优化入库逻辑，优化直接出库逻辑，优化移库任务逻辑

dengjunjie

2025-02-24 733e63cb362f17aea4a1020654fa348a0d0c1f06

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs

@@ -58,45 +58,69 @@
                SpeStackerCrane commonStackerCrane = (SpeStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
                if (commonStackerCrane != null)
                {
                    commonStackerCrane.Communicator.IsReadAfterWrite = false;
                    #region ä¿¡å·äº¤äº’处理
                    //Heartbeat(commonStackerCrane);
                    ShuttleCarSignal(commonStackerCrane);
                    #endregion

                    #region ä»»åŠ¡é€»è¾‘处理
                    if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.Onlinestate) == (short)Onlinestate.online
                    && commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WriteStatus) == (short)WriteStatus.Permit)
                    #region ä»»åŠ¡å®Œæˆ
                    DeviceProtocolDetailDTO? deviceProtocolDetail = commonStackerCrane.DeviceProtocolDetailDTOs.FirstOrDefault(x => x.ProtocalDetailValue == commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.CompleteStatus).ToString() && x.DeviceProParamName == nameof(StackerCraneTaskCommandR.CompleteStatus));
                    if (deviceProtocolDetail != null)
                    {
                        #region ä»»åŠ¡å®Œæˆ
                        DeviceProtocolDetailDTO? deviceProtocolDetail = commonStackerCrane.DeviceProtocolDetailDTOs.FirstOrDefault(x => x.ProtocalDetailValue == commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.CompleteStatus).ToString() && x.DeviceProParamName == nameof(StackerCraneTaskCommandR.CompleteStatus));
                        if (deviceProtocolDetail != null)
                        {
                            MethodInfo? method = GetType().GetMethod(deviceProtocolDetail.ProtocolDetailType);
                            if (method != null) method.Invoke(this, new object[] { commonStackerCrane });
                        }
                        #endregion

                        MethodInfo? method = GetType().GetMethod(deviceProtocolDetail.ProtocolDetailType);
                        if (method != null) method.Invoke(this, new object[] { commonStackerCrane });
                    }
                    #endregion
                    #region ä»»åŠ¡é€»è¾‘处理
                    var onlinestate = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.Onlinestate);
                    var writeStatus = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WriteStatus);
                    if (onlinestate == (short)Onlinestate.online && writeStatus == (short)WriteStatus.Permit)
                    {
                        #region æŸ¥è¯¢ä»»åŠ¡,逻辑处理
                        if (Enum.Parse<RunStatus>(commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.RunStatus).ToString()) == RunStatus.Standby)
                        {
                            var Task = _taskService.GetTaskState(TaskType: (int)TaskOtherTypeEnum.RelocationCar);//获取移车任务
                            var Task1 = _taskService.GetTaskState((int)CarChargingTask.ShuttleCar_Finish, (int)TaskOtherTypeEnum.RelocationCarCharging);//获取移车充电任务
                            if (Task != null)
                            {
                                if (Task.TaskState == (int)TaskCarStatusEnum.ShuttleCar_Finish) SendTask(commonStackerCrane, Task);
                            }
                            else if (Task1 != null)
                            {
                                SendTask(commonStackerCrane, Task1);
                            }
                            else
                            {
                                Dt_Task? task = GetTask(commonStackerCrane);//获取堆垛机出入库任务
                                if (task != null)
                                {
                                    if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
                                    if (task.TaskType == (int)TaskRelocationTypeEnum.Relocation)//移库任务判断终点是否有穿梭车
                                    {
                                        var ShuttleCar = GetShuttleCarInfo(task.TargetAddress);//入库任务判断是否存在穿梭车
                                        if (task.IsPickPlace && ShuttleCar != null)//移走
                                        var ShuttleCar = GetShuttleCarInfo(task.TargetAddress);//移库任务判断终点是否有穿梭车
                                        if (task.TargetIsPickPlace && ShuttleCar != null)//移走
                                        {
                                            _taskService.AddRelocationCarTask(task.TargetAddress, "", ShuttleCar.ShuttleCarCode);
                                        }
                                        else if (!task.IsPickPlace && ShuttleCar == null)
                                        else if (!task.TargetIsPickPlace && ShuttleCar == null)
                                        {
                                            _taskService.AddRelocationCarTask("", task.TargetAddress);
                                        }
                                        else
                                        {
                                            task.ShuttleCarCode = ShuttleCar?.ShuttleCarCode;
                                            _taskService.UpdateData(task);
                                            SendTask(commonStackerCrane, task);//下发堆垛机任务
                                        }
                                    }
                                    else if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
                                    {
                                        var ShuttleCar = GetShuttleCarInfo(task.TargetAddress);//入库任务判断终点是否有穿梭车
                                        if (task.TargetIsPickPlace && ShuttleCar != null)//移走
                                        {
                                            _taskService.AddRelocationCarTask(task.TargetAddress, "", ShuttleCar.ShuttleCarCode);
                                        }
                                        else if (!task.TargetIsPickPlace && ShuttleCar == null)
                                        {
                                            _taskService.AddRelocationCarTask("", task.TargetAddress);
                                        }
@@ -120,7 +144,7 @@
            }
            catch (Exception ex)
            {
                Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
                //Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
            }
            return Task.CompletedTask;
        }
@@ -132,14 +156,24 @@
            if (stackerCraneTaskCommand != null)
            {
                bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
                bool worktype = commonStackerCrane.SetValue(StackerCraneDBName.WorkType, task.TaskType == (int)TaskOtherTypeEnum.RelocationCar ? (short)WorkType.Car : (short)WorkType.Cargo);
                bool worktype = commonStackerCrane.SetValue(StackerCraneDBName.WorkType, task.TaskType >= (int)TaskOtherTypeEnum.RelocationCar ? (short)WorkType.Car : (short)WorkType.Cargo);
                if (sendFlag && worktype)
                {
                    if (commonStackerCrane.SetValue(StackerCraneDBName.CommandSend, sendFlag))
                    {
                        if (task.TaskType != (int)TaskOtherTypeEnum.RelocationCar) commonStackerCrane.LastTaskType = task.TaskType;
                        //if (task.TaskType != (int)TaskOtherTypeEnum.RelocationCar) 
                        commonStackerCrane.LastTaskType = task.TaskType;
                        _taskService.UpdateTaskStatusToNext(task.TaskNum);
                    }
                    //    DeviceProDTO? deviceProDTO = commonStackerCrane.DeviceProDTOs.FirstOrDefault((DeviceProDTO x) => x.DeviceProParamName == StackerCraneDBName.CommandSend.ToString());
                    //if (deviceProDTO != null)
                    //{
                    //    if (commonStackerCrane.Communicator.Write<bool>(deviceProDTO.DeviceProAddress, sendFlag))
                    //    {
                    //        if (task.TaskType != (int)TaskOtherTypeEnum.RelocationCar) commonStackerCrane.LastTaskType = task.TaskType;
                    //        _taskService.UpdateTaskStatusToNext(task.TaskNum);
                    //    }
                    //}
                }
            }
        }
@@ -173,9 +207,9 @@
            {
                //if (_taskService.GetTaskInfo(commonStackerCrane.CurrentTaskNum) != null)
                //{
                Console.Out.WriteLine($"堆垛机任务完成：[{commonStackerCrane.CurrentTaskNum}]；{DateTime.Now}");
                var Status = _taskService.StackCraneTaskCompleted(commonStackerCrane.CurrentTaskNum).Status;
                commonStackerCrane.SetValue(StackerCraneDBName.ConfirmComplete, Status);
                //Console.Out.WriteLine($"堆垛机任务完成：[{commonStackerCrane.CurrentTaskNum}]；{DateTime.Now}");
                _taskService.StackCraneTaskCompleted(commonStackerCrane.CurrentTaskNum);
                commonStackerCrane.SetValue(StackerCraneDBName.ConfirmComplete, true);
                //}
            }
        }
@@ -186,7 +220,8 @@
        /// <returns></returns>
        private Dt_Task? GetTask(SpeStackerCrane commonStackerCrane)
        {
            Dt_Task task;
            Dt_Task task = _taskService.QueryStackerCraneRelocationTask(commonStackerCrane.DeviceCode);//获取移库任务
            if (task != null) return task;
            if (commonStackerCrane.LastTaskType == null)
            {
                task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
@@ -249,10 +284,15 @@
                if (device != null)
                {
                    CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                    if (conveyorLine.IsOccupied(router.ChildPosi))//出库站台未被占用
                    ConveyorLineTaskCommandR command = conveyorLine.ReadCustomer<ConveyorLineTaskCommandR>(router.ChildPosi);
                    if (command.Status == 4)
                    {
                        return task;
                    }
                    //if (conveyorLine.IsOccupied(router.ChildPosi))//出库站台未被占用
                    //{
                    //    return task;
                    //}
                }
                else
                {