1

huangxiaoqiang

2025-12-02 aa201fcecc1ce93da4f660a833f7b1176fc037cb

 项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/CommonAGVJob.cs

@@ -165,20 +165,23 @@
                    }
                    else
                    {
                        var taskSecond = AcrossFloorTasks.Where(x => x.Floor == taskDouble.FirstOrDefault().Floor && x.DoubleTray==1).FirstOrDefault();
                        if (taskSecond != null)
                        if (taskDouble.Where(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.FirstCarryFinish) != null)
                        {
                            if (Relocation(taskSecond))
                            var taskSecond = AcrossFloorTasks.Where(x => x.Floor == taskDouble.FirstOrDefault().Floor && x.DoubleTray == 1).FirstOrDefault();
                            if (taskSecond != null)
                            {
                                if (taskSecond.Floor == "1F")
                                if (Relocation(taskSecond))
                                {
                                    _taskService.SendAgvTask("AAA", taskSecond.TaskNum);
                                    _taskService.UpdateTaskStatusToNext(taskSecond.TaskNum);
                                }
                                else
                                {
                                    _taskService.SendAgvTask("DDD", taskSecond.TaskNum);
                                    _taskService.UpdateTaskStatusToNext(taskSecond.TaskNum);
                                    if (taskSecond.Floor == "1F")
                                    {
                                        _taskService.SendAgvTask("AAA", taskSecond.TaskNum);
                                        _taskService.UpdateTaskStatusToNext(taskSecond.TaskNum);
                                    }
                                    else
                                    {
                                        _taskService.SendAgvTask("DDD", taskSecond.TaskNum);
                                        _taskService.UpdateTaskStatusToNext(taskSecond.TaskNum);
                                    }
                                }
                            }
                        }
@@ -189,22 +192,25 @@

            #region AGV鍚屽眰鎼繍浠诲姟
            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);
                    }
                }
            }