空托出入库

dengjunjie

2025-03-13 90a0c4e0ab42a3574cfb6f9fd3b031dac9e7fb0d

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

@@ -81,7 +81,7 @@
                        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
                            var Task1 = _taskService.GetTaskState((int)CarChargingTaskEnum.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);
@@ -92,28 +92,60 @@
                            }
                            else
                            {
                                Dt_Task? task = GetTask(commonStackerCrane);//获取堆垛机出入库任务
                                Dt_Task? task = GetTask(commonStackerCrane);//获取堆垛机任务
                                if (task != null)
                                {
                                    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
                                            }
                                        }
                                        #region MyRegion
                                        //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
                                        //} 
                                        #endregion
                                    }
                                    else if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
                                    else if (/*task.TaskType == (int)TaskInboundTypeEnum.Inbound*/_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
@@ -161,19 +193,9 @@
                {
                    if (commonStackerCrane.SetValue(StackerCraneDBName.CommandSend, sendFlag))
                    {
                        //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);
                    //    }
                    //}
                }
            }
        }
@@ -205,12 +227,8 @@
        {
            if (commonStackerCrane != null)
            {
                //if (_taskService.GetTaskInfo(commonStackerCrane.CurrentTaskNum) != null)
                //{
                //Console.Out.WriteLine($"堆垛机任务完成：[{commonStackerCrane.CurrentTaskNum}]；{DateTime.Now}");
                _taskService.StackCraneTaskCompleted(commonStackerCrane.CurrentTaskNum);
                commonStackerCrane.SetValue(StackerCraneDBName.ConfirmComplete, true);
                //}
            }
        }
        /// <summary>
@@ -221,52 +239,60 @@
        private Dt_Task? GetTask(SpeStackerCrane commonStackerCrane)
        {
            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) return task;
            if (commonStackerCrane.LastTaskType == null)
            {
                task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
            }
            #endregion

            #region å‡ºå…¥åº“任务
            else
            {
                if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                if (commonStackerCrane.LastTaskType == null)
                {
                    task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode) ?? _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                    if (task == null)
                    {
                        task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                    }
                    task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
                }
                else
                {
                    task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                    if (task == null)
                    if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                    {
                        task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode) ?? _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                        if (task == null)
                        {
                            task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                        }
                    }
                    else
                    {
                        task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                        if (task == null)
                        {
                            task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
                        }
                    }
                }

                if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                {
                    if (OutTaskStationIsOccupied(task) != null)
                    {
                        return task;
                    }
                    else
                    {
                        List<string> otherOutStaionCodes = _routerService.QueryNextRoutes(commonStackerCrane.DeviceCode, task.NextAddress).Select(x => x.ChildPosi).ToList();
                        List<Dt_Task> tasks = _taskService.QueryStackerCraneOutTasks(commonStackerCrane.DeviceCode, otherOutStaionCodes);
                        foreach (var item in tasks)
                        {
                            if (OutTaskStationIsOccupied(item) != null)
                            {
                                return item;
                            }
                        }
                        task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
                    }
                }
                if (task != null && !string.IsNullOrEmpty(task.TargetAddress)) return task;//入库任务判断是否已分配货位，WMS判断货位状态是否允许放货
            }

            if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
            {
                if (OutTaskStationIsOccupied(task) != null)
                {
                    return task;
                }
                else
                {
                    List<string> otherOutStaionCodes = _routerService.QueryNextRoutes(commonStackerCrane.DeviceCode, task.NextAddress).Select(x => x.ChildPosi).ToList();
                    List<Dt_Task> tasks = _taskService.QueryStackerCraneOutTasks(commonStackerCrane.DeviceCode, otherOutStaionCodes);
                    foreach (var item in tasks)
                    {
                        if (OutTaskStationIsOccupied(item) != null)
                        {
                            return item;
                        }
                    }
                    task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
                }
            }
            if (task != null && !string.IsNullOrEmpty(task.TargetAddress)) return task;//入库任务判断是否已分配货位，WMS判断货位状态是否允许放货
            #endregion
            return task;
        }