出入库

huanghongfeng

2025-09-26 83f3c63f1cae6224320a8d19251e3bc0404da096

出入库

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@@ -31,4 +31,18 @@
        [Description("母车拖车")]
        Mothertrailer = 4,
    }

    public enum RGVTasktype
    {
        /// <summary>
        /// å…¥åº“
        /// </summary>
        [Description("入库")]
        Inbound = 1,
        /// <summary>
        /// å‡ºåº“
        /// </summary>
        [Description("出库")]
        Outbound = 2,
    }
}

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 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_ISystemServices/IAgvStationService.cs

@@ -60,5 +60,12 @@
        /// <param name="HCJAddres">HCJ站台编号</param>
        /// <returns></returns>
        AGVStation GetZicheDeep(int HCJAddres);

        /// <summary>
        /// æ ¹æ®HCJ站台查找外侧子车设备信息
        /// </summary>
        /// <param name="HCJAddres">HCJ站台编号</param>
        /// <returns></returns>
        public AGVStation GetZicheOuterSide(int HCJAddres);
    }
}

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 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/ITaskService.cs

@@ -58,6 +58,49 @@
        /// <returns>返回任务实体对象，可能为null</returns>
        Dt_Task QueryStackerCraneTask(string DeviceCode);


        /// <summary>
        /// æ ¹æ®è®¾å¤‡ï¼Œåœ¨ä¸€ä¸ªåŒºåŸŸå†…，先找外面出库的，再找里面出库的RGV
        /// </summary>
        /// <param name="Station_code">当前地址</param>
        /// <returns>返回任务实体对象，可能为null</returns>
        Dt_Task ChildVehicleMission(AGVStation aGVStation);

        /// <summary>
        /// æŸ¥æ‰¾éœ€è¦æ”¾è´§çš„任务
        /// </summary>
        /// <param name="Station_code">当前地址</param>
        /// <returns>返回任务实体对象，可能为null</returns>
        Dt_Task GetFinhuoTask(string DeviceCode);

        /// <summary>
        /// æŸ¥æ‰¾éœ€è¦æ”¾è´§çš„任务
        /// </summary>
        /// <param name="Station_code">当前地址</param>
        /// <returns>返回任务实体对象，可能为null</returns>
        Dt_Task GetOutkouFinhuoTask(string DeviceCode, string curraderr, int type);

        /// <summary>
        /// æŸ¥æ‰¾éœ€è¦å–货的任务
        /// </summary>
        /// <param name="Station_code">当前地址</param>
        /// <returns>返回任务实体对象，可能为null</returns>
        Dt_Task GetInkouFinhuoTask(string DeviceCode,int type);

        /// <summary>
        /// èŽ·å–子车取货任务
        /// </summary>
        /// <param name="Station_code">当前地址</param>
        /// <returns>返回任务实体对象，可能为null</returns>
        Dt_Task GetInzicheTask(string DeviceCode, int type);

        /// <summary>
        /// èŽ·å–子车移动任务，母车移动任务
        /// </summary>
        /// <param name="Station_code">当前地址</param>
        /// <returns>返回任务实体对象，可能为null</returns>
        Dt_Task GetInzicheTaskMobile(string DeviceCode, int type);

        /// <summary>
        /// æ›´æ–°RGV任务类型
        /// </summary>
@@ -188,5 +231,6 @@
        /// <param name="id"></param>
        /// <returns></returns>
        WebResponseContent MHWCSTaskCancel(int id);

    }
}

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 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/obj/Debug/net6.0/WIDESEAWCS_ITaskInfoService.csproj.AssemblyReference.cache

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 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/System/AGVStation.cs

@@ -25,10 +25,10 @@
        public int Station_code { get; set; }

        /// <summary>
        /// ç«™å°åç§°remark
        /// ç«™å°åç§°(1：入库，，2：出库)
        /// </summary>
        [SugarColumn(Length = 50, ColumnDescription = "站台名称")]
        public string Station_name { get; set; }
        public int Station_tasktype { get; set; }

        /// <summary>
        /// ç±»åž‹
@@ -43,7 +43,7 @@
        public int Station_enable { get; set; }

        /// <summary>
        /// åŒºåŸŸ(1:外侧   2:内侧)
        /// åŒºåŸŸ(5:内侧RGV，，，6：外侧RGV)
        /// </summary>
        [SugarColumn( ColumnDescription = "区域",IsNullable =true)]
        public int Station_Area { get; set; }

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/bin/Debug/net6.0/WIDESEAWCS_Model.dll

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 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/bin/Debug/net6.0/WIDESEAWCS_Model.pdb

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 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/obj/Debug/net6.0/WIDESEAWCS_Model.dll

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 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/obj/Debug/net6.0/WIDESEAWCS_Model.pdb

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 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/obj/Debug/net6.0/ref/WIDESEAWCS_Model.dll

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 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/obj/Debug/net6.0/refint/WIDESEAWCS_Model.dll

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 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Log/ÈÎÎñ½ÓÊÕ/2025-09-24/½ÓÊÕÀ¼½£Ï·¢ÈÎÎñ250924.txt

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,10 @@
2025/9/24 15:35:10.677
成功
"接收到的数据为：{\"data\":[{\"taskNo\":5543,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"4\",\"endAddress\":\"\"}]}"
-------------------------------

2025/9/24 16:22:20.332
成功
"接收到的数据为：{\"data\":[{\"taskNo\":323,\"type\":2,\"containerNo\":\"TEST0003\",\"priority\":10,\"startAddress\":\"4\",\"endAddress\":\"\"}]}"
-------------------------------


 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/bin/Debug/net6.0/Log_PLCReadWrite/Î÷ÃÅ×Ó1/Logs_20250917094804.txt

@@ -15919,3 +15919,147 @@
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[信息] 2025-09-25 16:02:24.404 Thread:[005] è¥¿é—¨å­1 : PLC连接成功，IP：【127.0.0.1】，Port：【119】
[致命] 2025-09-25 16:02:24.626 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:02:25.193 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:02:25.739 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:02:26.286 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:02:26.841 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:02:32.706 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:02:33.299 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:02:33.839 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:02:34.381 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:02:34.924 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:02:35.470 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:02:36.008 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:02:36.552 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:02:37.092 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:02:37.635 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:02:38.176 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:02:38.716 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:02:39.258 Thread:[015] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[信息] 2025-09-25 16:04:56.176 Thread:[005] è¥¿é—¨å­1 : PLC连接成功，IP：【127.0.0.1】，Port：【119】
[致命] 2025-09-25 16:04:56.254 Thread:[011] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:04:56.803 Thread:[011] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:04:57.340 Thread:[011] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:04:57.884 Thread:[011] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[致命] 2025-09-25 16:04:58.448 Thread:[011] è¥¿é—¨å­1 : æ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】 : é”™è¯¯ä¿¡æ¯ï¼šæ•°æ®è¯»å–失败，数据类型：【Int16】，地址：【DB100.0.0】，错误信息：【尝试读取不存在的DB块数据】
错误源：WIDESEAWCS_Communicator
错误堆栈：   at WIDESEAWCS_Communicator.SiemensS7.GetContent[T](OperateResult`1 operateResult, String address)
错误类型：WIDESEAWCS_Communicator.CommunicationException
错误方法：System.Object GetContent[T](HslCommunication.OperateResult`1[T], System.String)
/=================================================[    Exception    ]================================================/
[信息] 2025-09-25 16:06:38.127 Thread:[012] è¥¿é—¨å­1 : PLC连接成功，IP：【127.0.0.1】，Port：【119】
[信息] 2025-09-25 16:09:21.122 Thread:[005] è¥¿é—¨å­1 : PLC连接成功，IP：【127.0.0.1】，Port：【119】
[信息] 2025-09-25 16:11:06.725 Thread:[012] è¥¿é—¨å­1 : PLC连接成功，IP：【127.0.0.1】，Port：【119】
[信息] 2025-09-25 16:12:22.828 Thread:[013] è¥¿é—¨å­1 : PLC连接成功，IP：【127.0.0.1】，Port：【119】

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@@ -92,7 +92,7 @@
        /// <returns></returns>
        public AGVStation GetZicheDeep(int HCJAddres)
        {
            return BaseDal.QueryFirst(x => (x.HCJStorageaddress == HCJAddres || x.Station_Area == 2) && x.Station_enable == 1);
            return BaseDal.QueryFirst(x => (x.HCJStorageaddress == HCJAddres && x.Station_Area == 2) && x.Station_enable == 1);
        }

        /// <summary>
@@ -100,9 +100,9 @@
        /// </summary>
        /// <param name="HCJAddres">HCJ站台编号</param>
        /// <returns></returns>
        public AGVStation GetZicheDeep(int HCJAddres)
        public AGVStation GetZicheOuterSide(int HCJAddres)
        {
            return BaseDal.QueryFirst(x => (x.HCJStorageaddress == HCJAddres || x.Station_Area == 2) && x.Station_enable == 1);
            return BaseDal.QueryFirst(x => (x.HCJStorageaddress == HCJAddres && x.Station_Area == 1) && x.Station_enable == 1);
        }
    }
}

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@@ -17,6 +17,7 @@

using Autofac.Core;
using AutoMapper;
using HslCommunication;
using Magicodes.ExporterAndImporter.Core;
using Microsoft.AspNetCore.Mvc;
using Microsoft.AspNetCore.Mvc.RazorPages;
@@ -73,6 +74,7 @@
        private readonly ITask_HtyService _task_HtyService;
        private readonly IMapper _mapper;
        private readonly IEquipmentStatusService _equipmentStatus;
        private readonly IAgvStationService _gvStationService;


        private Dictionary<string, OrderByType> _taskOrderBy = new()
@@ -87,7 +89,7 @@

        public List<int> TaskOutboundTypes => typeof(TaskOutboundTypeEnum).GetEnumIndexList();

        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, ITask_HtyService task_HtyService, IRouterRepository routerRepository, IEquipmentStatusService equipmentStatus) : base(BaseDal)
        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, ITask_HtyService task_HtyService, IRouterRepository routerRepository, IEquipmentStatusService equipmentStatus, IAgvStationService agvStationService) : base(BaseDal)
        {
            _routerService = routerService;
            _taskExecuteDetailService = taskExecuteDetailService;
@@ -96,6 +98,7 @@
            _mapper = mapper;
            _routerRepository = routerRepository;
            _equipmentStatus = equipmentStatus;
            _gvStationService = agvStationService;
        }

        /// <summary>
@@ -162,26 +165,23 @@
                    else if (item.type == 2)    //出库
                    {
                        string roadway = "";
                        string CurrentAddress = "";
                        switch (item.startAddress)
                        {
                            case "1":
                                roadway = "RGV110";
                                CurrentAddress = "1101";
                                break;
                            case "2":
                                roadway = "RGV112";
                                CurrentAddress = "1121";
                                break;
                            case "3":
                                roadway = "RGV114";
                                CurrentAddress = "1141";
                                break;
                            case "4":
                                roadway = "RGV115";
                                CurrentAddress = "1151";
                                break;
                        }

                        AGVStation gVStation = _gvStationService.Corridorequipment(roadway);

                        Dt_Task dt_Task = new Dt_Task();
                        dt_Task.TaskNum = item.taskNo;
@@ -192,9 +192,9 @@
                        dt_Task.RGVCurrentexecution = "0";      //目前暂无
                        dt_Task.TaskState = (int)TaskOutStatusEnum.OutNew;      //目前暂无
                        dt_Task.SourceAddress = item.startAddress;
                        dt_Task.TargetAddress = "";
                        dt_Task.CurrentAddress = CurrentAddress;
                        dt_Task.NextAddress = "0";   //目前暂无
                        dt_Task.TargetAddress ="0";
                        dt_Task.CurrentAddress = gVStation.Motherinlaw.ToString();
                        dt_Task.NextAddress = gVStation.ZicheMotherinlaw.ToString();   //目前暂无
                        dt_Task.Grade = item.priority;
                        dt_Task.WMSId = 0;   //目前暂无
                        BaseDal.AddData(dt_Task);
@@ -230,6 +230,68 @@
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode, TaskOrderBy);
        }

        public Dt_Task ChildVehicleMission(AGVStation aGVStation)
        {
            Dt_Task dt_Tasks =BaseDal.QueryFirst(x => x.Roadway == aGVStation.ChildPosiDeviceCode && x.CurrentAddress== aGVStation.MotherCarDeviceCode.ToString() && x.RGVTaskType== (int)RGVTaskTypeEnum.PickingUp, TaskOrderBy);
            if(dt_Tasks !=null) return dt_Tasks;
            Dt_Task dt_Tasks2 = BaseDal.QueryFirst(x => x.Roadway == aGVStation.ChildPosiDeviceCode && x.CurrentAddress == aGVStation.MotherCardeputy.ToString() && x.RGVTaskType == (int)RGVTaskTypeEnum.PickingUp, TaskOrderBy);
            if (dt_Tasks2 != null) return dt_Tasks2;
            Dt_Task dt_Tasks3 = BaseDal.QueryFirst(x => x.Roadway == aGVStation.ChildPosiDeviceCode && x.CurrentAddress == aGVStation.HCJStorageaddress.ToString() && x.RGVTaskType == (int)RGVTaskTypeEnum.PickingUp, TaskOrderBy);
            if (dt_Tasks3 != null) return dt_Tasks3;
            return null;
        }
        public Dt_Task GetFinhuoTask(string DeviceCode)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.TaskState == (int)TaskOutStatusEnum.RGV_OutZicheFinish && x.RGVTaskType == (int)RGVTaskTypeEnum.Placing, TaskOrderBy);
        }

        public Dt_Task GetOutkouFinhuoTask(string DeviceCode,string curraderr,int type)
        {
            if (type == 1)
            {
                return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.TaskState == (int)TaskOutStatusEnum.RGV_OutZicheReleaseFinish && x.RGVTaskType == (int)RGVTaskTypeEnum.PickingUp && x.CurrentAddress == curraderr, TaskOrderBy);
            }
            else
            {
                return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.TaskState == (int)TaskOutStatusEnum.RGV_OutPickupFinish && x.RGVTaskType == (int)RGVTaskTypeEnum.Placing && x.NextAddress !="", TaskOrderBy);
            }
        }

        public Dt_Task GetInkouFinhuoTask(string DeviceCode,int type)
        {
            if (type == 1)
            {
                return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.TaskState == (int)TaskInStatusEnum.RGV_InNew && x.RGVTaskType == (int)RGVTaskTypeEnum.PickingUp, TaskOrderBy);
            }
            else
            {
                return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.TaskState == (int)TaskInStatusEnum.RGV_InPickupFinish && x.RGVTaskType == (int)RGVTaskTypeEnum.Placing, TaskOrderBy);
            }
        }

        public Dt_Task GetInzicheTask(string DeviceCode, int type)
        {
            if (type == 1)
            {
                return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.TaskState == (int)TaskInStatusEnum.RGV_InReleaseFinish && x.RGVTaskType == (int)RGVTaskTypeEnum.PickingUp, TaskOrderBy);
            }
            else
            {
                return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.TaskState == (int)TaskInStatusEnum.RGV_InZicheFinish && x.RGVTaskType == (int)RGVTaskTypeEnum.Placing, TaskOrderBy);
            }
        }
        public Dt_Task GetInzicheTaskMobile(string DeviceCode, int type)
        {
            if (type == 1)  //1为子车移动任务    2为母车移动任务
            {
                return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.TaskState == (int)TaskInStatusEnum.RGV_InZicheReleaseFinish && x.RGVTaskType == (int)RGVTaskTypeEnum.TravelingOnly, TaskOrderBy);
            }
            else
            {
                return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.TaskState == (int)TaskInStatusEnum.RGV_InZichemoveFinish && x.RGVTaskType == (int)RGVTaskTypeEnum.TravelingOnly, TaskOrderBy);
            }
        }

        public WebResponseContent UpdateRGVTasktype(int taskNum, int RGVTasktype)
        {
            WebResponseContent content = new WebResponseContent();

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 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/obj/Debug/net6.0/WIDESEAWCS_TaskInfoService.AssemblyInfo.cs

@@ -11,12 +11,12 @@
using System;
using System.Reflection;

[assembly: System.Reflection.AssemblyCompanyAttribute("WIDESEAWCs_TaskInfoService")]
[assembly: System.Reflection.AssemblyCompanyAttribute("WIDESEAWCS_TaskInfoService")]
[assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")]
[assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")]
[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0")]
[assembly: System.Reflection.AssemblyProductAttribute("WIDESEAWCs_TaskInfoService")]
[assembly: System.Reflection.AssemblyTitleAttribute("WIDESEAWCs_TaskInfoService")]
[assembly: System.Reflection.AssemblyProductAttribute("WIDESEAWCS_TaskInfoService")]
[assembly: System.Reflection.AssemblyTitleAttribute("WIDESEAWCS_TaskInfoService")]
[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")]

// ç”± MSBuild WriteCodeFragment ç±»ç”Ÿæˆã€‚

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@@ -1 +1 @@
696e07e336e90b059d5a69ceac1b59c1567636d6
0c89bb1cae87ea43ac260fbf353d127eb2b5c7af

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@@ -7,5 +7,5 @@
build_property.PlatformNeutralAssembly = 
build_property.EnforceExtendedAnalyzerRules = 
build_property._SupportedPlatformList = Linux,macOS,Windows
build_property.RootNamespace = WIDESEAWCs_TaskInfoService
build_property.ProjectDir = F:\项目\MingHeZhiNeng\嘉兴RGV\9-18\JiaXingRGV\代码管理\WCS\WCS\WIDESEAWCS_Server\WIDESEAWCs_TaskInfoService\
build_property.RootNamespace = WIDESEAWCS_TaskInfoService
build_property.ProjectDir = F:\项目\MingHeZhiNeng\嘉兴RGV\9-18\JiaXingRGV\代码管理\WCS\WCS\WIDESEAWCS_Server\WIDESEAWCS_TaskInfoService\

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

@@ -8,6 +8,7 @@
using WIDESEAWCS_QuartzJob;
using WIDESEA_Common.Log;
using System.Xml.Linq;
using SixLabors.ImageSharp;

namespace WIDESEAWCS_Tasks.StackerCraneJob
{
@@ -20,18 +21,83 @@
        /// </summary>
        /// <param name="ChildPosiDeviceCode">设备</param>
        /// <returns></returns>
        public static int GetEquipmentlocation(string ChildPosiDeviceCode)
        public static int GetEquipmentlocation(string ChildPosiDeviceCode)   
        {
            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;
            SpeStackerCrane speStackerCrane = (SpeStackerCrane)device;
            GetStackerObject getStackerObject = new GetStackerObject(speStackerCrane);
            return getStackerObject.RGVCurrentlocation;
        }

        /// <summary>
        /// ä¼ å…¥è®¾å¤‡ï¼Œè¿”回当前设备信息
        /// </summary>
        /// <param name="ChildPosiDeviceCode">设备</param>
        /// <returns></returns>
        public static int GetEquipmentInformation(string ChildPosiDeviceCode)
        {
            IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == ChildPosiDeviceCode);
            SpeStackerCrane speStackerCrane = (SpeStackerCrane)device;
            GetStackerObject getStackerObject = new GetStackerObject(speStackerCrane);
            if (getStackerObject.RgvCraneAutoStatusValue == RgvCraneAutoStatus.Automatic &&
                        getStackerObject.StaclerkJobJobStatusValue == RgvJobCraneStatus.Ready && getStackerObject.RgvCraneWorkStatusValue == RGVStepprocess.NoAction)
            {
                return getStackerObject.RGVCurrentlocation;
            }
            else
            {
                return 0;
            }
                
        }

        /// <summary>
        /// ä¼ å…¥è®¾å¤‡ï¼Œè¿”回当前设备信息（入库母车，需要加入是否有货判断)
        /// </summary>
        /// <param name="ChildPosiDeviceCode">设备</param>
        /// <returns></returns>
        public static int GetEquipmentInMuche(string ChildPosiDeviceCode)
        {
            IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == ChildPosiDeviceCode);
            SpeStackerCrane speStackerCrane = (SpeStackerCrane)device;
            GetStackerObject getStackerObject = new GetStackerObject(speStackerCrane);
            if (getStackerObject.RgvCraneAutoStatusValue == RgvCraneAutoStatus.Automatic &&
                        getStackerObject.StaclerkJobJobStatusValue == RgvJobCraneStatus.Ready && getStackerObject.RgvCraneWorkStatusValue == RGVStepprocess.NoAction && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.NoCargo)
            {
                return getStackerObject.RGVCurrentlocation;
            }
            else
            {
                return 0;
            }

        }


        /// <summary>
        /// æŸ¥è¯¢å…·ä½“地址
        /// ä¼ å…¥è®¾å¤‡ç¼–号，判断设备状态是否可进入
        /// </summary>
        /// <param name="ChildPosiDeviceCode"></param>
        /// <returns></returns>
        public static bool ReturnCurrentStatus(string ChildPosiDeviceCode)
        {
            IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == ChildPosiDeviceCode);
            SpeStackerCrane speStackerCrane = (SpeStackerCrane)device;
            GetStackerObject getStackerObject = new GetStackerObject(speStackerCrane);
            if (getStackerObject.RgvCraneAutoStatusValue == RgvCraneAutoStatus.Automatic &&
                        getStackerObject.StaclerkJobJobStatusValue == RgvJobCraneStatus.Ready && getStackerObject.RgvCraneWorkStatusValue == RGVStepprocess.NoAction)
            {
                return true;
            }
            else
            {
                return false;
            }
        }


        /// <summary>
        /// æŸ¥è¯¢HCJ站台设备
        /// </summary>
        /// <param name="Commonstacker"></param>
        /// <param name="SCAddress"></param>
@@ -42,7 +108,17 @@
            return Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == SCAddress && x.DeviceProParamName == Interactivet && x.DeviceProParamType == "ReadDeviceCommand");
        }


        /// <summary>
        /// æŸ¥è¯¢RGV设备
        /// </summary>
        /// <param name="Commonstacker"></param>
        /// <param name="SCAddress"></param>
        /// <param name="Interactivet"></param>
        /// <returns></returns>
        public static DeviceProDTO? GetRGVDeviceProDTO(SpeStackerCrane Commonstacker, string SCAddress, string Interactivet)
        {
            return Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == SCAddress && x.DeviceProParamName == Interactivet && x.DeviceProParamType == "ReadDeviceCommand");
        }
        /// <summary>
        /// è¯»å–设备信息
        /// </summary>
@@ -50,6 +126,11 @@
        /// <param name="DeviceProDataBlock"></param>
        /// <returns></returns>
        public static int GetLine(CommonStackerCrane Commonstacker, string DeviceProDataBlock)
        {
            return Commonstacker.Communicator.Read<short>(DeviceProDataBlock);
        }

        public static int RGVGetLine(SpeStackerCrane Commonstacker, string DeviceProDataBlock)
        {
            return Commonstacker.Communicator.Read<short>(DeviceProDataBlock);
        }
@@ -66,5 +147,26 @@
        {
            WriteLog.Write_Log(SCLLinStack, Filename, Logtype, new { ä¿¡æ¯ = Magessadd });
        }

        /// <summary>
        /// ä¼ å…¥ç«™å°ç¼–号，判断是否有货
        /// </summary>
        /// <param name="Platformnumber">站台编号</param>
        public static bool HCJIsstock(string Platformnumber)
        {
            //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, Platformnumber.ToString(), "HCJ_GoodsStatus");
            int HCJGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
            if (HCJGStatus == 0)    //为无货
            {
                return true;
            }
            else
            {
                return false;
            }
        }
    }
}

 ´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;
@@ -81,7 +82,7 @@
                        //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
@@ -95,46 +96,17 @@
                        }
                        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)
                            if(speStackerCrane.DeviceCode=="RGV101" || speStackerCrane.DeviceCode == "RGV101")
                            {
                                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;
                                }
                                //当没任务的时候，则进行移动
                                Returnposition(speStackerCrane.DeviceCode, getStackerObject.RGVCurrentlocation);
                            }
                            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;
                                }
                            }
                                
                        }
                        

                    }
                }


            }
            catch (Exception ex)
            {
@@ -143,117 +115,91 @@
            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 => HandInneRouterSides(task),
                (int)TaskInStatusEnum.RGV_InZicheFinish => HandleZicheFinish(task),
                (int)TaskInStatusEnum.RGV_InZicheReleaseFinish => 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

        #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)
        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 = GetDeviceAddress.GetDeviceProDTO(Commonstacker, task.NextAddress, "HCJ_GoodsStatus");
                int HCJGStatus = GetDeviceAddress.GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
                if (HCJGStatus == 0)    //为无货
                {
                    return task;
                }
                return _taskService.GetInkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode, 1);
            }
            catch (Exception ex)
            else if (RGVTaskdevice.Station_material == (int)RGVEquipment.InRGVForklift && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.HasCargo)
            {
                //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 _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; }

            return null;
        }

        #endregion

        #region å…¥åº“口放货完成后，进行取货内容
        private Dt_Task? HandInneRouterSides(Dt_Task task)
        #region è¿‡é“子车进行取货
        public Dt_Task? ZichePickUpAisle(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
        {
            // 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)
            //获取子车取货任务
            Dt_Task dt_Task = _taskService.GetInzicheTask(RGVTaskdevice.ChildPosiDeviceCode,1);
            if(dt_Task.CurrentAddress== getStackerObject.RGVCurrentlocation.ToString())
            {
                // 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;
                }
                return dt_Task;
            }
            else
            {
                //取HCJ位的料判断
                switch (zicheAddress)
                //如果不等于，则进行判断子车在哪个位置
                if (RGVTaskdevice.Station_Area == 1)
                {
                    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;
                    // 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;
                    }
                }

            }
        }

        /// <summary>
        /// åˆ¤æ–­å¤–侧母车是否在入口口
        /// </summary>
@@ -296,22 +242,22 @@
            return null;
        }


        #endregion

        #region å–货完成后，进行放货操作
        private Dt_Task? HandleZicheFinish(Dt_Task task)
        #region è¿‡é“子车进行放货
        public Dt_Task? GoodsPlacedCorridor(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
        {
            // æ ¹æ®è®¾å¤‡åç§°ï¼ŒèŽ·å–到设备相关数据
            AGVStation GdaoRgvStation = _agvStationService.Corridorequipment(task.Roadway);
            Dt_Task task = _taskService.GetInzicheTask(RGVTaskdevice.ChildPosiDeviceCode, 2);
            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);
                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;
            }
        }
@@ -321,9 +267,11 @@
        private Dt_Task? MotherCarMoves(Dt_Task _Task, AGVStation aGVStation)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.ZicheMotherinlaw);
            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
            
            int motherCarAddress = GetDeviceAddress.GetEquipmentInMuche(Muche.ChildPosiDeviceCode);
            if (motherCarAddress == Muche.ZicheMotherinlaw) return _Task;
            RGVMovetask(Muche.ZicheMotherinlaw, aGVStation.ChildPosiDeviceCode);
            if(motherCarAddress!=0) RGVMovetask(Muche.ZicheMotherinlaw, aGVStation.ChildPosiDeviceCode);

            return null;
        }

@@ -338,14 +286,14 @@
            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);
            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)
            if (motherCarAddress != Muche.Motherinlaw && motherCarAddress != 0)
            {
                RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
            }
            if (motherCarAddress2 != Muche2.ZicheMotherinlaw)
            if (motherCarAddress2 != Muche2.ZicheMotherinlaw && motherCarAddress2 != 0)
            {
                RGVMovetask(Muche2.ZicheMotherinlaw, Muche2.ChildPosiDeviceCode);
            }
@@ -353,59 +301,67 @@
            // 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.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
            int motherCarAddress2 = GetDeviceAddress.GetEquipmentlocation(Muche2.ChildPosiDeviceCode);
            int ZiCarAddress3 = GetDeviceAddress.GetEquipmentlocation(Ziche3.ChildPosiDeviceCode);
            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)
            if (motherCarAddress != Muche.Motherinlaw && motherCarAddress != 0)
            {
                RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
            }
            if (motherCarAddress2 != Muche2.Motherinlaw)
            if (motherCarAddress2 != Muche2.Motherinlaw && motherCarAddress2 != 0)
            {
                RGVMovetask(Muche2.Motherinlaw, Muche2.ChildPosiDeviceCode);
            }
            if(ZiCarAddress3== Ziche3.HCJStorageaddress)
            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.GetEquipmentlocation(MucheN.ChildPosiDeviceCode); //获取到母车当前位置
                    if(MucheN.ZicheMotherinlaw== motNCarAddress)
                    int motNCarAddress = GetDeviceAddress.GetEquipmentInMuche(MucheN.ChildPosiDeviceCode); //获取到母车当前位置
                    if (motNCarAddress!=0)
                    {
                        RGVMovetask(Ziche3.MotherCarDeviceCode, Ziche3.ChildPosiDeviceCode);
                    }
                    else
                    {
                        RGVMovetask(MucheN.ZicheMotherinlaw, MucheN.ChildPosiDeviceCode);
                        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)
                    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.GetEquipmentlocation(MucheN2.ChildPosiDeviceCode); //获取到母车当前位置
                    if (MucheN2.ZicheMotherinlaw != motNCarAddress2)
                    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)
                    if (MucheN.Motherinlaw == motNCarAddress && MucheN2.ZicheMotherinlaw == motNCarAddress2)
                    {
                        RGVMovetask(Ziche3.MotherCardeputy, Ziche3.ChildPosiDeviceCode);
                    }
@@ -418,13 +374,22 @@
        }
        #endregion

        #region æ¯è½¦ç§»åŠ¨è‡³å…¥åº“口
        private Dt_Task? HandleZicheMoveFinish(Dt_Task task)
        #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.GetEquipmentlocation(GdZiche.ChildPosiDeviceCode);
            if (motherCarAddress != curradder) return task;
            int motherCarAddress = GetDeviceAddress.GetEquipmentInformation(GdZiche.ChildPosiDeviceCode);
            if (motherCarAddress != curradder && motherCarAddress!=0) return task;
            RGVMovetask(GdZiche.Motherinlaw, GdZiche.ChildPosiDeviceCode);
            return null;
        }
@@ -432,8 +397,134 @@

        #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
            };
        }

        #region ä¸‹å‘母车任务，需要判断当前行小车在哪个位子

        private Dt_Task? Mothertaskdistribution(AGVStation GdZiche)
        {
            // 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
            {
                4 when ZiCarAddress3 != GdZiche.ZicheMotherinlaw
                    => _taskService.QueryStackerCraneTask(GdZiche.ChildPosiDeviceCode),

                3 when ZiCarAddress3 == ZicheinnerSide.HCJStorageaddress
                    => _taskService.QueryStackerCraneTask(GdZiche.ChildPosiDeviceCode),

                2 when ZiCarAddress3 != GdZiche.MotherCardeputy && ZiCarAddress3 != GdZiche.HCJStorageaddress
                    => _taskService.QueryStackerCraneTask(GdZiche.ChildPosiDeviceCode),

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

                _ => null
            };
        }
        #endregion

        #region åˆ¤æ–­å·²ç§»åŠ¨å‡ºæ¥çš„母车，再判断小车位置
        public Dt_Task? ChildPickupAddres(AGVStation GdZiche)
        {
            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>
@@ -469,7 +560,6 @@
        }
        #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
@@ -479,38 +569,32 @@
        /// <returns></returns>
        private void OutinnerSideNMotherCar(AGVStation aGVStation)
        {
            AGVStation Ziche3 = _agvStationService.GetZicheDeep(aGVStation.HCJStorageaddress);    //内侧子车
            AGVStation Ziche3 = _agvStationService.GetZicheOuterSide(aGVStation.HCJStorageaddress);    //外侧子车
            int ZiCarAddress3 = GetDeviceAddress.GetEquipmentlocation(Ziche3.ChildPosiDeviceCode);
            if (ZiCarAddress3 == Ziche3.HCJStorageaddress)
            {

                OutHCJMotherCar(Ziche3);
            }
            else
            {
                //RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
                RGVMovetask(aGVStation.HCJStorageaddress, aGVStation.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);
            }
            OutinnerSideNMotherCar(aGVStation);

        }
        #endregion


        #endregion



        /// <summary>
@@ -571,10 +655,12 @@
            try
            {
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);
                CommonStackerCrane Commonstacker = (CommonStackerCrane)device;
                SpeStackerCrane Commonstacker = (SpeStackerCrane)device;

                DeviceProDTO? deviceProDTO = GetDeviceAddress.GetDeviceProDTO(Commonstacker, DeviceCode, "RGV_Rgvtaskstutas");
                int MCGStatus = GetDeviceAddress.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)

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