RuiShengZhiNeng/AoTanSiWCS.git

			@@ -136,7 +136,7 @@
			IsExecutingTask.TargetStation = station.remark;
			IsExecutingTask.TaskState = (int)TaskOutStatusEnum.RGV_TransFer;
			}


			_taskRepository.UpdateData(IsExecutingTask);
			Thread.Sleep(1000);
			}
			@@ -154,62 +154,68 @@
			}
			else
			{

			Dt_Task taskNew = null;
			taskNew = GetTransFerTask(FirstRgv);
			if (taskNew == null)
			{
			taskNew = DispatchTask(FirstRgv);
			if (IsExistTransTask(FirstRgv))
			{
			taskNew = DispatchTask(FirstRgv);
			}
			}
			if (taskNew != null)
			{
			RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(taskNew);
			if (rgvTaskCommand != null)
			{
			Thread.Sleep(1000);
			bool sendFlag = SendCommand(FirstRgv, rgvTaskCommand);
			if (sendFlag)
			RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(taskNew);
			if (rgvTaskCommand != null)
			{
			if (taskNew.TaskState == (int)TaskInStatusEnum.RGV_TransFerFInish)
			Thread.Sleep(1000);
			bool sendFlag = SendCommand(FirstRgv, rgvTaskCommand);
			if (sendFlag)
			{
			taskNew.TaskState = (int)TaskInStatusEnum.RGV_InExecuting;
			_taskRepository.UpdateData(taskNew);
			Thread.Sleep(1000);
			}
			else if (taskNew.TaskState == (int)TaskOutStatusEnum.RGV_TransFerFInish)
			{
			taskNew.TaskState = (int)TaskOutStatusEnum.RGV_OutExecuting;
			_taskRepository.UpdateData(taskNew);
			Thread.Sleep(1000);
			}
			else if (taskNew.Remark != null)
			{
			taskNew.RGVName = "RGV02";
			taskNew.CurrentAddress = taskNew.Remark;
			taskNew.Remark = "";
			taskNew.TaskState = (int)TaskOutStatusEnum.RGV_TransFer;
			Dt_StationManager station = _stationManagerRepository.QueryFirst(x => x.stationChildCode == taskNew.NextAddress);
			taskNew.SourceStation = taskNew.CurrentAddress == "1025" ? 10 : 7;
			if (taskNew.TaskType == (int)TaskInboundTypeEnum.Inbound)
			if (taskNew.TaskState == (int)TaskInStatusEnum.RGV_TransFerFInish)
			{
			taskNew.TargetStation = station.stationRemark;
			taskNew.TaskState = (int)TaskInStatusEnum.RGV_InExecuting;
			_taskRepository.UpdateData(taskNew);
			Thread.Sleep(1000);
			}
			else if (taskNew.TaskState == (int)TaskOutStatusEnum.RGV_TransFerFInish)
			{
			taskNew.TaskState = (int)TaskOutStatusEnum.RGV_OutExecuting;
			_taskRepository.UpdateData(taskNew);
			Thread.Sleep(1000);
			}
			else if (taskNew.Remark != null)
			{
			taskNew.RGVName = "RGV02";
			taskNew.CurrentAddress = taskNew.Remark;
			taskNew.Remark = "";
			taskNew.TaskState = (int)TaskOutStatusEnum.RGV_TransFer;
			Dt_StationManager station = _stationManagerRepository.QueryFirst(x => x.stationChildCode == taskNew.NextAddress);
			taskNew.SourceStation = taskNew.CurrentAddress == "1025" ? 10 : 7;
			if (taskNew.TaskType == (int)TaskInboundTypeEnum.Inbound)
			{
			taskNew.TargetStation = station.stationRemark;
			}
			else
			{
			taskNew.TargetStation = station.remark;
			}
			_taskRepository.UpdateData(taskNew);
			Thread.Sleep(1000);
			}
			else
			{
			taskNew.TargetStation = station.remark;
			taskNew.RGVName = FirstRgv.DeviceCode;
			_taskRepository.UpdateData(taskNew);
			_taskService.UpdateTaskStatusToNext(taskNew.TaskNum);
			Thread.Sleep(1000);
			}
			_taskRepository.UpdateData(taskNew);
			Thread.Sleep(1000);
			}
			else
			{
			taskNew.RGVName = FirstRgv.DeviceCode;
			_taskRepository.UpdateData(taskNew);
			_taskService.UpdateTaskStatusToNext(taskNew.TaskNum);
			Thread.Sleep(1000);
			}
			}

			}
			}

			}
			}
			#region 璋冪敤浜嬩欢鎬荤嚎閫氱煡鍓嶇
			@@ -290,7 +296,7 @@
			IsExecutingTask.RGVName = "RGV01";
			IsExecutingTask.CurrentAddress = IsExecutingTask.Remark;
			IsExecutingTask.Remark = "";


			Dt_StationManager station = _stationManagerRepository.QueryFirst(x => x.stationChildCode == IsExecutingTask.NextAddress);
			IsExecutingTask.SourceStation = IsExecutingTask.CurrentAddress == "1025" ? 10 : 7;
			if (IsExecutingTask.TaskType == (int)TaskInboundTypeEnum.Inbound)
			@@ -321,13 +327,16 @@
			}
			else
			{

			Dt_Task taskNew = null;
			taskNew = GetTransFerTask(SecondRgv);
			if (taskNew == null)
			{
			taskNew = DispatchTask(SecondRgv);
			if (IsExistTransTask(SecondRgv))
			{
			taskNew = DispatchTask(SecondRgv);
			}
			}

			if (taskNew != null)
			{
			RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(taskNew);
			@@ -368,6 +377,7 @@
			}
			}
			}

			}
			}
			#region 璋冪敤浜嬩欢鎬荤嚎閫氱煡鍓嶇
			@@ -400,6 +410,7 @@
			LevelPoint = SecondRgv.GetValue<RGVDBName, int>(RGVDBName.LevelPoint),
			CurrentTaskNum = SecondRgv.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum),
			RGVAlarm = SecondRgv.GetValue<RGVDBName, uint>(RGVDBName.RGVAlarm),
			InStock = SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.InStock),
			SecondRgv.DeviceCode,
			SecondRgv.DeviceName,
			};
			@@ -520,7 +531,7 @@
			};
			SendCommand(commonRGVSecond, command);
			Thread.Sleep(3000);
			if (!commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running))
			if (!commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running) \|\| commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.Speed) == 0)
			{
			return null;
			}
			@@ -633,7 +644,7 @@
			};
			SendCommand(commonRGVFirst, command);
			Thread.Sleep(3000);
			if (!commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running))
			if (!commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running) \|\| commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.Speed) == 0)
			{
			return null;
			}
			@@ -716,7 +727,7 @@
			};
			SendCommand(commonRGVSecond, command);
			Thread.Sleep(3000);
			if (!commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running))
			if (!commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running) \|\| commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.Speed) == 0)
			{
			return null;
			}
			@@ -795,7 +806,7 @@
			};
			SendCommand(commonRGVFirst, command);
			Thread.Sleep(3000);
			if (!commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running))
			if (!commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running) \|\| commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.Speed) == 0)
			{
			return null;
			}
			@@ -902,7 +913,7 @@
			};
			SendCommand(commonRGVSecond, command);
			Thread.Sleep(3000);
			if (!commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running))
			if (!commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running) \|\| commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.Speed) == 0)
			{
			return null;
			}
			@@ -989,7 +1000,7 @@
			};
			SendCommand(commonRGVFirst, command);
			Thread.Sleep(3000);
			if (!commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running))
			if (!commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running) \|\| commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.Speed) == 0)
			{
			return null;
			}
			@@ -1033,6 +1044,21 @@
			return null;
			}
			}

			public bool IsExistTransTask(CommonRGV_FirstFloor commonRGV)
			{
			if (commonRGV.DeviceCode == "RGV01")
			{
			var task = _taskRepository.QueryFirst(x => x.Floor == "1F" && (x.TaskState == (int)TaskInStatusEnum.RGV_TransFerFInish \|\| x.TaskState == (int)TaskOutStatusEnum.RGV_TransFerFInish)&&x.RGVName=="RGV02");
			return task == null ? true : false;
			}
			else
			{
			var task = _taskRepository.QueryFirst(x => x.Floor == "1F" && (x.TaskState == (int)TaskInStatusEnum.RGV_TransFerFInish \|\| x.TaskState == (int)TaskOutStatusEnum.RGV_TransFerFInish) && x.RGVName == "RGV01");
			return task == null ? true : false;
			}
			}


			/// <summary>
			/// RGV浠诲姟瀹屾垚
			@@ -1398,7 +1424,7 @@
			}
			else if (task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
			{
			if (task.Remark != null && (task.Roadway == "SC01" \|\| task.Roadway == "SC06"))
			if (task.Remark != null && (task.Remark == "1026" \|\| task.Remark == "1025"))
			{
			Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.Remark);
			rgvTaskCommand.TaskType = (byte)Convert.ToSByte(4);
			@@ -1446,9 +1472,18 @@
			}
			else if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish)
			{
			Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.NextAddress);
			rgvTaskCommand.TaskType = (byte)Convert.ToSByte(4);
			rgvTaskCommand.PutcargoLocation = (byte)Convert.ToSByte(stationManager.stationRemark);
			if (task.Remark != null && (task.Roadway == "SC01" \|\| task.Roadway == "SC06"))
			{
			Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.Remark);
			rgvTaskCommand.TaskType = (byte)Convert.ToSByte(4);
			rgvTaskCommand.PutcargoLocation = (byte)Convert.ToSByte(stationManager.stationRemark);
			}
			else
			{
			Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.NextAddress);
			rgvTaskCommand.TaskType = (byte)Convert.ToSByte(4);
			rgvTaskCommand.PutcargoLocation = (byte)Convert.ToSByte(stationManager.stationRemark);
			}
			}
			else
			{