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5 小时以前 6ba24a49c009cca01d9c02b9dae692a53b8be116

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

@@ -12,6 +12,7 @@
using System.Diagnostics.Eventing.Reader;
using System.Linq;
using System.Reflection.Metadata;
using System.Runtime.CompilerServices;
using System.Text;
using System.Threading.Tasks;
using WIDESEA_Common.Log;
@@ -67,19 +68,17 @@
                    GetStackerObject getStackerObject = new GetStackerObject(speStackerCrane);

                    //读取设备完成信息
                    if (getStackerObject.StaclerkJobJobStatusValue == RgvJobCraneStatus.Completed && getStackerObject.CurrentRgvtaskid!=0)
                    if (getStackerObject.StaclerkJobJobStatusValue == RgvJobCraneStatus.Completed && getStackerObject.CurrentRgvtaskid != 0)
                    {
                        _taskService.UpdateTaskStatus(getStackerObject.CurrentRgvtaskid);
                        _taskService.UpdateTaskStatus(getStackerObject.CurrentRgvtaskid,2);
                    }
                    


                    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);
@@ -94,6 +93,43 @@
                                _taskService.UpdateTaskStatusToNext(task);
                            }
                        }
                        else
                        {
                            int HCJGoodsplatform = 1170;    //定义的放货站台

                            //判断母车是否需要进行移动
                            AGVStation GdZiche = _agvStationService.Corridorequipment(speStackerCrane.DeviceCode);
                            if(GdZiche.Station_Area == 1)
                            {
                                switch (getStackerObject.RGVCurrentlocation)
                                {
                                    case int Whcjaddress when Whcjaddress == GdZiche.MotherCarDeviceCode:    //在第一个母车上
                                        RGVMovetask(HCJGoodsplatform, GdZiche.ChildPosiDeviceCode);
                                        break;
                                    case int Waddress when Waddress == GdZiche.MotherCardeputy:              //在第二个母车上
                                        OutNMotherCar(GdZiche.MotherCarDeviceCode);
                                        break;
                                    case int HCJaddress when HCJaddress == GdZiche.HCJStorageaddress:        //在HCJ站台上
                                        OutHCJMotherCar(GdZiche);
                                        break;
                                    default: return null;
                                }
                            }
                            else
                            {
                                switch (getStackerObject.RGVCurrentlocation)
                                {
                                    case int Whcjaddress when Whcjaddress == GdZiche.MotherCarDeviceCode:    //在第一个母车上，需要判断外侧子车是否在HCJ上
                                        OutinnerSideNMotherCar(GdZiche);
                                        break;
                                    case int Waddress when Waddress == GdZiche.MotherCardeputy:              //在第二个母车上，需要判断子车与外侧母车是否在过道上
                                        OutNMotherCar(GdZiche.MotherCarDeviceCode);
                                        break;
                                    default: return null;
                                }
                            }
                        }
                        

                    }
                }
@@ -124,11 +160,11 @@
        {
            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_InNew => task,
                (int)TaskInStatusEnum.RGV_InPickupFinish => HandlePickupFinish(task),
                (int)TaskInStatusEnum.RGV_InReleaseFinish => HandInneRouterSides(task),
                (int)TaskInStatusEnum.RGV_InZicheFinish => HandleZicheFinish(task),
                (int)TaskInStatusEnum.RGV_InZicheReleaseFinish => HandleZicheReleaseFinish(task),
                (int)TaskInStatusEnum.RGV_InZicheReleaseFinish => task,
                (int)TaskInStatusEnum.RGV_InZichemoveFinish => HandleZicheMoveFinish(task),
                _ => null
            };
@@ -150,6 +186,8 @@
        }

        #region å…¥åº“方法

        #region å…¥åº“口取货完成后，进行放货（HCJ,异常出库口）
        private Dt_Task? HandlePickupFinish(Dt_Task task)
        {
            try
@@ -157,8 +195,8 @@
                //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);
                DeviceProDTO? deviceProDTO = GetDeviceAddress.GetDeviceProDTO(Commonstacker, task.NextAddress, "HCJ_GoodsStatus");
                int HCJGStatus = GetDeviceAddress.GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
                if (HCJGStatus == 0)    //为无货
                {
                    return task;
@@ -174,68 +212,306 @@
            return null;
        }

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

            //分3区域进行放货
            return aGVStation.Station_Area switch
        #region å…¥åº“口放货完成后，进行取货内容
        private Dt_Task? HandInneRouterSides(Dt_Task task)
        {
            // æ ¹æ®è®¾å¤‡åç§°ï¼ŒèŽ·å–到设备相关数据
            AGVStation currentStation = _agvStationService.Corridorequipment(task.Roadway);

            // èŽ·å–子车位置
            int zicheAddress = GetDeviceAddress.GetEquipmentlocation(currentStation.ChildPosiDeviceCode);
            if (currentStation.Station_Area == 1)
            {
                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
            };
                // æ ¹æ®å­è½¦ä½ç½®å¤„理不同情况
                switch (zicheAddress)
                {
                    case int Whcjaddress when Whcjaddress == int.Parse(task.CurrentAddress):
                        return task;
                    case int Waddress when Waddress == currentStation.MotherCarDeviceCode:
                        return task;
                    case int Naddress when Naddress == currentStation.MotherCardeputy:
                        return HandleMedialCase(task, currentStation.MotherCarDeviceCode);
                    case int HCJaddress when HCJaddress == currentStation.HCJStorageaddress:
                        return HandleMedialCase2(task, currentStation);
                    default: return null;
                }
            }
            else
            {
                //取HCJ位的料判断
                switch (zicheAddress)
                {
                    case int Whcjaddress when Whcjaddress == int.Parse(task.CurrentAddress):
                        return task;
                    case int Waddress when Waddress == currentStation.MotherCarDeviceCode:
                        return task;
                    case int Naddress when Naddress == currentStation.MotherCardeputy:
                        return HandleMedialCase(task, currentStation.MotherCarDeviceCode);
                    default: return null;
                }
            }
        }

        private Dt_Task? CheckMotherCarMove(Dt_Task task, AGVStation station, Func<Dt_Task, AGVStation, bool> moveFunc)
        /// <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)
        {
            return moveFunc(task, station) ? task : null;
            AGVStation Muche = _agvStationService.GetMothervehicle(currentStation);
            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
            if (motherCarAddress == Muche.Motherinlaw) return task;
            RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
            return null;
        }

        private Dt_Task? HandleZicheReleaseFinish(Dt_Task task)
        /// <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 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
            }
            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）
            }
            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 å–货完成后，进行放货操作
        private Dt_Task? HandleZicheFinish(Dt_Task task)
        {
            // æ ¹æ®è®¾å¤‡åç§°ï¼ŒèŽ·å–到设备相关数据
            AGVStation GdaoRgvStation = _agvStationService.Corridorequipment(task.Roadway);
            int nexaddres = int.Parse(task.NextAddress);
            switch (nexaddres)
            {
                case int Whcjaddress when Whcjaddress == GdaoRgvStation.MotherCarDeviceCode:    //放货点在第一个过道点
                    return MotherCarMoves(task, GdaoRgvStation);
                case int Waddress when Waddress == GdaoRgvStation.MotherCardeputy:              //放货点在第二个过道点
                    return MotherCarMovesinside(task, GdaoRgvStation);
                case int HCJaddress when HCJaddress == GdaoRgvStation.HCJStorageaddress:        //放货点在HCJ上
                    return HCJMotherCarMovesinside(task, GdaoRgvStation);
                default: return null;
            }
        }


        //区域一判断母车是否到位，可立即放货
        private Dt_Task? MotherCarMoves(Dt_Task _Task, AGVStation aGVStation)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.ZicheMotherinlaw);
            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
            if (motherCarAddress == Muche.ZicheMotherinlaw) return _Task;
            RGVMovetask(Muche.ZicheMotherinlaw, aGVStation.ChildPosiDeviceCode);
            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)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode);  //外侧母车
            AGVStation Muche2 = _agvStationService.GetMothervehicle(aGVStation.MotherCardeputy);    //内侧母车

            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
            int motherCarAddress2 = GetDeviceAddress.GetEquipmentlocation(Muche2.ChildPosiDeviceCode);
            // 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.ZicheMotherinlaw)
            {
                RGVMovetask(Muche2.ZicheMotherinlaw, Muche2.ChildPosiDeviceCode);
            }
            if (motherCarAddress == Muche.Motherinlaw && motherCarAddress2 == Muche2.ZicheMotherinlaw) return _Task;
            // æ¯è½¦å·²åœ¨æ­£ç¡®ä½ç½®
            return null;
        }
        private Dt_Task? HCJMotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode);  //外侧母车
            AGVStation Muche2 = _agvStationService.GetMothervehicle(aGVStation.MotherCardeputy);    //内侧母车

            AGVStation Ziche3 = _agvStationService.GetZicheDeep(aGVStation.HCJStorageaddress);    //内侧子车

            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
            int motherCarAddress2 = GetDeviceAddress.GetEquipmentlocation(Muche2.ChildPosiDeviceCode);
            int ZiCarAddress3 = GetDeviceAddress.GetEquipmentlocation(Ziche3.ChildPosiDeviceCode);
            // 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(ZiCarAddress3== Ziche3.HCJStorageaddress)
            {
                //判断目标站台是入库到几号堆垛机
                if (_Task.TargetAddress == "3")     //入库至3号堆垛机
                {
                    //判断外侧母车位置（2区域）
                    AGVStation MucheN = _agvStationService.GetMothervehicle(Ziche3.MotherCarDeviceCode);  //外侧母车
                    int motNCarAddress = GetDeviceAddress.GetEquipmentlocation(MucheN.ChildPosiDeviceCode); //获取到母车当前位置
                    if(MucheN.ZicheMotherinlaw== motNCarAddress)
                    {
                        RGVMovetask(Ziche3.MotherCarDeviceCode, Ziche3.ChildPosiDeviceCode);
                    }
                    else
                    {
                        RGVMovetask(MucheN.ZicheMotherinlaw, MucheN.ChildPosiDeviceCode);
                    }
                }
                else if (_Task.TargetAddress == "4")    //入库至4号堆垛机
                {
                    //判断外侧母车位置（2区域）
                    AGVStation MucheN = _agvStationService.GetMothervehicle(Ziche3.MotherCarDeviceCode);  //外侧母车
                    int motNCarAddress = GetDeviceAddress.GetEquipmentlocation(MucheN.ChildPosiDeviceCode); //获取到母车当前位置
                    if (MucheN.Motherinlaw != motNCarAddress)
                    {
                        RGVMovetask(MucheN.Motherinlaw, MucheN.ChildPosiDeviceCode);
                    }
                    AGVStation MucheN2 = _agvStationService.GetMothervehicle(Ziche3.MotherCardeputy);  //外侧母车
                    int motNCarAddress2 = GetDeviceAddress.GetEquipmentlocation(MucheN2.ChildPosiDeviceCode); //获取到母车当前位置
                    if (MucheN2.ZicheMotherinlaw != motNCarAddress2)
                    {
                        RGVMovetask(MucheN2.ZicheMotherinlaw, MucheN2.ChildPosiDeviceCode);
                    }

                    if(MucheN.Motherinlaw == motNCarAddress && MucheN2.ZicheMotherinlaw == motNCarAddress2)
                    {
                        RGVMovetask(Ziche3.MotherCardeputy, Ziche3.ChildPosiDeviceCode);
                    }
                }
            }

            if (motherCarAddress == Muche.Motherinlaw && motherCarAddress2 == Muche2.Motherinlaw && ZiCarAddress3 != Ziche3.HCJStorageaddress) return _Task;
            // æ¯è½¦å·²åœ¨æ­£ç¡®ä½ç½®
            return null;
        }
        #endregion

        #region æ¯è½¦ç§»åŠ¨è‡³å…¥åº“口
        private Dt_Task? HandleZicheMoveFinish(Dt_Task task)
        {
            AGVStation aGVStation = _agvStationService.GetAllStationByDeviceCode(int.Parse(task.CurrentAddress));
            int zicheAddress = GetZichelocation(task, task.CurrentAddress);
            int curradder = int.Parse(task.CurrentAddress);
            AGVStation GdZiche = _agvStationService.GetMotheaisle(curradder);
            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(GdZiche.ChildPosiDeviceCode);
            if (motherCarAddress != curradder) return task;
            RGVMovetask(GdZiche.Motherinlaw, GdZiche.ChildPosiDeviceCode);
            return null;
        }
        #endregion

            //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


        #region å‡ºåº“方法

        #region å¤–侧小车回归到起始点位
        /// <summary>
        /// åˆ¤æ–­æ”¾ç¬¬äºŒä¸ªæ¯è½¦ä½ç½®
        /// </summary>
        /// <param name="_Task"></param>
        /// <param name="aGVStation"></param>
        /// <returns></returns>
        private void OutNMotherCar(int MotherCarDeviceCode)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(MotherCarDeviceCode);  //外侧母车
            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
            if (motherCarAddress != Muche.Motherinlaw)
            {
                RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
            }
        }
        private void OutHCJMotherCar(AGVStation aGVStation)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode);  //外侧母车
            AGVStation Muche2 = _agvStationService.GetMothervehicle(aGVStation.MotherCardeputy);    //内侧母车
            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
            int motherCarAddress2 = GetDeviceAddress.GetEquipmentlocation(Muche2.ChildPosiDeviceCode);
            // 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);
            }
        }
        #endregion




        //区域一判断母车是否到位，可立即放货
        private bool MotherCarMoves(Dt_Task _Task, AGVStation aGVStation)
        #region å¤–侧小车回归到起始点位
        /// <summary>
        /// åœ¨ç¬¬ä¸€ä¸ªä½ç½®ï¼Œåˆ™åˆ¤æ–­å¤–侧子车是否在HCJ站台下面
        /// </summary>
        /// <param name="_Task"></param>
        /// <param name="aGVStation"></param>
        /// <returns></returns>
        private void OutinnerSideNMotherCar(AGVStation aGVStation)
        {
            int mcadder = GetMothercarlocation(_Task.TaskNum, aGVStation.Motherinlaw);      //获取到母车外侧位置
            if(mcadder != 0)
            AGVStation Ziche3 = _agvStationService.GetZicheDeep(aGVStation.HCJStorageaddress);    //内侧子车
            int ZiCarAddress3 = GetDeviceAddress.GetEquipmentlocation(Ziche3.ChildPosiDeviceCode);
            if (ZiCarAddress3 == Ziche3.HCJStorageaddress)
            {
                if (mcadder == int.Parse(_Task.CurrentAddress))
                {
                    return true;
                }
                 RGVMovetask(_Task.CurrentAddress, aGVStation.ChildPosiDeviceCode,_Task.TaskId);

            }
            return false;
            else
            {
                //RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
            }
        }
        private void OutinnerSideMotherCar(AGVStation aGVStation)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode);  //外侧母车
            AGVStation Muche2 = _agvStationService.GetMothervehicle(aGVStation.MotherCardeputy);    //内侧母车
            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
            int motherCarAddress2 = GetDeviceAddress.GetEquipmentlocation(Muche2.ChildPosiDeviceCode);
            // 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);
            }
        }
        #endregion


        #endregion



        /// <summary>
        /// å­æ¯è½¦ç§»åŠ¨ä»»åŠ¡
@@ -243,164 +519,12 @@
        /// <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>
@@ -413,16 +537,16 @@
            short locaticurr = task.RGVTaskType switch
            {
                _ when task.RGVTaskType == (short)RGVTaskTypeEnum.PickingUp ||
                       task.RGVTaskType == (short)RGVTaskTypeEnum.TravelingOnly
                       (task.RGVTaskType == (short)RGVTaskTypeEnum.TravelingOnly && task.TaskType != (int)TaskInStatusEnum.RGV_InZichemoveFinish)
                    => short.Parse(task.CurrentAddress),
                _ when task.RGVTaskType == (short)RGVTaskTypeEnum.Placing
                _ when task.RGVTaskType == (short)RGVTaskTypeEnum.Placing || (task.RGVTaskType == (short)RGVTaskTypeEnum.TravelingOnly && task.TaskType== (int)TaskInStatusEnum.RGV_InZichemoveFinish)
                    => short.Parse(task.NextAddress),
                _ => (short)0
            };
            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;
        }

@@ -433,49 +557,15 @@
        /// <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
            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
@@ -483,8 +573,8 @@
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);
                CommonStackerCrane Commonstacker = (CommonStackerCrane)device;

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