTask.endpoint_code} 与料架区的点位不匹配");
+                            return false;
+                        }
+                        WmsMechanicalArmH target = WmsMechanicalArmHs.First();
 
-                    // 重置料架区
-                    await db.Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
-                    {
-                        stackingcount = 0,
-                        barcodes = "",
-                        outbill = "",
-                        maxnum = 0,
-                        iscreatepretask = 0,
-                        rackcode = "",
-                        rackid = "",
-                        agvconfirm = 0,
-                        mechanicalconfirm = 0
-                    }).Where(r => r.id == target.id).ExecuteCommandAsync();
-                    Logger.Information($"【二楼机械臂Floor2MechanicalComplete】{disTask.bill_code} AGV已到货");
+                        //回写出库单状态
+                        await db.Updateable<WmsEmptyOutstockH>().SetColumns(r => new WmsEmptyOutstockH
+                        {
+                            bindrackcomplete = WmsWareHouseConst.BILLSTATUS_COMPLETE_ID
+                        }).Where(r => r.bill_code == target.outbill).ExecuteCommandAsync();
+
+                        // 重置料架区
+                        await db.Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
+                        {
+                            stackingcount = 0,
+                            barcodes = "",
+                            outbill = "",
+                            maxnum = 0,
+                            iscreatepretask = 0,
+                            rackcode = "",
+                            rackid = "",
+                            agvconfirm = 0,
+                            mechanicalconfirm = 0
+                        }).Where(r => r.id == target.id).ExecuteCommandAsync();
+                        Logger.Information($"【二楼机械臂Floor2MechanicalComplete】{disTask.bill_code} AGV在料架区取货完成");
+                    }
                 }
             }
             return true;
@@ -547,9 +580,9 @@ namespace Tnb.WarehouseMgr
                 var normalPreTasks = preTasks.Where(it => it.area_code != "B" && !agvElevatorTasks.Concat(elePreTasks).Select(x => x.endlocation_code).Contains(it.endlocation_code)).ToList();
 
 
-                Logger.Information("【GenTaskExecute】 电梯预任务elePreTasks:" + JsonConvert.SerializeObject(elePreTasks));
-                Logger.Information("【GenTaskExecute】 AGV/CTU/KIVA预任务normalPreTasks:" + JsonConvert.SerializeObject(normalPreTasks));
-                Logger.Information("【GenTaskExecute】 AGV电梯预任务agvElevatorTasks:" + JsonConvert.SerializeObject(agvElevatorTasks));
+                //Logger.Information("【GenTaskExecute】 电梯预任务elePreTasks:" + JsonConvert.SerializeObject(elePreTasks));
+                //Logger.Information("【GenTaskExecute】 AGV/CTU/KIVA预任务normalPreTasks:" + JsonConvert.SerializeObject(normalPreTasks));
+                //Logger.Information("【GenTaskExecute】 AGV电梯预任务agvElevatorTasks:" + JsonConvert.SerializeObject(agvElevatorTasks));
 
                 /*                IEnumerable<WmsPretaskH?> firstEleGrp = agvElevatorTasks.GroupBy(g => g.endlocation_code).Select(t => t.OrderBy(o => o.bill_code).FirstOrDefault());
                                 agvElevatorTasks = firstEleGrp?.ToList() ?? Enumerable.Empty<WmsPretaskH>().ToList()!;
@@ -845,8 +878,8 @@ namespace Tnb.WarehouseMgr
                 var InTasks = CTUTasks.Where(a => a.task_type == WmsWareHouseConst.WMS_PRETASK_INSTOCK_TYPE_ID).ToList();
                 var OutTasks = CTUTasks.Where(a => a.task_type == WmsWareHouseConst.WMS_PRETASK_OUTSTOCK_TYPE_ID).ToList();
 
-                Logger.Information($@"【CTUTaskExecute】 获取任务InTasks: {JsonConvert.SerializeObject(InTasks)}");
-                Logger.Information($@"【CTUTaskExecute】 获取任务OutTasks: {JsonConvert.SerializeObject(OutTasks)}");
+                //Logger.Information($@"【CTUTaskExecute】 获取任务InTasks: {JsonConvert.SerializeObject(InTasks)}");
+                //Logger.Information($@"【CTUTaskExecute】 获取任务OutTasks: {JsonConvert.SerializeObject(OutTasks)}");
 
                 var OriginDistaskHs = await db.Queryable<WmsDistaskH>()
                     .InnerJoin<WmsAreaH>((a, b) => a.area_id == b.id)
@@ -855,7 +888,7 @@ namespace Tnb.WarehouseMgr
                     .ToListAsync();
 
 
-                Logger.Information($@"【CTUTaskExecute】 OriginDistaskHs: {JsonConvert.SerializeObject(OriginDistaskHs)}");
+                //Logger.Information($@"【CTUTaskExecute】 OriginDistaskHs: {JsonConvert.SerializeObject(OriginDistaskHs)}");
 
 
                 List<WmsDistaskH> DistaskHs = new List<WmsDistaskH>();
@@ -992,7 +1025,7 @@ namespace Tnb.WarehouseMgr
                     var time = int.Parse(db.Queryable<BasFactoryConfig>().Where(P => P.key == "getinterval").First().value);
                     timer = new Timer(TimerExec, null, TimeSpan.FromMinutes(time), TimeSpan.FromMinutes(time));
                 }
-                Logger.Information($@"【CTUTaskExecute】 可执行的CTU任务inCtuExec: {JsonConvert.SerializeObject(inCtuExec)}");
+                //Logger.Information($@"【CTUTaskExecute】 可执行的CTU任务inCtuExec: {JsonConvert.SerializeObject(inCtuExec)}");
                 if (inCtuExec.Count > 0)
                 {
                     Logger.Information($"开始执行CTU入库任务: {JsonConvert.SerializeObject(inCtuExec)}");
@@ -1004,7 +1037,7 @@ namespace Tnb.WarehouseMgr
                     await CallingCTU(inCtuExec, Ctu.Token, 1);
                     Ctu.Dispose();
                 }
-                Logger.Information($@"【CTUTaskExecute】 可执行的CTU任务outCtuExec: {JsonConvert.SerializeObject(outCtuExec)}");
+                //Logger.Information($@"【CTUTaskExecute】 可执行的CTU任务outCtuExec: {JsonConvert.SerializeObject(outCtuExec)}");
                 if (outCtuExec.Count > 0)
                 {
                     Logger.Information($"开始执行CTU出库任务: {JsonConvert.SerializeObject(outCtuExec)}");
@@ -1121,7 +1154,7 @@ namespace Tnb.WarehouseMgr
                     reqBody.taskChainPriority = 0;
                     reqBody.taskList = v;
                     reqBody.inOut = type;
-                    Logger.Information($"【CallingCTU】 CTU任务下发 开始请求联核/task-chain/create接口 请求地址:{url} 请求参数:{reqBody} type：{(type == 0 ? "CTU出库" : "CTU入库")}");
+                    Logger.Information($"【CallingCTU】 CTU任务下发 开始请求联核/task-chain/create接口 请求地址:{url} 请求参数:{JsonConvert.SerializeObject(reqBody)} type：{(type == 0 ? "CTU出库" : "CTU入库")}");
                     dynamic respBody = await HttpClientHelper.PostStreamAsync(url, reqBody, token);
                     Logger.Information($"【CallingCTU】 CTU任务下发 接收到联核/task-chain/create接口信息:{respBody}");
                 }
@@ -1327,6 +1360,7 @@ namespace Tnb.WarehouseMgr
         {
             Logger.Information("【AgvDispatch】 Agv任务执行....");
             List<string> kiva = new List<string>();
+            // 一楼中储仓
             kiva.Add("ZSSSXCTU02");
             kiva.Add("ZSSSXCTU01");
             //调用AGV创建任务链接口
@@ -1363,7 +1397,7 @@ namespace Tnb.WarehouseMgr
                     reqBody.taskChainPriority = 0;
                     reqBody.taskList = v;
                     reqBody.floor = dis.end_floor;
-                    Logger.Information($"【AgvDispatch】 Agv任务执行 开始请求联核/task-chain/create接口 请求地址:{url} 请求参数:{reqBody} ");
+                    Logger.Information($"【AgvDispatch】 Agv任务执行 开始请求联核/task-chain/create接口 请求地址:{url} 请求参数:{JsonConvert.SerializeObject(reqBody)} ");
                     dynamic respBody = await HttpClientHelper.PostStreamAsync(url, reqBody, token);
                     Logger.Information($"【AgvDispatch】 Agv任务执行 接收到联核/task-chain/create接口信息:{respBody}");
                 }

WarehouseMgr/Tnb.WarehouseMgr/WmsCarryBindService.cs

@@ -128,7 +128,7 @@ namespace Tnb.WarehouseMgr
                 }
                 await _db.Ado.CommitTranAsync();
             }
-            catch (Exception)
+            catch (Exception ex)
             {
                 await _db.Ado.RollbackTranAsync();
                 throw;
@@ -170,8 +170,104 @@ namespace Tnb.WarehouseMgr
             }
         }
 
-    
 
+        /// <summary>
+        /// 二楼机械手
+        /// </summary>
+        /// <param name="input"></param>
+        /// <returns></returns>
+        /// <exception cref="ArgumentNullException"></exception>
+        /// <exception cref="AppFriendlyException"></exception>
+        [NonAction]
+        public async Task<dynamic> CarryBindFloor2UpDownMachine(CarryBindFloor2UpDownMachineInput input)
+        {
+            bool isOk = false;
+            try
+            {
+                if (input == null)
+                {
+                    throw new ArgumentNullException(nameof(input));
+                }
+
+                WmsCarryH? carry = await _db.Queryable<WmsCarryH>().SingleAsync(it => it.id == input.carry_id);
+                WmsCarryH? subCarry = await _db.Queryable<WmsCarryH>().SingleAsync(it => it.id == input.membercarry_id);
+                if (carry != null && subCarry != null)
+                {
+                    WmsCarrybindH wmsCarrybindH = new()
+                    {
+                        carry_id = input.carry_id,
+                        carry_code = input.carry_code,
+                        membercarry_id = input.membercarry_id,
+                        membercarry_code = input.membercarry_code,
+                        loc = 1,
+                        type = 0,
+                        create_time = DateTime.Now
+                    };
+                    int row = await _db.Insertable(wmsCarrybindH).ExecuteCommandAsync();
+                    isOk = row > 0;
+                    if (!isOk)
+                    {
+                        throw Oops.Oh(ErrorCode.COM1001);
+                    }
+                }
+                else
+                {
+                    if (carry == null || subCarry == null)
+                    {
+                        throw new AppFriendlyException("没有可用的主载具", 500);
+                    }
+                }
+            }
+            catch (Exception ex)
+            {
+            }
+            return Task.FromResult(true);
+        }
+
+        /// <summary>
+        /// 二楼机械手解绑定
+        /// </summary>
+        /// <param name="input"></param>
+        /// <returns></returns>
+        /// <exception cref="ArgumentNullException"></exception>
+        /// <exception cref="AppFriendlyException"></exception>
+        [NonAction]
+        public async Task<dynamic> CarryUnbindFloor2UpDownMachine(CarryBindFloor2UpDownMachineInput input)
+        {
+            bool isOk = false;
+            try
+            {
+                if (input == null)
+                {
+                    throw new ArgumentNullException(nameof(input));
+                }
+
+                WmsCarryH? carry = await _db.Queryable<WmsCarryH>().SingleAsync(it => it.id == input.carry_id);
+                WmsCarryH? subCarry = await _db.Queryable<WmsCarryH>().SingleAsync(it => it.id == input.membercarry_id);
+                if (carry != null && subCarry != null)
+                {
+                    int row = await _db.Deleteable<WmsCarrybindH>().Where(r => r.carry_id == input.carry_id && r.membercarry_id == input.membercarry_id).ExecuteCommandAsync();
+                    isOk = row > 0;
+                    
+                    if (!isOk)
+                    {
+                        throw Oops.Oh(ErrorCode.COM1001);
+                    }
+                }
+                else
+                {
+                    if (carry == null || subCarry == null)
+                    {
+                        throw new AppFriendlyException("没有可用的主载具", 500);
+                    }
+                }
+            }
+            catch (Exception ex)
+            {
+            }
+            return Task.FromResult(true);
+        }
+        
         /*   public override async Task ModifyAsync(WareHouseUpInput input)
            {
                if (input == null) throw new ArgumentNullException(nameof(input));