修改堆垛机通讯协议及交互逻辑

dengjunjie

2025-06-11 2ae5aa151f7b40a082e34aa7ed22b4b64edd1d3c

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs

@@ -34,9 +34,39 @@
        {
            try
            {
                #region MyRegion
                OtherDevice StackerCrane = (OtherDevice)context.JobDetail.JobDataMap.Get("JobParams");
                if (StackerCrane != null)
                {
                    //var CurrentTaskNum = StackerCrane.Communicator.Read<short>("MD755");
                    var DeviceStatu = StackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.DeviceStatus);
                    var StackerCraneStatu = StackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.StackerCraneStatus);
                    var RunStatus = StackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.RunStatus);
                    StackerCrane.SetValue(StackerCraneDBName.StartRow, 1);
                    StackerCrane.SetValue(StackerCraneDBName.StartColumn, 2);
                    StackerCrane.SetValue(StackerCraneDBName.StartLayer, 3);
                    StackerCrane.SetValue(StackerCraneDBName.EndRow, 4);
                    StackerCrane.SetValue(StackerCraneDBName.EndColumn, 5);
                    StackerCrane.SetValue(StackerCraneDBName.EndLayer, 2);
                    StackerCrane.SetValue(StackerCraneDBName.TaskNum, 216);
                    StackerCrane.SetValue(StackerCraneDBName.WorkType, 1);
                }

                #endregion

                SpeStackerCrane speStackerCrane = (SpeStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
                if (speStackerCrane != null)
                {
                    var CurrentTaskNum = speStackerCrane.Communicator.Read<short>("MD755");
                    var DeviceStatu = speStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.DeviceStatus);
                    var StackerCraneStatu = speStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.StackerCraneStatus);
                    speStackerCrane.SetValue(StackerCraneDBName.StartRow, 1);
                    speStackerCrane.SetValue(StackerCraneDBName.StartColumn, 2);
                    speStackerCrane.SetValue(StackerCraneDBName.StartLayer, 3);
                    speStackerCrane.SetValue(StackerCraneDBName.EndRow, 4);
                    speStackerCrane.SetValue(StackerCraneDBName.EndColumn, 5);
                    speStackerCrane.SetValue(StackerCraneDBName.EndLayer, 2);

                    GetStackerObject getStackerObject = new GetStackerObject(speStackerCrane);
                    if (!getStackerObject.IsEventSubscribed)
                    {
@@ -46,7 +76,7 @@
                    {
                        getStackerObject.CheckStackerCraneTaskCompleted();//检测堆垛机任务完成事件

                        if(getStackerObject.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                        if (getStackerObject.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                        {
                            Dt_Task? task = GetTask(speStackerCrane);
                            if (task != null)
@@ -57,6 +87,7 @@
                                    bool sendFlag = getStackerObject.SendCommand(stackerCraneTaskCommand);
                                    if (sendFlag)
                                    {
                                        speStackerCrane.SetValue(StackerCraneDBName.CommandSend, 1);//启动命令
                                        speStackerCrane.LastTaskType = task.TaskType;
                                        _taskService.UpdateTaskStatusToNext(task.TaskNum);
                                    }
@@ -117,7 +148,7 @@
                else
                {
                    task = _taskService.QueryStackerCraneOutTask(speStackerCrane.DeviceCode);
                    if(task == null)
                    if (task == null)
                    {
                        task = _taskService.QueryStackerCraneInTask(speStackerCrane.DeviceCode);
                    }