1

huanghongfeng

2025-10-22 8d558cb173873004cd8a0d6c12f37865f03d7a4f

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

@@ -624,8 +624,14 @@
            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;
        }
@@ -635,15 +641,11 @@
            Dt_Task Muche3Task = _taskService.ObtainMuChetask(ZicheinnerSide.MotherCarDeviceCode.ToString());
            if (Muche3Task == null) return null;

            //判断子车是否有有需要取货的任务
            Dt_Task zicheTASK = _taskService.GetChariotTaskBool(ZicheinnerSide.ChildPosiDeviceCode);
            //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;

            if (curraddZiChe == ZicheinnerSide.WaitmomentTwo || curraddZiChe == ZicheinnerSide.WaitmomentOne)
            {
                return Muche3Task;
            }
            return null;
            return Muche3Task;
        }
        public Dt_Task? OutboundSideAisle4(int curraddZiChe, AGVStation ZicheinnerSide)
        {
@@ -651,25 +653,16 @@
            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;

            if (curraddZiChe == ZicheinnerSide.WaitmomentOne)
            {
            //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;

            }

            

            



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

        #endregion
@@ -901,7 +894,7 @@
                    {
                        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 +911,19 @@
            {
                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
                {