优化AGV和输送线、产线对接逻辑

dengjunjie

2025-03-19 8abc9481eafeb715b39a4f4f8d6f628a642e6b53

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

@@ -75,7 +75,7 @@
                    #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)
                    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)
@@ -97,23 +97,38 @@
                                {
                                    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);//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.TargetIsPickPlace && ShuttleCar == null)
                                        {
                                            _taskService.AddRelocationCarTask("", task.TargetAddress);
                                        }
                                        else
                                        {
                                            task.ShuttleCarCode = ShuttleCar?.ShuttleCarCode;
                                            _taskService.UpdateData(task);
                                        if (task.SourceIsPickPlace && task.TaskState == (int)TaskRelocationStatusEnum.RelocationNew)
                                            SendTask(commonStackerCrane, task);//下发堆垛机任务
                                        else if (!task.SourceIsPickPlace && task.TaskState == (int)TaskRelocationStatusEnum.RelocationNew)
                                        {
                                            var ShuttleCar = GetShuttleCarInfo(task.SourceAddress);//移库任务判断起点是否有穿梭车
                                            if (ShuttleCar != null)
                                            {
                                                task.ShuttleCarCode = ShuttleCar.ShuttleCarCode;
                                                _taskService.UpdateData(task);
                                            }
                                            else _taskService.AddRelocationCarTask("", task.SourceAddress);
                                        }
                                        else if (!task.TargetIsPickPlace && task.TaskState == (int)TaskRelocationStatusEnum.CarSource_Finish)
                                        {
                                            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.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)
                                    else if (_taskService.TaskInboundTypes.Contains(task.TaskType))
                                    {
                                        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
@@ -208,39 +223,7 @@
        {
            Dt_Task task = _taskService.QueryStackerCraneRelocationTask(commonStackerCrane.DeviceCode);//获取移库任务
            #region å­˜åœ¨ç§»åº“任务必须先执行移库任务
            if (task != null)
            {
                if (task.SourceIsPickPlace && task.TaskState == (int)TaskRelocationStatusEnum.RelocationNew)
                    SendTask(commonStackerCrane, task);//下发堆垛机任务
                else if (!task.SourceIsPickPlace && task.TaskState == (int)TaskRelocationStatusEnum.RelocationNew)
                {
                    var ShuttleCar = GetShuttleCarInfo(task.SourceAddress);//移库任务判断起点是否有穿梭车
                    if (ShuttleCar != null)
                    {
                        task.ShuttleCarCode = ShuttleCar.ShuttleCarCode;
                        _taskService.UpdateData(task);
                    }
                    else _taskService.AddRelocationCarTask("", task.SourceAddress);
                }
                else if (!task.TargetIsPickPlace && task.TaskState == (int)TaskRelocationStatusEnum.CarSource_Finish)
                {
                    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.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
                    }
                }
            }
            if (task != null) return task;
            #endregion

            #region å‡ºå…¥åº“任务