优化堆垛机交互逻辑

dengjunjie

2025-06-12 9429653e8def2729014b45c7c75ec76e9aa6685b

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

@@ -42,24 +42,23 @@
                    {
                        getStackerObject.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
                    }
                    if (getStackerObject.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && getStackerObject.StackerCraneStatusValue == StackerCraneStatus.Ready)
                    {
                        getStackerObject.CheckStackerCraneTaskCompleted();//检测堆垛机任务完成事件

                        if(getStackerObject.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                    getStackerObject.CheckStackerCraneTaskCompleted();//检测堆垛机任务完成事件

                    if (getStackerObject.StackerCraneStatusValue == StackerCraneStatus.Ready)
                    {
                        Dt_Task? task = GetTask(speStackerCrane);
                        if (task != null)
                        {
                            Dt_Task? task = GetTask(speStackerCrane);
                            if (task != null)
                            StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                            if (stackerCraneTaskCommand != null)
                            {
                                StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                                if (stackerCraneTaskCommand != null)
                                bool sendFlag = getStackerObject.SendCommand(stackerCraneTaskCommand);
                                if (sendFlag)
                                {
                                    bool sendFlag = getStackerObject.SendCommand(stackerCraneTaskCommand);
                                    if (sendFlag)
                                    {
                                        speStackerCrane.LastTaskType = task.TaskType;
                                        _taskService.UpdateTaskStatusToNext(task.TaskNum);
                                    }
                                    speStackerCrane.SetValue(StackerCraneDBName.CommandSend, 1);//启动命令
                                    speStackerCrane.LastTaskType = task.TaskType;
                                    _taskService.UpdateTaskStatusToNext(task.TaskNum);
                                }
                            }
                        }
@@ -83,10 +82,10 @@
            SpeStackerCrane? speStackerCrane = sender as SpeStackerCrane;
            if (speStackerCrane != null)
            {
                if (speStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
                if (speStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.CommandSend) != 2)
                {
                    speStackerCrane.SetValue(StackerCraneDBName.CommandSend, 2);
                    _taskService.StackCraneTaskCompleted(e.TaskNum);
                    speStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
                }
            }
        }
@@ -117,6 +116,10 @@
                else
                {
                    task = _taskService.QueryStackerCraneOutTask(speStackerCrane.DeviceCode);
                    if (task == null)
                    {
                        task = _taskService.QueryStackerCraneInTask(speStackerCrane.DeviceCode);
                    }
                }
            }
            return task;
@@ -164,14 +167,14 @@

            stackerCraneTaskCommand.Barcode = task.PalletCode;
            stackerCraneTaskCommand.TaskNum = task.TaskNum;
            stackerCraneTaskCommand.WorkType = 1;
            stackerCraneTaskCommand.TrayType = 0;
            if (task.TaskType == TaskTypeEnum.Inbound.ObjToInt() || task.TaskType == TaskTypeEnum.PalletInbound.ObjToInt())//判断是否是入库任务
            {
                stackerCraneTaskCommand.WorkType = 1;
                if (task.SourceAddress != null && task.TargetAddress != null)
                {
                    string[] sourceCodes = task.SourceAddress.Split("-");
                    if (sourceCodes.Length == 3)
                    if (sourceCodes.Length == 5)
                    {
                        stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[1]);
                        stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[2]);
@@ -184,7 +187,7 @@
                        return null;
                    }
                    string[] targetCodes = task.TargetAddress.Split("-");
                    if (targetCodes.Length == 3)
                    if (targetCodes.Length == 5)
                    {
                        stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[1]);
                        stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[2]);
@@ -205,10 +208,11 @@
            }
            else if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt() || task.TaskType == TaskTypeEnum.PalletOutbound.ObjToInt())
            {
                stackerCraneTaskCommand.WorkType = 2;
                if (task.SourceAddress != null && task.TargetAddress != null)
                {
                    string[] targetCodes = task.TargetAddress.Split("-");
                    if (targetCodes.Length == 3)
                    if (targetCodes.Length == 5)
                    {
                        stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[1]);
                        stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[2]);
@@ -221,7 +225,7 @@
                        return null;
                    }
                    string[] sourceCodes = task.SourceAddress.Split("-");
                    if (sourceCodes.Length == 3)
                    if (sourceCodes.Length == 5)
                    {
                        stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[1]);
                        stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[2]);
@@ -242,10 +246,11 @@
            }
            else if (task.TaskType == TaskTypeEnum.Relocation.ObjToInt())
            {
                stackerCraneTaskCommand.WorkType = 3;
                if (task.SourceAddress != null && task.TargetAddress != null)
                {
                    string[] targetCodes = task.TargetAddress.Split("-");
                    if (targetCodes.Length == 3)
                    if (targetCodes.Length == 5)
                    {
                        stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[1]);
                        stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[2]);
@@ -258,7 +263,7 @@
                        return null;
                    }
                    string[] sourceCodes = task.SourceAddress.Split("-");
                    if (sourceCodes.Length == 3)
                    if (sourceCodes.Length == 5)
                    {
                        stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[1]);
                        stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[2]);