MingHeZhiNeng/DuiDuoJiLiKu.git

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

			#region AGVè·¨æ¥¼å±ä»»å¡
			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")
			@@ -102,6 +101,84 @@
			_taskService.SendAgvTask("DDD", AcrossFloorTask.TaskNum);
			_taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
			}
			}
			}
			}
			}
			}

			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
			{
			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);
			}
			}
			}
			@@ -151,7 +228,7 @@
			var structs = BitConverter.GetBytes(InteractiveSignal).Reverse().ToArray().ToBoolArray();

			bool IsWrite = false;
			if (taskNum == 0)

			{
			if (structs[0] && !structs[1])
			{