1

huanghongfeng

10 天以前 0b4792ff8245f9eac16e6d02452eb9a091f6f72b

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SpeStackerCraneJob/SpeStackerCraneJob.cs

@@ -3,6 +3,7 @@
using Microsoft.AspNetCore.Hosting;
using OfficeOpenXml.FormulaParsing.Excel.Functions.DateTime;
using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using Quartz;
using System;
using System.Collections;
@@ -11,7 +12,9 @@
using System.Diagnostics.CodeAnalysis;
using System.Diagnostics.Eventing.Reader;
using System.Linq;
using System.Net;
using System.Reflection.Metadata;
using System.Runtime.CompilerServices;
using System.Text;
using System.Threading.Tasks;
using WIDESEA_Common.Log;
@@ -66,39 +69,74 @@
                {
                    GetStackerObject getStackerObject = new GetStackerObject(speStackerCrane);

                    //读取设备完成信息
                    if (getStackerObject.StaclerkJobJobStatusValue == RgvJobCraneStatus.Completed && getStackerObject.CurrentRgvtaskid!=0)
                    if (getStackerObject.RGVInitializationValue == RGVInitialize.Initialized)
                    {
                        _taskService.UpdateTaskStatus(getStackerObject.CurrentRgvtaskid);
                    }
                    

                    if (getStackerObject.RgvCraneAutoStatusValue == RgvCraneAutoStatus.Automatic &&
                        getStackerObject.StaclerkJobJobStatusValue == RgvJobCraneStatus.Ready && getStackerObject.RgvCraneWorkStatusValue == RGVStepprocess.NoAction)
                    {

                        //下发RGV任务之前，先读取一下安全门状态



                        //查找RGV进行下发任务
                        Dt_Task task = GetTask(speStackerCrane.DeviceCode);
                        if (task != null)
                        //读取设备完成信息
                        if (getStackerObject.StaclerkJobJobStatusValue == RGV_Rgvtaskstutas.Completed || getStackerObject.StaclerkJobJobStatusValue == RGV_Rgvtaskstutas.AbnormalCompletion)
                        {
                            //调取写入RGV小车任务
                            RgvCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                            bool sendFlag = getStackerObject.SendCommand(stackerCraneTaskCommand);
                            if (sendFlag)
                            {
                                //修改任务状态
                                _taskService.UpdateTaskStatusToNext(task);
                            }
                            CommonStackerCrane_AGVTaskCompletedEventHandler(getStackerObject, speStackerCrane);
                        }

                        //判断当前设备是入库还是出库
                        /*if (GetDeviceAddress.OutbounMotherChildCartbool(speStackerCrane.DeviceCode))
                        {
                            //判断当前安全门是否为绿色灯
                            if (GetDeviceAddress.ReadAqmDecicStice(1))
                            {
                                return null;
                            }
                        }
                        else
                        {
                            //判断入库端安全门是否正常
                            if (GetDeviceAddress.ReadAqmDecicStice(2))
                            {
                                return null;
                            }
                        }*/

                        
                        


                        if (getStackerObject.RgvCraneAutoStatusValue == RgvCraneAutoStatus.Automatic &&
                        getStackerObject.StaclerkJobJobStatusValue == RGV_Rgvtaskstutas.Ready && getStackerObject.RgvCraneWorkStatusValue == RGVStepprocess.NoAction)
                        {
                            //查找RGV进行下发任务
                            Dt_Task task = GetTask(speStackerCrane.DeviceCode, getStackerObject);
                            if (task != null)
                            {
                                //调取写入RGV小车任务
                                RgvCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                                if (stackerCraneTaskCommand != null)
                                {
                                    bool sendFlag = getStackerObject.SendCommand(stackerCraneTaskCommand);
                                    if (sendFlag)
                                    {
                                        //修改任务状态
                                        _taskService.UpdateTaskStatusToNext(task);
                                    }
                                }

                            }
                            else
                            {
                                if (GetDeviceAddress.OutbounMotherChildCartbool(speStackerCrane.DeviceCode))
                                {
                                    //当没任务的时候，则进行移动
                                    Returnposition(speStackerCrane.DeviceCode, getStackerObject.RGVCurrentlocation, (int)getStackerObject.RgvCraneStatusValue);

                                }
                                else if (GetDeviceAddress.OutbounMotherChildCartbool2(speStackerCrane.DeviceCode))
                                {
                                    InReturnposition(speStackerCrane.DeviceCode, getStackerObject.RGVCurrentlocation, (int)getStackerObject.RgvCraneStatusValue);
                                }

                            }
                        }
                    }

                }


            }
            catch (Exception ex)
            {
@@ -107,135 +145,853 @@
            return Task.CompletedTask;
        }

        private Dt_Task? GetTask(string DeviceCode)
        #region ä»»åŠ¡å®Œæˆ
        private void CommonStackerCrane_AGVTaskCompletedEventHandler(GetStackerObject getStackerObject, SpeStackerCrane speStackerCrane)
        {
            Dt_Task task = _taskService.QueryStackerCraneTask(DeviceCode);
            if (task == null) return null;

            return task.TaskType switch
            if (getStackerObject.StaclerkJobJobStatusValue == RGV_Rgvtaskstutas.Completed && getStackerObject.CurrentRgvtaskid == 30001)
            {
                (int)TaskInboundTypeEnum.Inbound => HandleInboundTask(task),
                (int)TaskOutboundTypeEnum.Outbound => HandleOutboundTask(task),
                _ => null
            };
        }

        private Dt_Task? HandleInboundTask(Dt_Task task)
        {
            return task.TaskState switch
            {
                (int)TaskInStatusEnum.RGV_InNew => task,   
                (int)TaskInStatusEnum.RGV_InPickupFinish => HandlePickupFinish(task),   
                (int)TaskInStatusEnum.RGV_InReleaseFinish => task,  //需要判断子车是内侧区还是外侧取货（待完成）
                (int)TaskInStatusEnum.RGV_InZicheFinish => HandleZicheFinish(task),
                (int)TaskInStatusEnum.RGV_InZicheReleaseFinish => HandleZicheReleaseFinish(task),
                (int)TaskInStatusEnum.RGV_InZichemoveFinish => HandleZicheMoveFinish(task),
                _ => null
            };
        }

        private Dt_Task? HandleOutboundTask(Dt_Task task)
        {
            // å‡ºåº“任务的状态判断相对简单，可以直接返回
            int[] validStates =
            {
                (int)TaskOutStatusEnum.OutNew,
                (int)TaskOutStatusEnum.RGV_OutMothercarFinish,
                (int)TaskOutStatusEnum.RGV_OutZicheFinish,
                (int)TaskOutStatusEnum.RGV_OutZicheReleaseFinish,
                (int)TaskOutStatusEnum.RGV_OutPickupFinish
            };

            return validStates.Contains(task.TaskState) ? task : null;
        }

        #region å…¥åº“方法
        private Dt_Task? HandlePickupFinish(Dt_Task task)
        {
            try
            {
                //获取需要区分是否去入库与去不合格载货台任务
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "HCJ2000");
                CommonStackerCrane Commonstacker = (CommonStackerCrane)device;
                DeviceProDTO? deviceProDTO = GetDeviceProDTO(Commonstacker, task.NextAddress, "HCJ_GoodsStatus");
                int HCJGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
                if (HCJGStatus == 0)    //为无货
                {
                    return task;
                }
                speStackerCrane.SetValue(RGV_taskcoDBName.RGV_taskcomplete, 1);
                speStackerCrane.SetValue(RGV_taskcoDBName.RGV_taskcomplete, 0);
            }
            catch (Exception ex)
            else if (getStackerObject.StaclerkJobJobStatusValue == RGV_Rgvtaskstutas.Completed && getStackerObject.CurrentRgvtaskid != 0 && getStackerObject.CurrentRgvtaskid != 30001)
            {
                //记录异常情况
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"判断HCJ站台是否有货信息出错，出错信息：{ex.Message}");
                throw;
                _taskService.UpdateTaskStatus(getStackerObject.CurrentRgvtaskid);   //正常任务完成
                speStackerCrane.SetValue(RGV_taskcoDBName.RGV_taskcomplete, 1);
                speStackerCrane.SetValue(RGV_taskcoDBName.RGV_taskcomplete, 0);
            }

            return null;
        }

        private Dt_Task? HandleZicheFinish(Dt_Task task)
        {
            //获取放货地址
            AGVStation aGVStation = _agvStationService.GetAllStationByDeviceCode(int.Parse(task.NextAddress));

            //分3区域进行放货
            return aGVStation.Station_Area switch
            else if (getStackerObject.StaclerkJobJobStatusValue == RGV_Rgvtaskstutas.AbnormalCompletion && getStackerObject.CurrentRgvtaskid != 0 && getStackerObject.CurrentRgvtaskid != 30001)
            {
                1 => CheckMotherCarMove(task, aGVStation, MotherCarMoves),  //外侧放货
                2 => CheckMotherCarMove(task, aGVStation, MotherCarMovesinside),    //内侧放货
                3 => CheckMotherCarMove(task, aGVStation, HCJMotherCarMovesinside),     //交接点放货
                _ => null
            };
        }

        private Dt_Task? CheckMotherCarMove(Dt_Task task, AGVStation station, Func<Dt_Task, AGVStation, bool> moveFunc)
        {
            return moveFunc(task, station) ? task : null;
        }
                //修改任务状态为异常完成                                              
                _taskService.HandleInAbnormal(getStackerObject.CurrentRgvtaskid);   

        private Dt_Task? HandleZicheReleaseFinish(Dt_Task task)
        {
            AGVStation aGVStation = _agvStationService.GetAllStationByDeviceCode(int.Parse(task.CurrentAddress));   //当前地址，母车上，下一个地址堆垛机取货口
            if (aGVStation.Station_Area == 1 && aGVStation.Station_Area == 2)
            {
                return task;    //返回子车移动任务
                //写入异常完成报警信息
                speStackerCrane.Communicator.Write<short>("DB101.36", 1);   //写入报警
            }
            else if (aGVStation.Station_Area == 3)  //当前地址为HCJ站台，且AGV任务为取货
            {
                return task;    //去取货，需要判断子车当前位子，（后续优化）
            }

            return null;
        }

        private Dt_Task? HandleZicheMoveFinish(Dt_Task task)
        {
            AGVStation aGVStation = _agvStationService.GetAllStationByDeviceCode(int.Parse(task.CurrentAddress));
            int zicheAddress = GetZichelocation(task, task.CurrentAddress);

            //如果子车在母车上，则需要移库母车（待优化）
            return zicheAddress != int.Parse(aGVStation.ZicheMotherinlaw) ? task : null;
        }
        #endregion



        private Dt_Task? GetTask(string DeviceCode, GetStackerObject getStackerObject)
        {
            // æ ¹æ®è®¾å¤‡åç§°ï¼ŒèŽ·å–到设备相关数据
            AGVStation RGVTaskdevice = _agvStationService.Corridorequipment(DeviceCode);   //根据设备获取到内容
            return RGVTaskdevice.Station_tasktype switch
            {
                (int)RGVTasktype.Inbound => HandleInboundTask(RGVTaskdevice, getStackerObject),
                (int)RGVTasktype.Outbound => OutboundEquipmentTask(RGVTaskdevice, getStackerObject),    //出库
                _ => null
            };


        }

        #region å…¥åº“方法
        private Dt_Task? HandleInboundTask(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
        {
            return (RGVTaskdevice.Station_material, getStackerObject.RgvCraneStatusValue) switch
            {
                ((int)RGVEquipment.InRGVForklift, RgvEquipmentStatus.NoCargo)   //叉车式RGV无货,下发取货任务
                    => _taskService.PickupWarehouse(RGVTaskdevice.ChildPosiDeviceCode),

                ((int)RGVEquipment.InRGVForklift, RgvEquipmentStatus.HasCargo)
                    => ForkliftUnloading(RGVTaskdevice),    //叉车式进行放货（已完成）

                ((int)RGVEquipment.Corridorcar, RgvEquipmentStatus.NoCargo)
                    => ZichePickUpAisle(RGVTaskdevice, getStackerObject),   //过道子车进行取货（已完成）

                ((int)RGVEquipment.Corridorcar, RgvEquipmentStatus.HasCargo)
                    => GoodsPlacedCorridor(RGVTaskdevice),    //子车放货任务(已完成)

                ((int)RGVEquipment.Mothertrailer, RgvEquipmentStatus.HasCargo)
                    => MotherVehicleMovement(RGVTaskdevice),        //母车移动（已完成）

                _ => null
            };

        }

        #region å‰è½¦å¼è¿›è¡Œæ”¾è´§ï¼ˆå·²å®Œæˆï¼‰
        public Dt_Task? ForkliftUnloading(AGVStation RGVTaskdevice)
        {
            Dt_Task dt_Task = _taskService.GetInkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode);

            //判断HCJ是否有货
            if (GetDeviceAddress.HCJIsstock(dt_Task.NextAddress))
            {
                //判断子车是否在接驳台下
                var zichestation = _agvStationService.OutGetZicheDeepHCJ(1061);
                int ziche = GetDeviceAddress.GetEquipmentlocation(zichestation.ChildPosiDeviceCode);
                if ((ziche == zichestation.WaitmomentOne || ziche == zichestation.WaitmomentTwo || ziche == zichestation.MotherCarDeviceCode || ziche == zichestation.MotherCardeputy || ziche == zichestation.HCJStorageaddress) && ziche != 1021)
                {
                    //获取这个接驳台是否有取货任务
                    Dt_Task zitask = _taskService.ViceChariotPickupTask2(RGVTaskdevice.ChildPosiDeviceCode);
                    if (zitask == null)
                    {

                        return dt_Task;
                    }
                }
            }
            return null;
        }
        #endregion

        #region è¿‡é“子车进行取货（已完成）
        public Dt_Task? ZichePickUpAisle(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
        {
            //获取子车取货任务
            Dt_Task dt_Task = _taskService.ViceChariotPickupTask(RGVTaskdevice.ChildPosiDeviceCode);
            if (dt_Task == null) return null;
            if (RGVTaskdevice.Station_Area == 6)    //外侧进取货，则需要判断子车当前位置
            {
                if (getStackerObject.RGVCurrentlocation == RGVTaskdevice.WaitmomentOne)
                {
                    //还需要判断入库口叉车是否收回叉车了

                    //在等待点1，则需要判断1号母车在堆垛机取货口
                    var mu1rgv = _agvStationService.GetMothervehicle(RGVTaskdevice.MotherCarDeviceCode);
                    int mu1 = GetDeviceAddress.GetEquipmentlocation(mu1rgv.ChildPosiDeviceCode); //此时的RGV应该无货
                    bool ywh = GetDeviceAddress.Mucheywhaddres(mu1rgv.ChildPosiDeviceCode);
                    if (mu1 == mu1rgv.Motherinlaw || (ywh && mu1 == mu1rgv.ZicheMotherinlaw))   //在堆垛机取货口
                    {
                        //=============================新增当去取货时进行判断巷道，看能不能提前拉出母车
                        if (int.Parse(dt_Task.TargetAddress) == (int)StorageAisleEnum.LaneTwo)
                        {
                            int taraddress = int.Parse(dt_Task.TargetAddress);
                            var InMotherVehicle = _agvStationService.ObtainCcordingTunnel(taraddress);    //获取到需要入库的母车(2巷道)
                            int mu2 = GetDeviceAddress.GetEquipmentlocation(InMotherVehicle.ChildPosiDeviceCode); //此时的RGV应该无货
                            if (GetDeviceAddress.Mucheywhaddres(InMotherVehicle.ChildPosiDeviceCode))   //判断无货
                            {
                                if (mu2 == InMotherVehicle.ZicheMotherinlaw)
                                {
                                    return dt_Task;
                                }
                                else if (mu2 == InMotherVehicle.Motherinlaw)
                                {
                                    RGVMovetask(InMotherVehicle.ZicheMotherinlaw, InMotherVehicle.ChildPosiDeviceCode);
                                }
                            }
                        }
                        //=============================新增当去取货时进行判断巷道，看能不能提前拉出母车
                        return dt_Task;
                    }
                    //去掉原因：在该出子车去取货，可直接穿过无货母车，拖车
                    /*else 
                    {
                        Dt_Task task = _taskService.MothermachinemovementTask2(RGVTaskdevice.ChildPosiDeviceCode);
                        if (task == null)
                        {
                            RGVMovetask(mu1rgv.Motherinlaw, mu1rgv.ChildPosiDeviceCode);
                        }
                    }*/

                }
                else if (getStackerObject.RGVCurrentlocation == RGVTaskdevice.WaitmomentTwo)    //则需要判断两个母车的位子
                {
                    //判断两个子车是否在堆垛机取货口

                    //母车1
                    var mu1rgv = _agvStationService.GetMothervehicle(RGVTaskdevice.MotherCarDeviceCode);
                    int mu1 = GetDeviceAddress.GetEquipmentlocation(mu1rgv.ChildPosiDeviceCode); //此时的RGV应该无货
                    bool m1Isitstock1 = GetDeviceAddress.Mucheywhaddres(mu1rgv.ChildPosiDeviceCode);

                    var mu2rgv = _agvStationService.GetMothervehicle(RGVTaskdevice.MotherCardeputy);
                    int mu2 = GetDeviceAddress.GetEquipmentlocation(mu2rgv.ChildPosiDeviceCode); //此时的RGV应该无货
                    bool m1Isitstock2 = GetDeviceAddress.Mucheywhaddres(mu2rgv.ChildPosiDeviceCode);

                    // æå–可读性变量
                    bool mu1AtHome = mu1 == mu1rgv.Motherinlaw;
                    bool mu2AtHome = mu2 == mu2rgv.Motherinlaw;
                    bool mu1Ready = mu1 == mu1rgv.ZicheMotherinlaw && m1Isitstock1;
                    bool mu2Ready = mu2 == mu2rgv.ZicheMotherinlaw && m1Isitstock2;

                    // åˆå¹¶æ‰€æœ‰æ»¡è¶³æ¡ä»¶çš„情况
                    if ((mu1AtHome && mu2AtHome) ||        // éƒ½åœ¨åˆå§‹ä½ç½®
                        (mu1Ready && mu2Ready) ||          // éƒ½åœ¨å°±ç»ªä½ç½®ä¸”æ— è´§
                        (mu1AtHome && mu2Ready) ||         // 1在初始位置，2就绪
                        (mu1Ready && mu2AtHome))           // 1就绪，2在初始位置
                    {
                        return dt_Task;
                    }

                    /*else
                    {
                        //无需把母车移动至取货台,无货状态的子车无需踩托盘过去去取货
                        if (mu1 != mu1rgv.Motherinlaw)
                        {
                            Dt_Task task = _taskService.MothermachinemovementTask2(mu1rgv.ChildPosiDeviceCode);
                            if (task == null)
                            {
                                RGVMovetask(mu1rgv.Motherinlaw, mu1rgv.ChildPosiDeviceCode);
                            }
                        }
                        if (mu2 != mu2rgv.Motherinlaw)
                        {
                            Dt_Task task2 = _taskService.MothermachinemovementTask2(mu2rgv.ChildPosiDeviceCode);
                            if (task2 == null)
                            {
                                RGVMovetask(mu2rgv.Motherinlaw, mu2rgv.ChildPosiDeviceCode);
                            }
                        }
                    }*/
                }
            }
            else if (RGVTaskdevice.Station_Area == 5)
            {
                if (getStackerObject.RGVCurrentlocation == RGVTaskdevice.WaitmomentOne)
                {
                    //需要判断外侧小车是否在HCJ上
                    var zichestation = _agvStationService.OutGetZicheDeepHCJ(RGVTaskdevice.HCJStorageaddress);
                    int waiziche = GetDeviceAddress.GetEquipmentlocation(zichestation.ChildPosiDeviceCode);

                    if ((waiziche == zichestation.WaitmomentOne || waiziche == zichestation.WaitmomentTwo || waiziche == zichestation.MotherCardeputy || waiziche == zichestation.MotherCarDeviceCode || waiziche == 1021) && waiziche != zichestation.HCJStorageaddress)
                    {
                        return dt_Task;
                    }

                }
                else if (getStackerObject.RGVCurrentlocation == RGVTaskdevice.WaitmomentTwo)    //需要判断3巷道母车是否在取货站台
                {
                    //判断子车是否在HCJ站台
                    var zichestation = _agvStationService.OutGetZicheDeepHCJ(RGVTaskdevice.HCJStorageaddress);
                    int waiziche = GetDeviceAddress.GetEquipmentlocation(zichestation.ChildPosiDeviceCode);

                    if ((waiziche == zichestation.WaitmomentOne || waiziche == zichestation.WaitmomentTwo || waiziche == zichestation.MotherCardeputy || waiziche == zichestation.MotherCarDeviceCode || waiziche == 1021) && waiziche != zichestation.HCJStorageaddress)
                    {
                        //母车1
                        var mu1rgv = _agvStationService.GetMothervehicle(RGVTaskdevice.MotherCarDeviceCode);
                        int mu1 = GetDeviceAddress.GetEquipmentInformation(mu1rgv.ChildPosiDeviceCode); //此时的RGV应该无货
                        if (mu1 == mu1rgv.Motherinlaw)
                        {
                            return dt_Task;
                        }
                        else
                        {
                            Dt_Task task = _taskService.MothermachinemovementTask2(mu1rgv.ChildPosiDeviceCode);
                            if (task == null)
                            {
                                RGVMovetask(mu1rgv.Motherinlaw, mu1rgv.ChildPosiDeviceCode);
                            }
                        }
                    }
                }
            }
            return null;
        }
        /// <summary>
        /// åˆ¤æ–­å¤–侧母车是否在入口口
        /// </summary>
        /// <param name="task"></param>
        /// <param name="currentStation"></param>
        /// <returns></returns>
        private Dt_Task? HandleMedialCase(Dt_Task task, int currentStation)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(currentStation);
            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
            if (motherCarAddress == Muche.Motherinlaw) return task;
            RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
            return null;
        }
        /// <summary>
        /// åˆ¤æ–­å†…外侧母车是否在入库口
        /// </summary>
        /// <param name="task"></param>
        /// <param name="currentStation"></param>
        /// <returns></returns>
        private Dt_Task? HandleMedialCase2(Dt_Task task, AGVStation currentStation)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(currentStation.MotherCarDeviceCode);  //外侧母车
            AGVStation Muche2 = _agvStationService.GetMothervehicle(currentStation.MotherCardeputy);    //内侧母车

            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
            int motherCarAddress2 = GetDeviceAddress.GetEquipmentlocation(Muche2.ChildPosiDeviceCode);
            if (motherCarAddress == 0 || motherCarAddress2 == 0) return null;
            // å¦‚果母车不在预期位置，下发移动任务
            if (motherCarAddress != Muche.Motherinlaw)
            {
                RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
            }
            if (motherCarAddress2 != Muche2.Motherinlaw)
            {
                RGVMovetask(Muche2.Motherinlaw, Muche2.ChildPosiDeviceCode);
            }
            if (motherCarAddress == Muche.Motherinlaw && motherCarAddress2 == Muche2.Motherinlaw) return task;
            // æ¯è½¦å·²åœ¨æ­£ç¡®ä½ç½®
            return null;
        }


        #endregion

        #region è¿‡é“子车进行放货
        public Dt_Task? GoodsPlacedCorridor(AGVStation RGVTaskdevice)
        {
            Dt_Task task = _taskService.ViceChariotPlacingTask(RGVTaskdevice.ChildPosiDeviceCode);  //获取到放货任务
            if (task == null) return null;
            int nexaddres = int.Parse(task.NextAddress);    //判断是放货在哪的任务
            switch (nexaddres)
            {
                case int Whcjaddress when Whcjaddress == RGVTaskdevice.MotherCarDeviceCode:    //放货点在第一个过道点(已完成)
                    return MotherCarMoves(task, RGVTaskdevice);
                case int Waddress when Waddress == RGVTaskdevice.MotherCardeputy:              //放货点在第二个过道点(已完成)
                    return MotherCarMovesinside(task, RGVTaskdevice);
                case int HCJaddress when HCJaddress == RGVTaskdevice.HCJStorageaddress:        //放货点在HCJ上（已完成）
                    return HCJMotherCarMovesinside(task, RGVTaskdevice);
                default: return null;
            }
        }


        //区域一判断母车是否到位，可立即放货
        private bool MotherCarMoves(Dt_Task _Task, AGVStation aGVStation)
        private Dt_Task? MotherCarMoves(Dt_Task _Task, AGVStation aGVStation)
        {
            int mcadder = GetMothercarlocation(_Task.TaskNum, aGVStation.Motherinlaw);      //获取到母车外侧位置
            if(mcadder != 0)
            AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode);
            Dt_Task task = _taskService.MothermachinemovementTask2(Muche.ChildPosiDeviceCode);   //获取到母车移动任务
            if (task == null)
            {
                if (mcadder == int.Parse(_Task.CurrentAddress))
                GetStackerObject getStackerObject = GetDeviceAddress.GetChildDeviceCode(Muche.ChildPosiDeviceCode);
                if (getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.NoCargo)   //判断母车是否有货
                {
                    return true;
                    if (getStackerObject.RGVCurrentlocation == Muche.ZicheMotherinlaw)     //判断母车是否在过道点，
                    {
                        return _Task;
                    }
                    else
                    {
                        //判断母车是否有任务
                        Dt_Task _Task1 = _taskService.MothermacTask(Muche.ChildPosiDeviceCode);
                        if (task == null)
                        {
                            RGVMovetask(Muche.ZicheMotherinlaw, Muche.ChildPosiDeviceCode);  //如果没有任务，则可以进行移动出来
                        }
                            
                    }
                }
                 RGVMovetask(_Task.CurrentAddress, aGVStation.ChildPosiDeviceCode,_Task.TaskId);
            }
            return false;
            return null;
        }

        /// <summary>
        /// åˆ¤æ–­æ”¾ç¬¬äºŒä¸ªæ¯è½¦ä½ç½®
        /// </summary>
        /// <param name="_Task"></param>
        /// <param name="aGVStation"></param>
        /// <returns></returns>
        private Dt_Task? MotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation)
        {

            //判断外侧母车是否需要移动至堆垛机取货口
            AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode);
            int muche1objet = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);

            //判断内侧母车是否在放货点
            AGVStation Muche2 = _agvStationService.GetMothervehicle(aGVStation.MotherCardeputy);    //内侧母车
            int muche2objet = GetDeviceAddress.GetEquipmentlocation(Muche2.ChildPosiDeviceCode);
            bool NoCargobool = GetDeviceAddress.Mucheywhaddres(Muche2.ChildPosiDeviceCode);

            //正常情况下，把信息反馈出去
            if (muche1objet == Muche.Motherinlaw && muche2objet == Muche2.ZicheMotherinlaw && NoCargobool)
            {
                return _Task;
            }
            //母车1不在取货口
            if (muche1objet != Muche.Motherinlaw)     //判断母车是否在过道点，
            {
                Dt_Task task = _taskService.MothermachinemovementTask2(Muche.ChildPosiDeviceCode);   //获取到母车移动任务
                if (task == null)
                {
                    RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);  //如果没有任务，则可以进行移动出来
                }
            }

            //母车2不在过道站点
            if (muche2objet != Muche2.ZicheMotherinlaw)     //判断母车是否在过道点，
            {
                Dt_Task task = _taskService.MothermachinemovementTask2(Muche2.ChildPosiDeviceCode);   //获取到母车移动任务
                if (task == null)
                {
                    Dt_Task _Task1 = _taskService.MothermacTask(Muche.ChildPosiDeviceCode);
                    if (task == null)
                    {
                        RGVMovetask(Muche2.ZicheMotherinlaw, Muche2.ChildPosiDeviceCode);  //如果没有任务，则可以进行移动出来
                    }
                        
                }
            }
            return null;
        }
        /// <summary>
        /// åˆ¤æ–­æ”¾åœ¨HCJ上面
        /// </summary>
        /// <param name="_Task"></param>
        /// <param name="aGVStation"></param>
        /// <returns></returns>
        private Dt_Task? HCJMotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation)
        {
            //先判断HCJ站台点是否有货，有任务
            if (GetDeviceAddress.HCJIsstock(_Task.NextAddress))
            {
                //判断内车子车是否在等待点
                AGVStation neiziche = _agvStationService.GetZicheDeep(aGVStation.HCJStorageaddress);    //内侧子车
                int neizichecurraddres = GetDeviceAddress.GetEquipmentlocation(neiziche.ChildPosiDeviceCode);


                Dt_Task task = _taskService.ViceChariotPickupTask2(neiziche.ChildPosiDeviceCode);   //获取到内侧子车取货任务
                if ((neizichecurraddres != neiziche.WaitmomentOne && neizichecurraddres != neiziche.WaitmomentTwo) || task != null)     //内侧子车不在两个缓存点
                {
                    return null;
                }
                AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode);  //外侧母车
                int mucheaddre1 = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
                AGVStation Muche2 = _agvStationService.GetMothervehicle(aGVStation.MotherCardeputy);    //内侧母车
                int mucheaddre2 = GetDeviceAddress.GetEquipmentlocation(Muche2.ChildPosiDeviceCode);

                if ((neizichecurraddres == neiziche.WaitmomentOne || neizichecurraddres == neiziche.WaitmomentTwo) && task == null && neizichecurraddres != neiziche.HCJStorageaddress && mucheaddre1 == Muche.Motherinlaw && mucheaddre2 == Muche2.Motherinlaw)
                {
                    return _Task;
                }
                //判断两个母车位置
                if (mucheaddre1 != Muche.Motherinlaw)     //判断母车是否在过道点，
                {
                    Dt_Task muche1task = _taskService.MothermachinemovementTask2(Muche.ChildPosiDeviceCode);   //获取到母车移动任务
                    if (muche1task == null)
                    {
                        RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);  //如果没有任务，则可以进行移动出来
                    }
                }
                if (mucheaddre2 != Muche2.Motherinlaw)     //判断母车是否在过道点，
                {
                    Dt_Task muche2task = _taskService.MothermachinemovementTask2(Muche2.ChildPosiDeviceCode);   //获取到母车移动任务
                    if (muche2task == null)
                    {
                        RGVMovetask(Muche2.Motherinlaw, Muche2.ChildPosiDeviceCode);  //如果没有任务，则可以进行移动出来
                    }
                }
            }
            return null;
        }
        #endregion

        #region æ¯è½¦ç§»åŠ¨ä»»åŠ¡
        public Dt_Task? MotherVehicleMovement(AGVStation RGVTaskdevice)
        {
            Dt_Task task = _taskService.MothermachinemovementTask(RGVTaskdevice.ChildPosiDeviceCode);
            if (task == null) return null;

            AGVStation GdZiche = _agvStationService.GetMotheaisle(RGVTaskdevice.ZicheMotherinlaw);
            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(GdZiche.ChildPosiDeviceCode);
            if (GdZiche.WaitmomentOne == motherCarAddress || GdZiche.WaitmomentTwo == motherCarAddress)
            {
                return task;
            }
            return null;
        }
        #endregion

        #endregion

        #region å‡ºåº“方法(可进行测试)
        public Dt_Task? OutboundEquipmentTask(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
        {
            return (RGVTaskdevice.Station_material, getStackerObject.RgvCraneStatusValue) switch
            {
                ((int)RGVEquipment.Mothertrailer, RgvEquipmentStatus.HasCargo)      //下发母车出来到过道上
                    => Mothertaskdistribution(RGVTaskdevice),//已完成   

                ((int)RGVEquipment.Corridorcar, RgvEquipmentStatus.NoCargo)         //查找子车出来取货
                    => ChildPickupAddres(RGVTaskdevice, getStackerObject.RGVCurrentlocation),   //已完成

                ((int)RGVEquipment.Corridorcar, RgvEquipmentStatus.HasCargo)
                    => Findshippingtask(RGVTaskdevice, getStackerObject.RGVCurrentlocation),    //子车取货后，进行放货（已完成）

                ((int)RGVEquipment.OutRGVForklift, RgvEquipmentStatus.NoCargo)
                    => OutboundGateVehicle(RGVTaskdevice),              //出库口RGV取货（已完成）

                ((int)RGVEquipment.OutRGVForklift, RgvEquipmentStatus.HasCargo)
                    => _taskService.GetOutkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode,
                       RGVTaskdevice.HCJStorageaddress.ToString()),

                _ => null
            };
        }

        #region ä¸‹å‘母车任务，需要判断当前行小车在哪个位子(已完成)

        private Dt_Task? Mothertaskdistribution(AGVStation GdZiche)
        {
            // æå‰æ£€æŸ¥æ— æ•ˆçš„Area值
            if (GdZiche.Station_Area < 1 || GdZiche.Station_Area > 4)
                return null;

            //根据母车地址，获取当前行道的子车
            AGVStation ZicheinnerSide = _agvStationService.GetMotheaisle(GdZiche.ZicheMotherinlaw);
            int zichecurraddre = GetDeviceAddress.GetEquipmentlocation(ZicheinnerSide.ChildPosiDeviceCode);   //获取到子车实例

            if (zichecurraddre != ZicheinnerSide.WaitmomentOne && zichecurraddre != ZicheinnerSide.WaitmomentTwo) return null;

            //判断是哪个巷道的母车
            return GdZiche.Station_Area switch
            {
                4 => OutboundSideAisle4(zichecurraddre, ZicheinnerSide),    //在4巷道进行出库的任务（已完成）
                3 => OutboundSideAisle3(zichecurraddre, ZicheinnerSide),    //在3巷道进行出库的任务（已完成）
                2 => OutboundSideAisle2(ZicheinnerSide),                                   //在二巷道进行出库的任务（已完成）
                1 => _taskService.ObtainMuChetask(GdZiche.ZicheMotherinlaw.ToString()),   //根据母车子地址，查找是否有需要移动的任务（已完成）
                _ => null
            };

        }

        public Dt_Task? OutboundSideAisle1(AGVStation ZicheinnerSide)
        {
            //获取1巷道母车是否有任务
            Dt_Task Muche1Task = _taskService.ObtainMuChetask(ZicheinnerSide.MotherCarDeviceCode.ToString());
            if (Muche1Task == null) return null;

            Dt_Task zicheTASK = _taskService.GetChariotTaskBool(ZicheinnerSide.ChildPosiDeviceCode);
            if (zicheTASK != null) return null;

            return Muche1Task;
        }

        public Dt_Task? OutboundSideAisle2(AGVStation ZicheinnerSide)
        {
            //获取2巷道母车是否有任务
            Dt_Task Muche2Task = _taskService.ObtainMuChetask(ZicheinnerSide.MotherCardeputy.ToString());
            if (Muche2Task == null) return null;

            //获取子车是否有任务
            Dt_Task zicheTASK = _taskService.GetChariotTaskBool(ZicheinnerSide.ChildPosiDeviceCode);
            if (zicheTASK != null) return null;

            //获取2巷道子车是否有任务
            var muche1 = _agvStationService.GetMothervehicle(ZicheinnerSide.MotherCarDeviceCode);
            Dt_Task Muche1 = _taskService.GetChariotTaskBool(muche1.ChildPosiDeviceCode.ToString());
            if(Muche1!=null) return null;

            return Muche2Task;
        }
        public Dt_Task? OutboundSideAisle3(int curraddZiChe, AGVStation ZicheinnerSide)
        {
            //获取3巷道母车是否有任务
            Dt_Task Muche3Task = _taskService.ObtainMuChetask(ZicheinnerSide.MotherCarDeviceCode.ToString());
            if (Muche3Task == null) return null;

            //判断子车是否有要取HCJ任务
            Dt_Task zicheTASK = _taskService.GetHCJTaskBool(ZicheinnerSide.ChildPosiDeviceCode, ZicheinnerSide.HCJStorageaddress);
            if (zicheTASK != null) return null;

            return Muche3Task;
        }
        public Dt_Task? OutboundSideAisle4(int curraddZiChe, AGVStation ZicheinnerSide)
        {
            //获取当前母车是否有任务
            Dt_Task Muche4Task = _taskService.ObtainMuChetask(ZicheinnerSide.MotherCardeputy.ToString());
            if (Muche4Task == null) return null;

            //判断是否有需要取HCJ的任务
            Dt_Task zicheTASK = _taskService.GetChariotTaskBool(ZicheinnerSide.ChildPosiDeviceCode);
            if (zicheTASK != null) return null;

            //判断3巷道是否有出库的任务
            var muche3 = _agvStationService.GetMothervehicle(ZicheinnerSide.MotherCarDeviceCode);
            Dt_Task muchetask = _taskService.OutMothermaTask(muche3.ChildPosiDeviceCode);
            if (muchetask != null) return null;

            return Muche4Task;
        }

        #endregion

        #region åˆ¤æ–­å·²ç§»åŠ¨å‡ºæ¥çš„母车，再判断小车位置(已完成)
        public Dt_Task? ChildPickupAddres(AGVStation GdZiche, int curraderr)
        {
            if (curraderr == GdZiche.WaitmomentOne || curraderr == GdZiche.WaitmomentTwo)
            {
                Dt_Task dtTasks = _taskService.ChildVehicleMission(GdZiche);
                if (dtTasks == null) return null;
                if (GdZiche.Station_Area == 5)
                {
                    if (dtTasks.CurrentAddress == GdZiche.MotherCardeputy.ToString())   //取货的点在2巷道，则子车无论在哪个等待点，都可以取货
                    {
                        return dtTasks;
                    }
                    else if (dtTasks.CurrentAddress == GdZiche.MotherCarDeviceCode.ToString())     //取1巷道的货
                    {
                        if (curraderr == GdZiche.WaitmomentOne)     //子车刚好在旁边，可立马取货
                        {
                            return dtTasks;
                        }
                        else if (curraderr == GdZiche.WaitmomentTwo)
                        {
                            var muchestation = _agvStationService.GetMothervehicle(GdZiche.MotherCardeputy);
                            int muche2addres = GetDeviceAddress.GetEquipmentlocation(muchestation.ChildPosiDeviceCode);  //获取2巷道母车实例
                            if (muche2addres == muchestation.Motherinlaw)
                            {
                                return dtTasks;
                            }
                        }
                    }
                }
                else if (GdZiche.Station_Area == 6)
                {
                    //HCJ站台没任务
                    if (dtTasks.CurrentAddress == GdZiche.MotherCardeputy.ToString())       //优先判断是否是最外面的任务
                    {
                        if (curraderr == GdZiche.WaitmomentTwo)
                        {
                            return dtTasks;
                        }
                        else
                        {
                            var muchestation = _agvStationService.GetMothervehicle(GdZiche.MotherCarDeviceCode);
                            int muche3x = GetDeviceAddress.GetEquipmentlocation(muchestation.ChildPosiDeviceCode);
                            if (muche3x == muchestation.Motherinlaw)
                            {
                                return dtTasks;
                            }
                        }
                    }
                    else if (dtTasks.CurrentAddress == GdZiche.MotherCarDeviceCode.ToString())    //该任务为取3巷道
                    {
                        if (curraderr == GdZiche.WaitmomentOne)
                        {
                            return dtTasks;
                        }
                        else if(curraderr == GdZiche.WaitmomentTwo)
                        {
                            var muchestation = _agvStationService.GetMothervehicle(GdZiche.MotherCardeputy);
                            int muche4x = GetDeviceAddress.GetEquipmentlocation(muchestation.ChildPosiDeviceCode);
                            if (muche4x == muchestation.Motherinlaw)
                            {
                                return dtTasks;
                            }
                        }

                    }
                    else if (dtTasks.CurrentAddress == GdZiche.HCJStorageaddress.ToString())
                    {
                        //判断内侧子车的位置
                        AGVStation neiziche = _agvStationService.GetOutZicheDeep(GdZiche.HCJStorageaddress);    //内侧子车
                        int neizichecurraddres = GetDeviceAddress.GetEquipmentlocation(neiziche.ChildPosiDeviceCode);
                        if ((neiziche.WaitmomentOne == neizichecurraddres || neiziche.WaitmomentTwo == neizichecurraddres || neiziche.MotherCarDeviceCode == neizichecurraddres || neiziche.MotherCardeputy == neizichecurraddres) && neiziche.HCJStorageaddress != neizichecurraddres)
                        {
                            if (curraderr == GdZiche.WaitmomentTwo)
                            {
                                var mu1rgv = _agvStationService.GetMothervehicle(GdZiche.MotherCarDeviceCode);
                                int mu1 = GetDeviceAddress.GetEquipmentlocation(mu1rgv.ChildPosiDeviceCode);

                                var mu2rgv = _agvStationService.GetMothervehicle(GdZiche.MotherCardeputy);
                                int mu2 = GetDeviceAddress.GetEquipmentlocation(mu2rgv.ChildPosiDeviceCode);

                                if (mu1 == mu1rgv.Motherinlaw && mu2 == mu2rgv.Motherinlaw)
                                {
                                    return dtTasks;
                                }
                            }
                            else if (curraderr == GdZiche.WaitmomentOne)
                            {
                                return dtTasks;
                            }
                        }
                    }


                }

            }
            return null;
        }
        #endregion

        #region æŸ¥æ‰¾å­è½¦æ”¾è´§ä»»åŠ¡(已完成)
        public Dt_Task? Findshippingtask(AGVStation GdZiche, int curraderr)
        {
            Dt_Task task = _taskService.GetFinhuoTask(GdZiche.ChildPosiDeviceCode);
            if (task == null) return null;
            if (GetDeviceAddress.HCJIsstock(task.NextAddress))
            {
                if (GdZiche.Station_Area == 5)
                {
                    //需要判断外侧小车是否在HCJ上
                    var zichestation = _agvStationService.OutGetZicheDeepHCJ(GdZiche.HCJStorageaddress);
                    int waiziche = GetDeviceAddress.GetEquipmentlocation(zichestation.ChildPosiDeviceCode);
                    if ((waiziche == zichestation.WaitmomentOne || waiziche == zichestation.WaitmomentTwo || waiziche == zichestation.MotherCardeputy || waiziche == zichestation.MotherCarDeviceCode) && waiziche != zichestation.HCJStorageaddress)
                    {
                        //判断当前位置
                        if (task.CurrentAddress == GdZiche.MotherCarDeviceCode.ToString())
                        {
                            var muchestation = _agvStationService.GetMothervehicle(GdZiche.MotherCardeputy);
                            int muche2 = GetDeviceAddress.GetEquipmentlocation(muchestation.ChildPosiDeviceCode);
                            if (muche2 == muchestation.Motherinlaw)
                            {
                                return task;
                            }
                        }
                        else if (task.CurrentAddress == GdZiche.MotherCardeputy.ToString())
                        {
                            return task;
                        }
                    }
                }
                else if (GdZiche.Station_Area == 6)
                {
                    if (GdZiche.HCJStorageaddress == curraderr)
                    {
                        //判断3巷道母车
                        var muchestation = _agvStationService.GetMothervehicle(GdZiche.MotherCarDeviceCode);
                        int mucboject3 = GetDeviceAddress.GetEquipmentlocation(muchestation.ChildPosiDeviceCode);
                        if (mucboject3 == muchestation.Motherinlaw)
                        {
                            //判断4巷道母车
                            var muchestation2 = _agvStationService.GetMothervehicle(GdZiche.MotherCardeputy);
                            int mucboject4 = GetDeviceAddress.GetEquipmentlocation(muchestation2.ChildPosiDeviceCode);
                            if (mucboject4 == muchestation2.Motherinlaw)
                            {
                                return task;
                            }

                        }
                    }
                    else if (GdZiche.MotherCarDeviceCode == curraderr)
                    {
                        //判断4巷道母车
                        var muchestation2 = _agvStationService.GetMothervehicle(GdZiche.MotherCardeputy);
                        int mucboject4 = GetDeviceAddress.GetEquipmentlocation(muchestation2.ChildPosiDeviceCode);
                        if (mucboject4 == muchestation2.Motherinlaw)
                        {
                            return task;
                        }
                    }
                    else if (GdZiche.MotherCardeputy == curraderr) return task;
                }
            }
            return null;
        }
        #endregion

        #region å‡ºåº“口子车取货(已完成)
        public Dt_Task OutboundGateVehicle(AGVStation GdZiche)
        {
            //需要判断子车是否在HCJ上
            var zichestation = _agvStationService.OutGetZicheDeepHCJ(1131);
            int ziche = GetDeviceAddress.GetEquipmentlocation(zichestation.ChildPosiDeviceCode);

            if (ziche != GdZiche.HCJStorageaddress && (ziche == zichestation.HCJStorageaddress || ziche == zichestation.WaitmomentOne || ziche == zichestation.WaitmomentTwo || ziche == zichestation.MotherCardeputy || ziche == zichestation.MotherCarDeviceCode))
            {
                return _taskService.GetOutchachekouFinhuoTask(GdZiche.ChildPosiDeviceCode, GdZiche.HCJStorageaddress.ToString());
            }
            return null;
        }
        #endregion

        #endregion

        #region å‡ºåº“小车移动任务下发(已完成)
        public void Returnposition(string DeviceCode, int RGVCurrentlocation, int RgvCraneStatusValue)
        {
            AGVStation GdZiche = _agvStationService.Corridorequipment(DeviceCode);
            if (GdZiche.Station_material == (int)RGVEquipment.Mothertrailer)
            {
                if (GdZiche.Motherinlaw == RGVCurrentlocation) return;
                if (RgvCraneStatusValue == (int)RgvEquipmentStatus.HasCargo) return;

                //母亲回堆垛机口任务，判断子车的位置是否在母车上
                var zichestation = _agvStationService.GetMotheaisle(GdZiche.ZicheMotherinlaw);

                //获取子车是否有任务来该位置取货
                Dt_Task Muche2Task = _taskService.OutPickupZiche(zichestation.ChildPosiDeviceCode.ToString());
                if (Muche2Task != null) return;
                GetStackerObject getStackerObject = GetDeviceAddress.GetChildDeviceCode(zichestation.ChildPosiDeviceCode);

                if (getStackerObject.StaclerkJobJobStatusValue != RGV_Rgvtaskstutas.Executing && getStackerObject.RgvCraneAutoStatusValue == RgvCraneAutoStatus.Automatic
                     && (getStackerObject.RGVCurrentlocation == zichestation.WaitmomentOne || getStackerObject.RGVCurrentlocation == zichestation.WaitmomentTwo || getStackerObject.RGVCurrentlocation==1171) && getStackerObject.RGVCurrentlocation != zichestation.ZicheMotherinlaw)
                {
                    RGVMovetask(GdZiche.Motherinlaw, GdZiche.ChildPosiDeviceCode);
                }
            }
            else if (GdZiche.Station_material == (int)RGVEquipment.Corridorcar)
            {
                if (RgvCraneStatusValue == (int)RgvEquipmentStatus.HasCargo) return;
                if (GdZiche.Station_Area == 5)
                {
                    if (GdZiche.MotherCardeputy == RGVCurrentlocation || GdZiche.HCJStorageaddress == RGVCurrentlocation)
                    {
                        RGVMovetask(GdZiche.WaitmomentTwo, GdZiche.ChildPosiDeviceCode);
                    }
                    else if (GdZiche.MotherCarDeviceCode == RGVCurrentlocation)
                    {
                        RGVMovetask(GdZiche.WaitmomentOne, GdZiche.ChildPosiDeviceCode);
                    }
                }
                else
                {
                    if (GdZiche.MotherCarDeviceCode == RGVCurrentlocation || GdZiche.HCJStorageaddress == RGVCurrentlocation)
                    {
                        RGVMovetask(GdZiche.WaitmomentOne, GdZiche.ChildPosiDeviceCode);
                    }
                    else if (GdZiche.MotherCardeputy == RGVCurrentlocation || RGVCurrentlocation == 1171)
                    {
                        RGVMovetask(GdZiche.WaitmomentTwo, GdZiche.ChildPosiDeviceCode);
                    }
                }
            }
        }
        #endregion

        #region å…¥åº“小车移动任务下发(已完成)
        public void InReturnposition(string DeviceCode, int RGVCurrentlocation, int RgvCraneStatusValue)
        {
            AGVStation GdZiche = _agvStationService.Corridorequipment(DeviceCode);//获取到要移动的子车
            if (GdZiche.Station_material == (int)RGVEquipment.Corridorcar)
            {
                if (GdZiche.Station_Area == 5)
                {
                    Dt_Task task = _taskService.GetChariotTaskBool(GdZiche.ChildPosiDeviceCode);
                    if (task == null && RgvCraneStatusValue == (int)RgvEquipmentStatus.NoCargo)
                    {
                        if (GdZiche.MotherCarDeviceCode == RGVCurrentlocation || GdZiche.HCJStorageaddress == RGVCurrentlocation)
                        {
                            RGVMovetask(GdZiche.WaitmomentOne, GdZiche.ChildPosiDeviceCode);
                        }
                        else if (GdZiche.MotherCardeputy == RGVCurrentlocation)
                        {
                            RGVMovetask(GdZiche.WaitmomentTwo, GdZiche.ChildPosiDeviceCode);
                        }
                    }
                        
                }
                else
                {
                    Dt_Task task = _taskService.GetChariotTaskBool(GdZiche.ChildPosiDeviceCode);
                    if (task == null && RgvCraneStatusValue == (int)RgvEquipmentStatus.NoCargo)
                    {
                        if (GdZiche.HCJStorageaddress == RGVCurrentlocation)
                        {
                            //如果在2巷道的母车，则可以放子车来1号等待点，如果在HCJ则可以让子车去2号
                            RGVMovetask(GdZiche.WaitmomentTwo, GdZiche.ChildPosiDeviceCode);
                        }
                        else if (GdZiche.MotherCarDeviceCode == RGVCurrentlocation || GdZiche.MotherCardeputy == RGVCurrentlocation)
                        {
                            RGVMovetask(GdZiche.WaitmomentOne, GdZiche.ChildPosiDeviceCode);
                        }
                        else if (RGVCurrentlocation == 1021)
                        {
                            //加入判断，如果在1021站台，则需要判断1号巷道母车是否在堆垛机取货口
                            var zichestation = _agvStationService.GetMothervehicle(GdZiche.MotherCarDeviceCode);
                            int ziche = GetDeviceAddress.GetEquipmentlocation(zichestation.ChildPosiDeviceCode);
                            if (GetDeviceAddress.Mucheywhaddres(zichestation.ChildPosiDeviceCode) && (ziche == zichestation.ZicheMotherinlaw || ziche == zichestation.Motherinlaw))
                            {
                                RGVMovetask(GdZiche.WaitmomentOne, GdZiche.ChildPosiDeviceCode);
                            }

                        }
                    }
                }
            }
        }
        #endregion

        /// <summary>
        /// å­æ¯è½¦ç§»åŠ¨ä»»åŠ¡
@@ -243,164 +999,12 @@
        /// <param name="RGVAdders">目标地址</param>
        /// <param name="ChildPosiDeviceCode">设备编号</param>
        /// <returns></returns>
        private bool RGVMovetask(string RGVAdders,string ChildPosiDeviceCode,int taskid)
        private bool RGVMovetask(int RGVAdders, string ChildPosiDeviceCode)
        {
            RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(RGVAdders);
            bool sendFlag = SendCommand2(standardCommands, ChildPosiDeviceCode);
            _taskExecuteDetailService.AddTaskExecuteDetail(taskid, $"系统自动流程，执行母车移动任务，母车编号：{ChildPosiDeviceCode}，移动地址：{RGVAdders}，是否下发成功：{sendFlag}");

            return sendFlag;
        }


        /// <summary>
        /// åˆ¤æ–­å†…侧母车位置
        /// </summary>
        /// <param name="_Task"></param>
        /// <param name="aGVStation"></param>
        /// <returns></returns>
        private bool MotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation)
        {
            //获取外侧母车位置
            int mcadder = GetMothercarlocation(_Task.TaskNum, aGVStation.MotherCarDeviceCode);
            //获取内侧母车位置
            int ncadder = GetMothercarlocation(_Task.TaskNum, _Task.NextAddress);

            if (mcadder != int.Parse(aGVStation.MotherCarDeviceCode) && ncadder == aGVStation.Station_code)       
            {
                return true;
            }
            else
            {
                if (mcadder == int.Parse(aGVStation.MotherCarDeviceCode))  
                {
                    AGVStation aGVSta = _agvStationService.GetMothercarCode(aGVStation.MotherCarDeviceCode); 

                    RGVMovetask(aGVSta.ChildPosiDeviceCode, aGVSta.Station_code.ToString(), _Task.TaskId);

                }

                if (ncadder != aGVStation.Station_code)   
                {
                    RGVMovetask(aGVStation.ChildPosiDeviceCode, aGVStation.Station_code.ToString(), _Task.TaskId);

                }
            }
            return false;
        }
        private bool HCJMotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation)  
        {
            //获取外侧母车位置
            int mcadder = GetMothercarlocation(_Task.TaskNum, aGVStation.MotherCarDeviceCode);
            //获取内侧母车位置
            int ncadder = GetMothercarlocation(_Task.TaskNum, aGVStation.MotherCardeputy);   

            if (mcadder != int.Parse(aGVStation.MotherCarDeviceCode) && ncadder != int.Parse(aGVStation.MotherCardeputy))   
            {
                return true;
            }
            else
            {
                if (mcadder == int.Parse(aGVStation.MotherCarDeviceCode))  
                {
                    AGVStation aGVSta = _agvStationService.GetMothercarCode(aGVStation.MotherCarDeviceCode);    

                    RGVMovetask(aGVSta.ChildPosiDeviceCode, aGVSta.Station_code.ToString(), _Task.TaskId);

                }

                if (ncadder == int.Parse(aGVStation.MotherCardeputy))   
                {
                    AGVStation aGVSta = _agvStationService.GetMothercarCode(aGVStation.MotherCardeputy);    

                    RGVMovetask(aGVSta.ChildPosiDeviceCode, aGVSta.Station_code.ToString(), _Task.TaskId);
                }
            }
            return false;
        }

       

        //判断是否
        public bool GetMotherCarCurrentAdder(Dt_Task task)
        {
            try
            {
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "HCJ2000");
                CommonStackerCrane Commonstacker = (CommonStackerCrane)device;
                DeviceProDTO? deviceProDTO = GetDeviceProDTO(Commonstacker, task.CurrentAddress, "HCJ_GoodsStatus");
                int HCJGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
                if (HCJGStatus == 0)    //为无货
                {
                    return true;
                }
            }
            catch (Exception ex)
            {
                //记录异常情况
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"判断HCJ站台是否有货信息出错，出错信息：{ex.Message}");
                throw;
            }

            return false;
        }



        /// <summary>
        /// ä¼ å…¥è¿‡é“地址，获取母车位置
        /// </summary>
        /// <param name="task"></param>
        /// <param name="MotherCarDeviceCode">过道地址</param>
        /// <returns></returns>
        public int GetMothercarlocation(int TaskNum, string MotherCarDeviceCode)
        {
            try
            {
                //利用入库站台地址获取母车plc
                AGVStation aGVStation =_agvStationService.GetMothercarCode(MotherCarDeviceCode);  
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == aGVStation.ChildPosiDeviceCode);
                CommonStackerCrane Commonstacker = (CommonStackerCrane)device;
                DeviceProDTO? deviceProDTO = GetDeviceProDTO(Commonstacker, aGVStation.ChildPosiDeviceCode, "RGVCurrentlocation");
                int HCJGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
                return HCJGStatus;
            }
            catch (Exception ex)
            {
                //记录异常情况
                _taskService.UpdateTaskExceptionMessage(TaskNum, $"判断母车位置信息出错，出错信息：{ex.Message}");
                throw;
            }
        }


        /// <summary>
        /// ä¼ å…¥è¿‡é“地址，获取子车车位置
        /// </summary>
        /// <param name="task"></param>
        /// <param name="MotherCarDeviceCode">入库站台地址</param>
        /// <returns></returns>
        public int GetZichelocation(Dt_Task task, string ChildPosiDeviceCode)
        {
            try
            {
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == ChildPosiDeviceCode);
                CommonStackerCrane Commonstacker = (CommonStackerCrane)device;
                DeviceProDTO? deviceProDTO = GetDeviceProDTO(Commonstacker, ChildPosiDeviceCode, "RGVCurrentlocation");
                int HCJGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
                return HCJGStatus;
            }
            catch (Exception ex)
            {
                //记录异常情况
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"判断子车位置信息出错，出错信息：{ex.Message}");
                throw;
            }
        }




        /// <summary>
        /// ä»»åŠ¡å®žä½“转换成命令Model
        /// </summary>
@@ -410,20 +1014,37 @@
        public RgvCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
        {
            RgvCraneTaskCommand stackerCraneTaskCommand = new RgvCraneTaskCommand();
            short locaticurr = task.RGVTaskType switch

            short locaticurr = task.TaskType switch
            {
                _ when task.RGVTaskType == (short)RGVTaskTypeEnum.PickingUp ||
                       task.RGVTaskType == (short)RGVTaskTypeEnum.TravelingOnly
                    => short.Parse(task.CurrentAddress),
                _ when task.RGVTaskType == (short)RGVTaskTypeEnum.Placing
                    => short.Parse(task.NextAddress),
                _ when task.TaskType == (int)TaskInboundTypeEnum.Inbound
                    => InRgvLocaaddres(task),
                _ when task.TaskType == (int)TaskOutboundTypeEnum.Outbound
                    => RgvLocaaddres(task),
                _ => (short)0
            };
            if (locaticurr == 0) return null;

            stackerCraneTaskCommand.RGV_RGVTasklocation = locaticurr;
            stackerCraneTaskCommand.RGV_RGVtasktype = (short)task.RGVTaskType;
            stackerCraneTaskCommand.RGV_Rgvtaskid = (short)task.TaskNum;         
            stackerCraneTaskCommand.RGV_Lanjiantaskid = (short)task.TaskNum;    
            stackerCraneTaskCommand.RGV_Rgvtaskid = (short)task.TaskNum;
            stackerCraneTaskCommand.RGV_Lanjiantaskid = (short)task.TaskNum;
            return stackerCraneTaskCommand;
        }

        public short InRgvLocaaddres(Dt_Task dt_Task)
        {
            if (dt_Task.RGVTaskType == (short)RGVTaskTypeEnum.PickingUp) return short.Parse(dt_Task.CurrentAddress);
            else if (dt_Task.RGVTaskType == (short)RGVTaskTypeEnum.Placing) return short.Parse(dt_Task.NextAddress);
            else if (dt_Task.RGVTaskType == (short)RGVTaskTypeEnum.TravelingOnly && dt_Task.TaskState == (int)TaskInStatusEnum.RGV_InZicheReleaseFinish) return short.Parse(dt_Task.NextAddress);
            return 0;
        }
        public short RgvLocaaddres(Dt_Task dt_Task)
        {
            if (dt_Task.RGVTaskType == (short)RGVTaskTypeEnum.PickingUp) return short.Parse(dt_Task.CurrentAddress);
            else if (dt_Task.RGVTaskType == (short)RGVTaskTypeEnum.Placing) return short.Parse(dt_Task.NextAddress);
            else if (dt_Task.RGVTaskType == (short)RGVTaskTypeEnum.TravelingOnly && dt_Task.TaskState == (int)TaskOutStatusEnum.OutNew) return short.Parse(dt_Task.NextAddress);
            return 0;
        }


@@ -433,66 +1054,34 @@
        /// <param name="task">任务实体</param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public RgvCraneTaskCommand? ConvertMotherCarTaskCommand(string RGVAddress)
        public RgvCraneTaskCommand? ConvertMotherCarTaskCommand(int RGVAddress)
        {
            RgvCraneTaskCommand stackerCraneTaskCommand = new RgvCraneTaskCommand();
            stackerCraneTaskCommand.RGV_RGVTasklocation = short.Parse(RGVAddress);
            stackerCraneTaskCommand.RGV_RGVTasklocation = (short)RGVAddress;
            stackerCraneTaskCommand.RGV_RGVtasktype = 3;
            stackerCraneTaskCommand.RGV_Rgvtaskid = 999;          //rgv任务号
            stackerCraneTaskCommand.RGV_Lanjiantaskid = 999;      //兰剑任务id
            stackerCraneTaskCommand.RGV_Rgvtaskid = 30001;          //rgv任务号
            stackerCraneTaskCommand.RGV_Lanjiantaskid = 30001;      //兰剑任务id
            return stackerCraneTaskCommand;
        }


        public void wcsWriteLog(string SCLLinStack, string Logtype, string Magessadd)
        {
            WriteLog.Write_Log("RGV", SCLLinStack + "号RGV", Logtype, new { ä¿¡æ¯ = Magessadd });
        }



        //===========================================================HCJ协议读写查=============================================================================
        /// <summary>
        /// æŸ¥è¯¢å…·ä½“地址
        /// </summary>
        /// <param name="Commonstacker"></param>
        /// <param name="SCAddress"></param>
        /// <param name="Interactivet"></param>
        /// <returns></returns>
        public DeviceProDTO? GetDeviceProDTO(CommonStackerCrane Commonstacker, string SCAddress, string Interactivet)
        {
            return Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == SCAddress && x.DeviceProParamName == Interactivet && x.DeviceProParamType== "ReadDeviceCommand");
        }
        /// <summary>
        /// æ ¹åœ°å€è¯»å–输送线信息
        /// </summary>
        /// <param name="conveyorLine"></param>
        /// <param name="DeviceProDataBlock"></param>
        /// <returns></returns>
        public int GetLine(CommonStackerCrane Commonstacker, string DeviceProDataBlock)
        {
            return Commonstacker.Communicator.Read<short>(DeviceProDataBlock);
        }
        //===========================================================HCJ协议读写查===============================================================================


        public bool SendCommand2(RgvCraneTaskCommand command, string DeviceCode)
        {
            try
            {
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);
                CommonStackerCrane Commonstacker = (CommonStackerCrane)device;
                SpeStackerCrane Commonstacker = (SpeStackerCrane)device;

                DeviceProDTO? deviceProDTO =  GetDeviceProDTO(Commonstacker, DeviceCode, "RGV_Rgvtaskstutas");
                int MCGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
                if (Commonstacker.IsConnected)
                DeviceProDTO? deviceProDTO = GetDeviceAddress.GetRGVDeviceProDTO(Commonstacker, DeviceCode, "RGV_Rgvtaskstutas");
                int MCGStatus = GetDeviceAddress.RGVGetLine(Commonstacker, deviceProDTO.DeviceProAddress);


                if (MCGStatus == 0)
                {
                    if (MCGStatus == (int)RgvJobCraneStatus.Ready)
                    if (MCGStatus == (int)RGV_Rgvtaskstutas.Ready)
                    {
                        Commonstacker.SetValue(RgvCraneDBName.RGV_RGVTasklocation, command.RGV_RGVTasklocation);
                        Commonstacker.SetValue(RgvCraneDBName.RGV_RGVtasktype, command.RGV_RGVtasktype);
                        Commonstacker.SetValue(RgvCraneDBName.RGV_Rgvtaskid, command.RGV_Rgvtaskid);
                        Commonstacker.SetValue(RgvCraneDBName.RGV_Lanjiantaskid, command.RGV_Lanjiantaskid);
                        Commonstacker.SetValue(RgvCraneDBName.RGV_RGVTasklocationt, command.RGV_RGVTasklocation);
                        Commonstacker.SetValue(RgvCraneDBName.RGV_RGVtasktypet, command.RGV_RGVtasktype);
                        Commonstacker.SetValue(RgvCraneDBName.RGV_Rgvtaskidt, command.RGV_Rgvtaskid);
                        Commonstacker.SetValue(RgvCraneDBName.RGV_Lanjiantaskidt, command.RGV_Lanjiantaskid);
                        return true;
                    }
                }
@@ -504,5 +1093,7 @@
                return false;
            }
        }


    }
}