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huanghongfeng

2025-09-26 83f3c63f1cae6224320a8d19251e3bc0404da096

 ´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;
@@ -12,6 +13,7 @@
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;
@@ -67,11 +69,11 @@
                    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)
@@ -79,10 +81,8 @@

                        //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);
                        Dt_Task task = GetTask(speStackerCrane.DeviceCode,getStackerObject);
                        if (task != null)
                        {
                            //调取写入RGV小车任务
@@ -94,11 +94,19 @@
                                _taskService.UpdateTaskStatusToNext(task);
                            }
                        }
                        else
                        {
                            if(speStackerCrane.DeviceCode=="RGV101" || speStackerCrane.DeviceCode == "RGV101")
                            {
                                //当没任务的时候，则进行移动
                                Returnposition(speStackerCrane.DeviceCode, getStackerObject.RGVCurrentlocation);
                            }
                                
                        }
                        

                    }
                }


            }
            catch (Exception ex)
            {
@@ -107,135 +115,487 @@
            return Task.CompletedTask;
        }

        private Dt_Task? GetTask(string DeviceCode)
        private Dt_Task? GetTask(string DeviceCode, GetStackerObject getStackerObject)
        {
            Dt_Task task = _taskService.QueryStackerCraneTask(DeviceCode);
            if (task == null) return null;

            return task.TaskType switch
            // 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)TaskInboundTypeEnum.Inbound => HandleInboundTask(task),
                (int)TaskOutboundTypeEnum.Outbound => HandleOutboundTask(task),
                (int)RGVTasktype.Inbound => HandleInboundTask(RGVTaskdevice, getStackerObject),
                (int)RGVTasktype.Outbound => OutboundEquipmentTask(RGVTaskdevice, getStackerObject),
                _ => 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)
        private Dt_Task? HandleInboundTask(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
        {
            try
            if(RGVTaskdevice.Station_material== (int)RGVEquipment.InRGVForklift && getStackerObject.RgvCraneStatusValue== RgvEquipmentStatus.NoCargo)
            {
                //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 _taskService.GetInkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode, 1);
            }
            else if (RGVTaskdevice.Station_material == (int)RGVEquipment.InRGVForklift && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.HasCargo)
            {
                return _taskService.GetInkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode, 2);
            }else if (RGVTaskdevice.Station_material == (int)RGVEquipment.Corridorcar && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.NoCargo)
            {
                return ZichePickUpAisle(RGVTaskdevice, getStackerObject);
            }else if (RGVTaskdevice.Station_material == (int)RGVEquipment.Corridorcar && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.HasCargo)
            {
                return GoodsPlacedCorridor(RGVTaskdevice, getStackerObject);
            }
            else if (RGVTaskdevice.Station_material == (int)RGVEquipment.Corridorcar && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.NoCargo)
            {
                return ZicheMobile(RGVTaskdevice, getStackerObject);
            }
            else if (RGVTaskdevice.Station_material == (int)RGVEquipment.Mothertrailer && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.HasCargo)
            {
                return MotherVehicleMovement(RGVTaskdevice);
            }
            else { return null; }

        }


        #region è¿‡é“子车进行取货
        public Dt_Task? ZichePickUpAisle(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
        {
            //获取子车取货任务
            Dt_Task dt_Task = _taskService.GetInzicheTask(RGVTaskdevice.ChildPosiDeviceCode,1);
            if(dt_Task.CurrentAddress== getStackerObject.RGVCurrentlocation.ToString())
            {
                return dt_Task;
            }
            else
            {
                //如果不等于，则进行判断子车在哪个位置
                if (RGVTaskdevice.Station_Area == 1)
                {
                    return task;
                    // æ ¹æ®å­è½¦ä½ç½®å¤„理不同情况
                    switch (getStackerObject.RGVCurrentlocation)
                    {
                        case int Waddress when Waddress == RGVTaskdevice.MotherCarDeviceCode:
                            return dt_Task;
                        case int Naddress when Naddress == RGVTaskdevice.MotherCardeputy:
                            return HandleMedialCase(dt_Task, RGVTaskdevice.MotherCarDeviceCode);
                        case int HCJaddress when HCJaddress == RGVTaskdevice.HCJStorageaddress:
                            return HandleMedialCase2(dt_Task, RGVTaskdevice);
                        default: return null;
                    }
                }
                else
                {
                    //取HCJ位的料判断
                    switch (getStackerObject.RGVCurrentlocation)
                    {
                        case int Waddress when Waddress == RGVTaskdevice.MotherCarDeviceCode:
                            return dt_Task;
                        case int Naddress when Naddress == RGVTaskdevice.MotherCardeputy:
                            return HandleMedialCase(dt_Task, RGVTaskdevice.MotherCarDeviceCode);
                        default: return null;
                    }
                }

            }
            catch (Exception ex)
        }
        /// <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)
            {
                //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;
                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, GetStackerObject getStackerObject)
        {
            Dt_Task task = _taskService.GetInzicheTask(RGVTaskdevice.ChildPosiDeviceCode, 2);
            int nexaddres = int.Parse(task.NextAddress);
            switch (nexaddres)
            {
                case int Whcjaddress when Whcjaddress == RGVTaskdevice.MotherCarDeviceCode:    //放货点在第一个过道点
                    return MotherCarMoves(task, RGVTaskdevice);
                case int Waddress when Waddress == RGVTaskdevice.MotherCardeputy:              //放货点在第二个过道点
                    return MotherCarMovesinside(task, RGVTaskdevice);
                case int HCJaddress when HCJaddress == RGVTaskdevice.HCJStorageaddress:        //放货点在HCJ上
                    return HCJMotherCarMovesinside(task, RGVTaskdevice);
                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.GetEquipmentInMuche(Muche.ChildPosiDeviceCode);
            if (motherCarAddress == Muche.ZicheMotherinlaw) return _Task;
            if(motherCarAddress!=0) RGVMovetask(Muche.ZicheMotherinlaw, aGVStation.ChildPosiDeviceCode);

            return null;
        }

        private Dt_Task? HandleZicheFinish(Dt_Task task)
        /// <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)
        {
            //获取放货地址
            AGVStation aGVStation = _agvStationService.GetAllStationByDeviceCode(int.Parse(task.NextAddress));
            AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode);  //外侧母车
            AGVStation Muche2 = _agvStationService.GetMothervehicle(aGVStation.MotherCardeputy);    //内侧母车

            //分3区域进行放货
            return aGVStation.Station_Area switch
            int motherCarAddress = GetDeviceAddress.GetEquipmentInMuche(Muche.ChildPosiDeviceCode);
            int motherCarAddress2 = GetDeviceAddress.GetEquipmentInMuche(Muche2.ChildPosiDeviceCode);
            // å¦‚果母车不在预期位置，下发移动任务
            if (motherCarAddress != Muche.Motherinlaw && motherCarAddress != 0)
            {
                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
                RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
            }
            if (motherCarAddress2 != Muche2.ZicheMotherinlaw && motherCarAddress2 != 0)
            {
                RGVMovetask(Muche2.ZicheMotherinlaw, Muche2.ChildPosiDeviceCode);
            }
            if (motherCarAddress == Muche.Motherinlaw && motherCarAddress2 == Muche2.ZicheMotherinlaw) return _Task;
            // æ¯è½¦å·²åœ¨æ­£ç¡®ä½ç½®
            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)
        {
            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.GetEquipmentInMuche(Muche.ChildPosiDeviceCode);
            int motherCarAddress2 = GetDeviceAddress.GetEquipmentInMuche(Muche2.ChildPosiDeviceCode);
            int ZiCarAddress3 = GetDeviceAddress.GetEquipmentInMuche(Ziche3.ChildPosiDeviceCode);
            // å¦‚果母车不在预期位置，下发移动任务
            if (motherCarAddress != Muche.Motherinlaw && motherCarAddress != 0)
            {
                RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
            }
            if (motherCarAddress2 != Muche2.Motherinlaw && motherCarAddress2 != 0)
            {
                RGVMovetask(Muche2.Motherinlaw, Muche2.ChildPosiDeviceCode);
            }
            if (ZiCarAddress3 == Ziche3.HCJStorageaddress && ZiCarAddress3!=0)
            {
                //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.GetEquipmentInMuche(MucheN.ChildPosiDeviceCode); //获取到母车当前位置
                    if (motNCarAddress!=0)
                    {
                        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.GetEquipmentInMuche(MucheN.ChildPosiDeviceCode); //获取到母车当前位置
                    if (MucheN.Motherinlaw != motNCarAddress && motNCarAddress!=0)
                    {
                        RGVMovetask(MucheN.Motherinlaw, MucheN.ChildPosiDeviceCode);
                    }
                    AGVStation MucheN2 = _agvStationService.GetMothervehicle(Ziche3.MotherCardeputy);  //外侧母车
                    int motNCarAddress2 = GetDeviceAddress.GetEquipmentInMuche(MucheN2.ChildPosiDeviceCode); //获取到母车当前位置
                    if (MucheN2.ZicheMotherinlaw != motNCarAddress2 && motNCarAddress2!=0)
                    {
                        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 å­è½¦ç§»åŠ¨ä»»åŠ¡(后续可能需要优化一下)
        public Dt_Task? ZicheMobile(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
        {
            Dt_Task task = _taskService.GetInzicheTaskMobile(RGVTaskdevice.ChildPosiDeviceCode, 1);
            return task;
        }
        #endregion

        #region æ¯è½¦ç§»åŠ¨ä»»åŠ¡
        public Dt_Task? MotherVehicleMovement(AGVStation RGVTaskdevice)
        {
            Dt_Task task = _taskService.GetInzicheTaskMobile(RGVTaskdevice.ChildPosiDeviceCode, 2);
            int curradder = int.Parse(task.CurrentAddress);
            AGVStation GdZiche = _agvStationService.GetMotheaisle(curradder);
            int motherCarAddress = GetDeviceAddress.GetEquipmentInformation(GdZiche.ChildPosiDeviceCode);
            if (motherCarAddress != curradder && motherCarAddress!=0) return task;
            RGVMovetask(GdZiche.Motherinlaw, GdZiche.ChildPosiDeviceCode);
            return null;
        }
        #endregion

        #endregion

        #region å‡ºåº“方法
        public Dt_Task? OutboundEquipmentTask(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
        {
            return (RGVTaskdevice.Station_material, getStackerObject.RgvCraneStatusValue) switch
            {
                ((int)RGVEquipment.Mothertrailer, RgvEquipmentStatus.HasCargo)
                    => Mothertaskdistribution(RGVTaskdevice),

                ((int)RGVEquipment.Corridorcar, RgvEquipmentStatus.NoCargo)
                    => ChildPickupAddres(RGVTaskdevice),

                ((int)RGVEquipment.Corridorcar, RgvEquipmentStatus.HasCargo)
                    => Findshippingtask(RGVTaskdevice),

                ((int)RGVEquipment.OutRGVForklift, RgvEquipmentStatus.NoCargo)
                    => _taskService.GetOutkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode,
                       RGVTaskdevice.HCJStorageaddress.ToString(), 1),

                ((int)RGVEquipment.OutRGVForklift, RgvEquipmentStatus.HasCargo)
                    => _taskService.GetOutkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode,
                       RGVTaskdevice.HCJStorageaddress.ToString(), 2),

                _ => null
            };
        }

        private Dt_Task? CheckMotherCarMove(Dt_Task task, AGVStation station, Func<Dt_Task, AGVStation, bool> moveFunc)
        {
            return moveFunc(task, station) ? task : null;
        }
        #region ä¸‹å‘母车任务，需要判断当前行小车在哪个位子

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

            AGVStation ZicheinnerSide = _agvStationService.GetMotheaisle(GdZiche.ZicheMotherinlaw);
            int ZiCarAddress3 = GetDeviceAddress.GetEquipmentInformation(ZicheinnerSide.ChildPosiDeviceCode);

            // ä½¿ç”¨switch语句提高可读性
            return GdZiche.Station_Area switch
            {
                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）
            }
                4 when ZiCarAddress3 != GdZiche.ZicheMotherinlaw
                    => _taskService.QueryStackerCraneTask(GdZiche.ChildPosiDeviceCode),

            return null;
        }
                3 when ZiCarAddress3 == ZicheinnerSide.HCJStorageaddress
                    => _taskService.QueryStackerCraneTask(GdZiche.ChildPosiDeviceCode),

        private Dt_Task? HandleZicheMoveFinish(Dt_Task task)
        {
            AGVStation aGVStation = _agvStationService.GetAllStationByDeviceCode(int.Parse(task.CurrentAddress));
            int zicheAddress = GetZichelocation(task, task.CurrentAddress);
                2 when ZiCarAddress3 != GdZiche.MotherCardeputy && ZiCarAddress3 != GdZiche.HCJStorageaddress
                    => _taskService.QueryStackerCraneTask(GdZiche.ChildPosiDeviceCode),

            //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;
                1 when ZiCarAddress3 == ZicheinnerSide.HCJStorageaddress
                    => _taskService.QueryStackerCraneTask(GdZiche.ChildPosiDeviceCode),

                _ => null
            };
        }
        #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 åˆ¤æ–­å·²ç§»åŠ¨å‡ºæ¥çš„母车，再判断小车位置
        public Dt_Task? ChildPickupAddres(AGVStation GdZiche)
        {
            int mcadder = GetMothercarlocation(_Task.TaskNum, aGVStation.Motherinlaw);      //获取到母车外侧位置
            if(mcadder != 0)
            {
                if (mcadder == int.Parse(_Task.CurrentAddress))
                {
                    return true;
                }
                 RGVMovetask(_Task.CurrentAddress, aGVStation.ChildPosiDeviceCode,_Task.TaskId);
            }
            return false;
            if (GdZiche.Station_Area == 5)
                return _taskService.ChildVehicleMission(GdZiche);

            var task = _taskService.ChildVehicleMission(GdZiche);

            // å¿«é€Ÿè¿”回条件检查
            if (task.CurrentAddress != GdZiche.HCJStorageaddress.ToString())
                return task;

            var innerStation = _agvStationService.GetZicheDeep(GdZiche.HCJStorageaddress);
            if (GetDeviceAddress.GetEquipmentInformation(innerStation.ChildPosiDeviceCode) != innerStation.HCJStorageaddress)
                return task;

            var motherStation = _agvStationService.GetMothervehicle(innerStation.MotherCarDeviceCode);
            if (GetDeviceAddress.ReturnCurrentStatus(motherStation.ChildPosiDeviceCode))
                RGVMovetask(innerStation.MotherCarDeviceCode, innerStation.ChildPosiDeviceCode);

            return null;
        }
        #endregion

        #region æŸ¥æ‰¾å­è½¦æ”¾è´§ä»»åŠ¡
        public Dt_Task? Findshippingtask(AGVStation GdZiche)
        {
            Dt_Task task = _taskService.GetFinhuoTask(GdZiche.ChildPosiDeviceCode);
            if (GetDeviceAddress.HCJIsstock(task.NextAddress)) return task;
            return null;
        }
        #endregion

        #endregion

        #region å‡ºåº“小车移动任务下发
        public void Returnposition(string DeviceCode, int RGVCurrentlocation)
        {
            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(DeviceCode);
            if (GdZiche.Station_Area == 1)
            {
                switch (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: break;
                }
            }
            else
            {
                switch (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
                        OutinnerSideMotherCar(GdZiche);
                        break;
                    default: break;
                }
            }
        }

        #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

        #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)
        {
            AGVStation Ziche3 = _agvStationService.GetZicheOuterSide(aGVStation.HCJStorageaddress);    //外侧子车
            int ZiCarAddress3 = GetDeviceAddress.GetEquipmentlocation(Ziche3.ChildPosiDeviceCode);
            if (ZiCarAddress3 == Ziche3.HCJStorageaddress)
            {
                OutHCJMotherCar(Ziche3);
            }
            else
            {
                RGVMovetask(aGVStation.HCJStorageaddress, aGVStation.ChildPosiDeviceCode);
            }
        }
        private void OutinnerSideMotherCar(AGVStation aGVStation)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode);  //外侧母车
            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.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);
            }
            OutinnerSideNMotherCar(aGVStation);

        }
        #endregion

        #endregion


        /// <summary>
        /// å­æ¯è½¦ç§»åŠ¨ä»»åŠ¡
@@ -243,164 +603,12 @@
        /// <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>
@@ -413,9 +621,9 @@
            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
            };
@@ -433,58 +641,26 @@
        /// <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
            {
                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);
                DeviceProDTO? deviceProDTO = GetDeviceAddress.GetRGVDeviceProDTO(Commonstacker, DeviceCode, "RGV_Rgvtaskstutas");
                int MCGStatus = GetDeviceAddress.RGVGetLine(Commonstacker, deviceProDTO.DeviceProAddress);


                if (Commonstacker.IsConnected)
                {
                    if (MCGStatus == (int)RgvJobCraneStatus.Ready)