优化库内移库，堆垛机和穿梭车交互逻辑

dengjunjie

5 天以前 f40ba2a9fb9d3c2ece08e9a7cd987d4744dccab2

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ShuttleCarJob/ShuttleCarExtend/PartialTaskService.cs

@@ -31,7 +31,7 @@
                UpdateShuttleCar(dt_Task.ShuttleCarCode, dt_Task.CurrentAddress);
                _taskService.AddTask_Hty(dt_Task, TaskOperateTypeEnum.AutoComplete);
            }
            dt_Task = GetTask(CarChargingTaskEnum.SC_CarFinish.ObjToInt(), TaskOtherTypeEnum.RelocationCarCharging.ObjToInt());//移车充电任务
            dt_Task = GetTask(CarChargingTaskEnum.CarChargingSC_CarFinish.ObjToInt(), TaskOtherTypeEnum.RelocationCarCharging.ObjToInt());//移车充电任务
            if (dt_Task != null)
            {
                UpdateShuttleCar(dt_Task.ShuttleCarCode, dt_Task.CurrentAddress);
@@ -74,7 +74,7 @@
            {

                #region èŽ·å–新建移车充电任务
                Dt_Task dt_Task = GetTask((int)CarChargingTaskEnum.CarNew, (int)TaskOtherTypeEnum.RelocationCarCharging);
                Dt_Task dt_Task = GetTask((int)CarChargingTaskEnum.CarChargingNew, (int)TaskOtherTypeEnum.RelocationCarCharging);
                if (dt_Task != null && dt_Task.ShuttleCarCode == shuttleCar.DeviceCode)
                {
                    if (!string.IsNullOrEmpty(dt_Task.SourceAddress) && !string.IsNullOrEmpty(dt_Task.TargetAddress) && !string.IsNullOrEmpty(dt_Task.ShuttleCarCode))
@@ -210,11 +210,31 @@
            if (command.Status == (short)ShuttleCarStatus.Standby && command.TaskTypeComplete == (short)ShuttleCarTaskComplete.Standby && command.Err_Status == (short)ShuttleCarErr.Normal)
            {
                #region åˆ¤æ–­å½“前穿梭车是否存在任务
                Dt_Task? _Task = _taskRepository.QueryFirst(x =>
                x.SourceAddress == _ShuttleCar.ShuttleCarPosition ||
                x.TargetAddress == _ShuttleCar.ShuttleCarPosition &&
                (!_taskService.TaskOutboundTypes.Contains(x.TaskType)));
                if (_Task != null) return (ok, _ShuttleCar);
                Dt_Task? _Task = _taskRepository.QueryFirst(x => x.SourceAddress == _ShuttleCar.ShuttleCarPosition);
                if (_Task != null)
                {
                    if (_Task.TaskState == TaskOutStatusEnum.OutNew.ObjToInt() ||
                        _Task.TaskState == TaskRelocationStatusEnum.RelocationNew.ObjToInt() ||
                        _Task.TaskState == TaskCarStatusEnum.CarNew.ObjToInt() ||
                        _Task.TaskState == CarChargingTaskEnum.CarChargingNew.ObjToInt())
                    {
                        _Task.ShuttleCarCode = shuttleCar.DeviceCode;
                        SendTask(_Task);
                        return (ok, _ShuttleCar);
                    }
                }
                _Task = _taskRepository.QueryFirst(x => x.TargetAddress == _ShuttleCar.ShuttleCarPosition);
                if (_Task != null)
                {
                    if (_Task.TaskState == TaskInStatusEnum.SC_InFinish.ObjToInt() ||
                        _Task.TaskState == TaskRelocationStatusEnum.SC_RelocationFinish.ObjToInt() ||
                        _Task.TaskState == CarChargingTaskEnum.CarChargingSC_CarFinish.ObjToInt())
                    {
                        _Task.ShuttleCarCode = shuttleCar.DeviceCode;
                        SendTask(_Task);
                        return (ok, _ShuttleCar);
                    }
                }
                _Task = _taskRepository.QueryData(x => x.ShuttleCarCode == _ShuttleCar.ShuttleCarCode && _taskService.TaskOutboundTypes.Contains(x.TaskType)).OrderByDescending(x => x.CreateDate).FirstOrDefault();
                if (_Task != null)
                {
@@ -282,7 +302,7 @@
                    }
                    else if (task.TaskType == (int)TaskOtherTypeEnum.RelocationCarCharging)
                    {
                        shuttleCarTaskCommand.TaskType = task.TaskState == CarChargingTaskEnum.CarNew.ObjToInt() ?
                        shuttleCarTaskCommand.TaskType = task.TaskState == CarChargingTaskEnum.CarChargingNew.ObjToInt() ?
                            (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction) :
                            (short)GetCarTaskType(ShuttleCarTaskType.Charging.ToString());
                    }
@@ -299,7 +319,7 @@
                    {
                        if (shuttleCar.SendCommand(shuttleCarTaskCommand, shuttleCar.DeviceCode))
                        {
                            if (!string.IsNullOrEmpty(task.Remark) && task.TaskState == CarChargingTaskEnum.CarNew.ObjToInt())
                            if (!string.IsNullOrEmpty(task.Remark) && task.TaskState == CarChargingTaskEnum.CarChargingNew.ObjToInt())
                                task.Remark = task.Remark + "已下发";
                            task.TaskState = GetTaskState(task.TaskType, task.TaskState);
                            _taskService.UpdateData(task);
@@ -385,9 +405,9 @@
                    state = (int)TaskCarStatusEnum.ShuttleCar_Executing;
                    break;
                case (int)TaskOtherTypeEnum.RelocationCarCharging:
                    state = state < (int)CarChargingTaskEnum.SC_CarFinish ?
                        (int)CarChargingTaskEnum.ShuttleCar_Executing :
                        (int)CarChargingTaskEnum.ShuttleCar_Charging;
                    state = state < (int)CarChargingTaskEnum.CarChargingSC_CarFinish ?
                        (int)CarChargingTaskEnum.CarCharging_Executing :
                        (int)CarChargingTaskEnum.CarCharging_Charging;
                    break;
                default:
                    break;