MingHeZhiNeng/JiaXingRGV.git

			@@ -64,6 +64,8 @@
			{
			try
			{
			//WriteLog.Write_Log("23");

			SpeStackerCrane speStackerCrane = (SpeStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
			if (speStackerCrane != null)
			{
			@@ -76,6 +78,25 @@
			{
			CommonStackerCrane_AGVTaskCompletedEventHandler(getStackerObject, speStackerCrane);
			}

			//å¤æå½åè®¾å¤æ¯å¥åºè¿æ¯åºåº
			if (GetDeviceAddress.OutbounMotherChildCartbool(speStackerCrane.DeviceCode))
			{
			//å¤æå½åå®å¨é¨æ¯å¦ä¸ºç»¿è²ç¯
			if (GetDeviceAddress.ReadAqmDecicStice(1))
			{
			return null;
			}
			}
			else
			{
			//å¤æå¥åºç«¯å®å¨é¨æ¯å¦æ£å¸¸
			if (GetDeviceAddress.ReadAqmDecicStice(2))
			{
			return null;
			}
			}


			if (getStackerObject.RgvCraneAutoStatusValue == RgvCraneAutoStatus.Automatic &&
			getStackerObject.StaclerkJobJobStatusValue == RGV_Rgvtaskstutas.Ready && getStackerObject.RgvCraneWorkStatusValue == RGVStepprocess.NoAction)
			@@ -139,8 +160,15 @@
			}
			else if (getStackerObject.StaclerkJobJobStatusValue == RGV_Rgvtaskstutas.AbnormalCompletion && getStackerObject.CurrentRgvtaskid != 0 && getStackerObject.CurrentRgvtaskid != 30001)
			{

			//ä¿®æ¹ä»»å¡ç¶æä¸ºå¼å¸¸å®æ
			_taskService.HandleInAbnormal(getStackerObject.CurrentRgvtaskid);

			//åå¥å¼å¸¸å®ææ¥è¦ä¿¡æ¯
			speStackerCrane.Communicator.Write<short>("DB101.36", 1);
			//speStackerCrane.Communicator.Write<short>("DB101.36", 1); //åå¥æ¥è¦

			speStackerCrane.SetValue(RGV_taskcoDBName.RGV_taskcomplete, 1);
			speStackerCrane.SetValue(RGV_taskcoDBName.RGV_taskcomplete, 0);
			}
			}
			#endregion
			@@ -179,7 +207,7 @@
			=> GoodsPlacedCorridor(RGVTaskdevice), //åè½¦æ¾è´§ä»»å¡(å·²å®æ)

			((int)RGVEquipment.Mothertrailer, RgvEquipmentStatus.HasCargo)
			=> MotherVehicleMovement(RGVTaskdevice), //ï¼å·²å®æï¼
			=> MotherVehicleMovement(RGVTaskdevice), //æ¯è½¦ç§»å¨ï¼å·²å®æï¼

			_ => null
			};
			@@ -190,23 +218,32 @@
			public Dt_Task? ForkliftUnloading(AGVStation RGVTaskdevice)
			{
			Dt_Task dt_Task = _taskService.GetInkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode);

			if (dt_Task == null) return null;
			//å¤æHCJæ¯å¦æè´§
			if (GetDeviceAddress.HCJIsstock(dt_Task.NextAddress))
			{
			//å¤æåè½¦æ¯å¦å¨æ¥é©³å°ä¸
			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)
			if ((ziche == zichestation.WaitmomentOne \|\| ziche == zichestation.WaitmomentTwo \|\| ziche == zichestation.MotherCarDeviceCode \|\| ziche == zichestation.MotherCardeputy \|\| ziche == zichestation.HCJStorageaddress) && ziche != 1021 && ziche !=0)
			{
			//è·åè¿ä¸ªæ¥é©³å°æ¯å¦æåè´§ä»»å¡
			Dt_Task zitask = _taskService.ViceChariotPickupTask2(RGVTaskdevice.ChildPosiDeviceCode);
			if (zitask == null)
			{

			return dt_Task;
			}
			}
			else
			{
			//å¦ææ²¡è´§ï¼åä¸åç§»å¨ä»»å¡
			RGVMovetask(RGVTaskdevice.HCJStorageaddress, RGVTaskdevice.ChildPosiDeviceCode);
			}
			}
			else
			{
			//å¦ææ²¡è´§ï¼åä¸åç§»å¨ä»»å¡
			RGVMovetask(RGVTaskdevice.HCJStorageaddress, RGVTaskdevice.ChildPosiDeviceCode);
			}
			return null;
			}
			@@ -218,6 +255,10 @@
			//è·ååè½¦åè´§ä»»å¡
			Dt_Task dt_Task = _taskService.ViceChariotPickupTask(RGVTaskdevice.ChildPosiDeviceCode);
			if (dt_Task == null) return null;

			//å¤æHCJç«å°æ¯å¦æè´§
			if (GetDeviceAddress.HCJIsstock(dt_Task.CurrentAddress)) return null;

			if (RGVTaskdevice.Station_Area == 6) //å¤ä¾§è¿åè´§ï¼åéè¦å¤æåè½¦å½åä½ç½®
			{
			if (getStackerObject.RGVCurrentlocation == RGVTaskdevice.WaitmomentOne)
			@@ -244,22 +285,19 @@
			}
			else if (mu2 == InMotherVehicle.Motherinlaw)
			{
			RGVMovetask(InMotherVehicle.ZicheMotherinlaw, InMotherVehicle.ChildPosiDeviceCode);

			//å¤ææ¯è½¦æ¯å¦æä»»å¡
			Dt_Task muche1task = _taskService.MothermachinemovementTask2(InMotherVehicle.ChildPosiDeviceCode);
			if (muche1task == null)
			{
			RGVMovetask(InMotherVehicle.ZicheMotherinlaw, InMotherVehicle.ChildPosiDeviceCode);
			}
			}
			}
			}
			//=============================æ°å¢å½å»åè´§æ¶è¿è¡å¤æå··éï¼çè½ä¸è½æåæåºæ¯è½¦
			return dt_Task;
			}
			//å»æåå ï¼å¨è¯¥åºåè½¦å»åè´§ï¼å¯ç´æ¥ç©¿è¿æ è´§æ¯è½¦ï¼æè½¦
			/*else
			{
			Dt_Task task = _taskService.MothermachinemovementTask2(RGVTaskdevice.ChildPosiDeviceCode);
			if (task == null)
			{
			RGVMovetask(mu1rgv.Motherinlaw, mu1rgv.ChildPosiDeviceCode);
			}
			}*/

			}
			else if (getStackerObject.RGVCurrentlocation == RGVTaskdevice.WaitmomentTwo) //åéè¦å¤æä¸¤ä¸ªæ¯è½¦çä½å
			@@ -324,6 +362,29 @@
			{
			return dt_Task;
			}

			//å¤æåä¾§æ¯å¦æè´§ï¼æ¯å¦æä»»å¡

			if (int.Parse(dt_Task.TargetAddress) == (int)StorageAisleEnum.LaneThree \|\| int.Parse(dt_Task.TargetAddress) == (int)StorageAisleEnum.LaneFour)
			{
			int taraddress = int.Parse(dt_Task.TargetAddress);
			var InMotherVehicle = _agvStationService.ObtainCcordingTunnel(taraddress); //è·åå°éè¦å¥åºçæ¯è½¦(2å··é)
			int mu2 = GetDeviceAddress.GetEquipmentlocation(InMotherVehicle.ChildPosiDeviceCode); //æ¤æ¶çRGVåºè¯¥æ è´§
			if (GetDeviceAddress.Mucheywhaddres(InMotherVehicle.ChildPosiDeviceCode)) //å¤ææ è´§
			{
			if (mu2 == InMotherVehicle.Motherinlaw)
			{
			//å¤ææ¯è½¦æ¯å¦æä»»å¡
			Dt_Task muche1task = _taskService.MothermachinemovementTask2(InMotherVehicle.ChildPosiDeviceCode);
			if (muche1task == null)
			{
			RGVMovetask(InMotherVehicle.ZicheMotherinlaw, InMotherVehicle.ChildPosiDeviceCode);
			}
			}

			}
			}


			}
			else if (getStackerObject.RGVCurrentlocation == RGVTaskdevice.WaitmomentTwo) //éè¦å¤æ3å··éæ¯è½¦æ¯å¦å¨åè´§ç«å°
			@@ -434,7 +495,13 @@
			}
			else
			{
			RGVMovetask(Muche.ZicheMotherinlaw, Muche.ChildPosiDeviceCode); //å¦ææ²¡æä»»å¡ï¼åå¯ä»¥è¿è¡ç§»å¨åºæ¥
			//å¤ææ¯è½¦æ¯å¦æä»»å¡
			Dt_Task _Task1 = _taskService.MothermacTask(Muche.ChildPosiDeviceCode);
			if (_Task1 == null)
			{
			RGVMovetask(Muche.ZicheMotherinlaw, Muche.ChildPosiDeviceCode); //å¦ææ²¡æä»»å¡ï¼åå¯ä»¥è¿è¡ç§»å¨åºæ¥
			}

			}
			}
			}
			@@ -480,7 +547,12 @@
			Dt_Task task = _taskService.MothermachinemovementTask2(Muche2.ChildPosiDeviceCode); //è·åå°æ¯è½¦ç§»å¨ä»»å¡
			if (task == null)
			{
			RGVMovetask(Muche2.ZicheMotherinlaw, Muche2.ChildPosiDeviceCode); //å¦ææ²¡æä»»å¡ï¼åå¯ä»¥è¿è¡ç§»å¨åºæ¥
			Dt_Task _Task1 = _taskService.MothermacTask(Muche2.ChildPosiDeviceCode);
			if (_Task1 == null)
			{
			RGVMovetask(Muche2.ZicheMotherinlaw, Muche2.ChildPosiDeviceCode); //å¦ææ²¡æä»»å¡ï¼åå¯ä»¥è¿è¡ç§»å¨åºæ¥
			}

			}
			}
			return null;
			@@ -511,7 +583,7 @@
			AGVStation Muche2 = _agvStationService.GetMothervehicle(aGVStation.MotherCardeputy); //åä¾§æ¯è½¦
			int mucheaddre2 = GetDeviceAddress.GetEquipmentlocation(Muche2.ChildPosiDeviceCode);

			if ((neizichecurraddres == neiziche.WaitmomentOne \|\| neizichecurraddres == neiziche.WaitmomentTwo) && task == null && mucheaddre1 == Muche.Motherinlaw && mucheaddre2 == Muche2.Motherinlaw)
			if ((neizichecurraddres == neiziche.WaitmomentOne \|\| neizichecurraddres == neiziche.WaitmomentTwo) && task == null && neizichecurraddres != neiziche.HCJStorageaddress && mucheaddre1 == Muche.Motherinlaw && mucheaddre2 == Muche2.Motherinlaw)
			{
			return _Task;
			}
			@@ -624,8 +696,14 @@
			Dt_Task Muche2Task = _taskService.ObtainMuChetask(ZicheinnerSide.MotherCardeputy.ToString());
			if (Muche2Task == null) return null;

			//è·ååè½¦æ¯å¦æä»»å¡
			Dt_Task zicheTASK = _taskService.GetChariotTaskBool(ZicheinnerSide.ChildPosiDeviceCode);
			if (zicheTASK != null) return null;

			//è·å2å··éåè½¦æ¯å¦æä»»å¡
			var muche1 = _agvStationService.GetMothervehicle(ZicheinnerSide.MotherCarDeviceCode);
			Dt_Task Muche1 = _taskService.GetChariotTaskBool(muche1.ChildPosiDeviceCode.ToString());
			if(Muche1!=null) return null;

			return Muche2Task;
			}
			@@ -635,15 +713,11 @@
			Dt_Task Muche3Task = _taskService.ObtainMuChetask(ZicheinnerSide.MotherCarDeviceCode.ToString());
			if (Muche3Task == null) return null;

			//å¤æåè½¦æ¯å¦ææéè¦åè´§çä»»å¡
			Dt_Task zicheTASK = _taskService.GetChariotTaskBool(ZicheinnerSide.ChildPosiDeviceCode);
			//å¤æåè½¦æ¯å¦æè¦åHCJä»»å¡
			Dt_Task zicheTASK = _taskService.GetHCJTaskBool(ZicheinnerSide.ChildPosiDeviceCode, ZicheinnerSide.HCJStorageaddress);
			if (zicheTASK != null) return null;

			if (curraddZiChe == ZicheinnerSide.WaitmomentTwo \|\| curraddZiChe == ZicheinnerSide.WaitmomentOne)
			{
			return Muche3Task;
			}
			return null;
			return Muche3Task;
			}
			public Dt_Task? OutboundSideAisle4(int curraddZiChe, AGVStation ZicheinnerSide)
			{
			@@ -651,25 +725,16 @@
			Dt_Task Muche4Task = _taskService.ObtainMuChetask(ZicheinnerSide.MotherCardeputy.ToString());
			if (Muche4Task == null) return null;

			//å¤ææ¯å¦æéè¦åHCJçä»»å¡
			Dt_Task zicheTASK = _taskService.GetChariotTaskBool(ZicheinnerSide.ChildPosiDeviceCode);
			if (zicheTASK != null) return null;

			if (curraddZiChe == ZicheinnerSide.WaitmomentOne)
			{
			//å¤æ3å··éæ¯å¦æåºåºçä»»å¡
			var muche3 = _agvStationService.GetMothervehicle(ZicheinnerSide.MotherCarDeviceCode);
			Dt_Task muchetask = _taskService.OutMothermaTask(muche3.ChildPosiDeviceCode);
			if (muchetask != null) return null;

			}







			if ( \|\| curraddZiChe == ZicheinnerSide.WaitmomentTwo)
			{
			return Muche4Task;
			}
			return null;
			return Muche4Task;
			}

			#endregion
			@@ -700,6 +765,16 @@
			if (muche2addres == muchestation.Motherinlaw)
			{
			return dtTasks;
			}
			else
			{
			//å¦ææ¯è½¦æ è´§ï¼åä¸å°éé¢å»
			bool NoCargobool = GetDeviceAddress.Mucheywhaddres(muchestation.ChildPosiDeviceCode);
			if (NoCargobool)
			{
			//ä¸åæ¯è½¦ç§»å¨ä»»å¡
			RGVMovetask(muchestation.Motherinlaw, muchestation.ChildPosiDeviceCode);
			}
			}
			}
			}
			@@ -737,6 +812,16 @@
			{
			return dtTasks;
			}
			else
			{
			//å¦ææ¯è½¦æ è´§ï¼åä¸å°éé¢å»
			bool NoCargobool = GetDeviceAddress.Mucheywhaddres(muchestation.ChildPosiDeviceCode);
			if (NoCargobool)
			{
			//ä¸åæ¯è½¦ç§»å¨ä»»å¡
			RGVMovetask(muchestation.Motherinlaw, muchestation.ChildPosiDeviceCode);
			}
			}
			}

			}
			@@ -754,6 +839,25 @@

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

			//éè¦å¤ææ¯è½¦æ¯å¦æè´§ï¼æ è´§åä¸æ¹è³ç§»å¨ä»»å¡
			bool NoCargobool = GetDeviceAddress.Mucheywhaddres(mu1rgv.ChildPosiDeviceCode);
			if (NoCargobool)
			{
			//ä¸åæ¯è½¦ç§»å¨ä»»å¡
			RGVMovetask(mu1rgv.Motherinlaw, mu1rgv.ChildPosiDeviceCode);
			}


			bool NoCargobool2 = GetDeviceAddress.Mucheywhaddres(mu2rgv.ChildPosiDeviceCode);
			if (NoCargobool2)
			{
			//ä¸åæ¯è½¦ç§»å¨ä»»å¡
			RGVMovetask(mu2rgv.Motherinlaw, mu2rgv.ChildPosiDeviceCode);
			}




			if (mu1 == mu1rgv.Motherinlaw && mu2 == mu2rgv.Motherinlaw)
			{
			@@ -819,7 +923,12 @@
			int mucboject4 = GetDeviceAddress.GetEquipmentlocation(muchestation2.ChildPosiDeviceCode);
			if (mucboject4 == muchestation2.Motherinlaw)
			{
			return task;
			//å¤æåè½¦æ¯å¦æåè´§ä»»å¡
			Dt_Task chachetask = _taskService.ChacheGetFinhuoTask("RGV118");
			if(chachetask == null)
			{
			return task;
			}
			}

			}
			@@ -876,7 +985,7 @@
			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 != zichestation.ZicheMotherinlaw)
			&& (getStackerObject.RGVCurrentlocation == zichestation.WaitmomentOne \|\| getStackerObject.RGVCurrentlocation == zichestation.WaitmomentTwo \|\| getStackerObject.RGVCurrentlocation==1171) && getStackerObject.RGVCurrentlocation != zichestation.ZicheMotherinlaw)
			{
			RGVMovetask(GdZiche.Motherinlaw, GdZiche.ChildPosiDeviceCode);
			}
			@@ -901,7 +1010,7 @@
			{
			RGVMovetask(GdZiche.WaitmomentOne, GdZiche.ChildPosiDeviceCode);
			}
			else if (GdZiche.MotherCardeputy == RGVCurrentlocation && RGVCurrentlocation == 1171)
			else if (GdZiche.MotherCardeputy == RGVCurrentlocation \|\| RGVCurrentlocation == 1171)
			{
			RGVMovetask(GdZiche.WaitmomentTwo, GdZiche.ChildPosiDeviceCode);
			}
			@@ -918,14 +1027,19 @@
			{
			if (GdZiche.Station_Area == 5)
			{
			if (GdZiche.MotherCarDeviceCode == RGVCurrentlocation \|\| GdZiche.HCJStorageaddress == RGVCurrentlocation)
			Dt_Task task = _taskService.GetChariotTaskBool(GdZiche.ChildPosiDeviceCode);
			if (task == null && RgvCraneStatusValue == (int)RgvEquipmentStatus.NoCargo)
			{
			RGVMovetask(GdZiche.WaitmomentOne, GdZiche.ChildPosiDeviceCode);
			if (GdZiche.MotherCarDeviceCode == RGVCurrentlocation \|\| GdZiche.HCJStorageaddress == RGVCurrentlocation)
			{
			RGVMovetask(GdZiche.WaitmomentOne, GdZiche.ChildPosiDeviceCode);
			}
			else if (GdZiche.MotherCardeputy == RGVCurrentlocation)
			{
			RGVMovetask(GdZiche.WaitmomentTwo, GdZiche.ChildPosiDeviceCode);
			}
			}
			else if (GdZiche.MotherCardeputy == RGVCurrentlocation)
			{
			RGVMovetask(GdZiche.WaitmomentTwo, GdZiche.ChildPosiDeviceCode);
			}

			}
			else
			{
			@@ -952,6 +1066,13 @@
			}

			}
			}else if(task != null && RgvCraneStatusValue == (int)RgvEquipmentStatus.NoCargo)
			{
			if (GdZiche.HCJStorageaddress == RGVCurrentlocation)
			{
			//å¦æå¨2å··éçæ¯è½¦ï¼åå¯ä»¥æ¾åè½¦æ¥1å·çå¾ç¹ï¼å¦æå¨HCJåå¯ä»¥è®©åè½¦å»2å·
			RGVMovetask(GdZiche.WaitmomentTwo, GdZiche.ChildPosiDeviceCode);
			}
			}
			}
			}