1

huangxiaoqiang

2025-12-02 aa201fcecc1ce93da4f660a833f7b1176fc037cb

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/CommonAGVJob.cs

@@ -53,29 +53,28 @@

            #region AGV跨楼层任务
            var AcrossFloorTasks = _taskRepository.QueryData(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
            if (AcrossFloorTasks.Count()>0)
            if (AcrossFloorTasks.Count() > 0)
            {
                var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskAcrossFloorStatusEnum.CarryNew && x.TaskState < (int)TaskAcrossFloorStatusEnum.EndAddressExecuting);
                if(task == null)
                if (task == null)
                {
                    Dt_Task? AcrossFloorTask = null;
                    if (AcrossFloorTasks[0].Floor == "2F")
                    {
                        AcrossFloorTask = AcrossFloorTasks.OrderBy(x => x.Grade).ToList().FirstOrDefault();
                        AcrossFloorTask = AcrossFloorTasks.Where(x => x.DoubleTray != 1).OrderBy(x => x.Grade).ToList().FirstOrDefault();
                    }
                    else
                    {
                        AcrossFloorTask = AcrossFloorTasks.OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
                        AcrossFloorTask = AcrossFloorTasks.Where(x => x.DoubleTray != 1).OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
                    }


                    CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ1") as CommonElevator;
                    if (elevator != null)
                    if (AcrossFloorTask != null)
                    {
                        if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
                        CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ1") as CommonElevator;
                        if (elevator != null)
                        {
                            if (AcrossFloorTask != null)
                            if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
                            {

                                if (Relocation(AcrossFloorTask))
                                {
                                    if (AcrossFloorTask.Floor == "1F")
@@ -107,27 +106,111 @@
                        }
                    }
                }

                var taskDouble = _taskRepository.QueryData(x => x.TaskState > (int)TaskAcrossFloorStatusEnum.CarryNew && x.TaskState < (int)TaskAcrossFloorStatusEnum.EndAddressExecuting && x.DoubleTray == 1);

                if (taskDouble.Count() < 2)
                {
                    if (taskDouble.Count == 0)
                    {
                        Dt_Task? AcrossFloorTask = null;
                        if (AcrossFloorTasks.Where(x=>x.DoubleTray==1).FirstOrDefault().Floor == "2F")
                        {
                            AcrossFloorTask = AcrossFloorTasks.Where(x => x.DoubleTray == 1).OrderBy(x => x.Grade).ToList().FirstOrDefault();
                        }
                        else
                        {
                            AcrossFloorTask = AcrossFloorTasks.Where(x => x.DoubleTray == 1).OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
                        }
                        if (AcrossFloorTask != null)
                        {
                            CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ1") as CommonElevator;
                            if (elevator != null)
                            {
                                if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
                                {
                                    if (AcrossFloorTask != null)
                                    {
                                        if (Relocation(AcrossFloorTask))
                                        {
                                            if (AcrossFloorTask.Floor == "1F")
                                            {
                                                elevator.SetValue(ElevatorDBName.TaskNum, Convert.ToInt16(AcrossFloorTask.TaskNum));
                                                elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(2));
                                                elevator.SetValue(ElevatorDBName.StartFloor, Convert.ToInt16(1));
                                                elevator.SetValue(ElevatorDBName.EdnFloor, Convert.ToInt16(2));
                                                Thread.Sleep(1000);
                                                elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));

                                                _taskService.SendAgvTask("AAA", AcrossFloorTask.TaskNum);
                                                _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
                                            }
                                            else
                                            {
                                                elevator.SetValue(ElevatorDBName.TaskNum, Convert.ToInt16(AcrossFloorTask.TaskNum));
                                                elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(2));
                                                elevator.SetValue(ElevatorDBName.StartFloor, Convert.ToInt16(2));
                                                elevator.SetValue(ElevatorDBName.EdnFloor, Convert.ToInt16(1));
                                                Thread.Sleep(1000);
                                                elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));

                                                _taskService.SendAgvTask("DDD", AcrossFloorTask.TaskNum);
                                                _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
                                            }
                                        }
                                    }
                                }
                            }
                        }
                    }
                    else
                    {
                        if (taskDouble.Where(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.FirstCarryFinish) != null)
                        {
                            var taskSecond = AcrossFloorTasks.Where(x => x.Floor == taskDouble.FirstOrDefault().Floor && x.DoubleTray == 1).FirstOrDefault();
                            if (taskSecond != null)
                            {
                                if (Relocation(taskSecond))
                                {
                                    if (taskSecond.Floor == "1F")
                                    {
                                        _taskService.SendAgvTask("AAA", taskSecond.TaskNum);
                                        _taskService.UpdateTaskStatusToNext(taskSecond.TaskNum);
                                    }
                                    else
                                    {
                                        _taskService.SendAgvTask("DDD", taskSecond.TaskNum);
                                        _taskService.UpdateTaskStatusToNext(taskSecond.TaskNum);
                                    }
                                }
                            }
                        }
                    }
                }
            }
            #endregion

            #region AGV同层搬运任务
            var Carrys = _taskRepository.QueryData(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
            if (Carrys.Count>0)
            if (Carrys.Count > 0)
            {
                if (Carrys[0].Floor == "2F")
                if (_taskRepository.QueryData(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState > (int)TaskAGVCarryStatusEnum.CarryNew).Count() == 0)
                {
                    var Carry = Carrys.OrderBy(x => x.Grade).ToList().FirstOrDefault();
                    Relocation(Carry);
                    AGVSendTask(Carry);
                    _taskService.UpdateTaskStatusToNext(Carry.TaskNum);
                    if (Carrys[0].Floor == "2F")
                    {
                        var Carry = Carrys.OrderBy(x => x.Grade).ToList().FirstOrDefault();
                        Relocation(Carry);
                        AGVSendTask(Carry);
                        _taskService.UpdateTaskStatusToNext(Carry.TaskNum);

                }
                else
                {
                    var Carry = Carrys.OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
                    Relocation(Carry);
                    AGVSendTask(Carry);
                    _taskService.UpdateTaskStatusToNext(Carry.TaskNum);
                    }
                    else
                    {
                        var Carry = Carrys.OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
                        Relocation(Carry);
                        AGVSendTask(Carry);
                        _taskService.UpdateTaskStatusToNext(Carry.TaskNum);
                    }
                }
            }