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/StackerCraneJob/CommonStackerCraneJob.cs

@@ -73,7 +73,6 @@
                    #endregion

                    #region ä»»åŠ¡å®Œæˆ
                    var completeStatus = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.CompleteStatus);
                    if (common.CompleteStatus == 2 || common.CompleteStatus == 3)
                    {
                        NormalCompleted(commonStackerCrane);
@@ -86,15 +85,13 @@
                    //}
                    #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*/)
                    if (common.Onlinestate == (short)Onlinestate.online)
                    {
                        #region æŸ¥è¯¢ä»»åŠ¡,逻辑处理
                        if (Enum.Parse<RunStatus>(commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.RunStatus).ToString()) == RunStatus.Standby)
                        if (common.RunStatus == (short)RunStatus.Standby)
                        {
                            var Task = _taskService.GetTaskState((int)TaskCarStatusEnum.ShuttleCar_Finish, (int)TaskOtherTypeEnum.RelocationCar);//获取移车任务
                            var Task1 = _taskService.GetTaskState((int)CarChargingTaskEnum.ShuttleCar_Finish, (int)TaskOtherTypeEnum.RelocationCarCharging);//获取移车充电任务
                            var Task1 = _taskService.GetTaskState((int)CarChargingTaskEnum.CarCharging_Finish, (int)TaskOtherTypeEnum.RelocationCarCharging);//获取移车充电任务
                            if (Task != null)
                            {
                                SendTask(commonStackerCrane, Task);
@@ -111,8 +108,16 @@
                                    if (task.TaskType == (int)TaskRelocationTypeEnum.Relocation)//移库任务判断终点是否有穿梭车
                                    {
                                        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.TargetAddress);//移库任务判断终点是否有穿梭车
                                            if (ShuttleCar == null)
                                            {
                                                _taskService.AddRelocationCarTask("", task.TargetAddress);
                                            }
                                            else
                                                SendTask(commonStackerCrane, task);//下发堆垛机任务
                                        }
                                        else if (!task.SourceIsPickPlace && task.TaskState == (int)TaskRelocationStatusEnum.RelocationNew && task.ShuttleCarCode == null)
                                        {
                                            var ShuttleCar = GetShuttleCarInfo(task.SourceAddress);//移库任务判断起点是否有穿梭车
                                            if (ShuttleCar != null)
@@ -122,7 +127,7 @@
                                            }
                                            else _taskService.AddRelocationCarTask("", task.SourceAddress);
                                        }
                                        else if (!task.TargetIsPickPlace && task.TaskState == (int)TaskRelocationStatusEnum.CarSource_Finish)
                                        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
@@ -132,6 +137,10 @@
                                            else if (!task.TargetIsPickPlace && ShuttleCar == null)
                                            {
                                                _taskService.AddRelocationCarTask("", task.TargetAddress);
                                                #region æŸ¥è¯¢
                                                task = _taskService.QueryCarOutFinish();
                                                if (task != null) SendTask(commonStackerCrane, task);//下发堆垛机任务
                                                #endregion
                                            }
                                            else
                                            {
@@ -189,7 +198,9 @@
                {
                    if (commonStackerCrane.SetValue(StackerCraneDBName.CommandSend, sendFlag))
                    {
                        commonStackerCrane.LastTaskType = task.TaskType;
                        if (_taskService.TaskInboundTypes.Contains(task.TaskType) ||
                            _taskService.TaskOutboundTypes.Contains(task.TaskType))
                            commonStackerCrane.LastTaskType = task.TaskType;
                        _taskService.UpdateTaskStatusToNext(task.TaskNum);
                    }
                }
@@ -223,8 +234,8 @@
        {
            if (commonStackerCrane != null)
            {
                _taskService.StackCraneTaskCompleted(commonStackerCrane.CurrentTaskNum);
                commonStackerCrane.SetValue(StackerCraneDBName.ConfirmComplete, true);
                var content = _taskService.StackCraneTaskCompleted(commonStackerCrane.CurrentTaskNum);
                commonStackerCrane.SetValue(StackerCraneDBName.ConfirmComplete, content.Status);
            }
        }
        /// <summary>
@@ -236,12 +247,20 @@
        {
            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 (task != null)
            {
                return task;
                //if (task.SourceIsPickPlace && task.ShuttleCarCode != null)
                //    return task;
                //else return null;
            }
            #endregion

            #region å‡ºå…¥åº“任务
            else
            {
                task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                if (task != null) return task;
                if (commonStackerCrane.LastTaskType == null)
                {
                    task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
@@ -258,7 +277,7 @@
                    }
                    else
                    {
                        task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                        task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode) ?? _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
                        if (task == null)
                        {
                            task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
@@ -352,7 +371,7 @@
                    if (targetCodes.Length == 3)
                    {
                        var EndRow = Convert.ToInt16(targetCodes[0]);
                        stackerCraneTaskCommand.EndRow = Convert.ToInt16(EndRow > 1 ? EndRow - 1 : EndRow);
                        stackerCraneTaskCommand.EndRow = EndRow;// Convert.ToInt16(EndRow > 1 ? EndRow - 1 : EndRow);
                        stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
                        stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
                    }
@@ -382,7 +401,7 @@
                    if (sourceCodes.Length == 3)
                    {
                        var StartRow = Convert.ToInt16(sourceCodes[0]);
                        stackerCraneTaskCommand.StartRow = Convert.ToInt16(StartRow > 1 ? StartRow - 1 : StartRow);
                        stackerCraneTaskCommand.StartRow = StartRow;// Convert.ToInt16(StartRow > 1 ? StartRow - 1 : StartRow);
                        stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
                        stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
                    }
@@ -405,7 +424,7 @@
                if (targetCodes.Length == 3)
                {
                    var EndRow = Convert.ToInt16(targetCodes[0]);
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(EndRow > 1 ? EndRow - 1 : EndRow);
                    stackerCraneTaskCommand.EndRow = EndRow;// Convert.ToInt16(EndRow > 1 ? EndRow - 1 : EndRow);
                    stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
                    stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
                }
@@ -419,7 +438,7 @@
                if (sourceCodes.Length == 3)
                {
                    var SourceRow = Convert.ToInt16(sourceCodes[0]);
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(SourceRow > 1 ? SourceRow - 1 : SourceRow);
                    stackerCraneTaskCommand.StartRow = SourceRow;// Convert.ToInt16(SourceRow > 1 ? SourceRow - 1 : SourceRow);
                    stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
                    stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
                }