添加堆垛机配置并重构任务

wanshenmean

2026-02-11 88724eca51a5863f20ee0a552af741aeebf4e8f2

添加堆垛机配置并重构任务

引入基于配置的堆垛机命令系统并清理相关任务处理器。新增 StackerCraneJob/stackercrane-command-config.json、StackerCraneJob/StackerCraneCommandConfig.cs 及描述使用方式的 README 文档。重构 CommonStackerCraneJob 以加载配置、选择命令类型（Formation/Standard）、提供工厂方法，并采用泛型 BuildCommand 流程及反射辅助类设置属性。通过使用空设备提前返回来简化 ConveyorLineDispatchHandler，在 UpdatePosition 后恢复任务状态流转，并移除多个重复的设备请求辅助方法。通过直接使用 result.Status 及简化 JSON 处理来优化 RobotJob 的 WMS 交互。移除 TaskService 中被注释的测试/随机化代码。更新了 VS 工作区 DocumentLayout 及部分 .vs 索引/数据库文件（编辑器视图状态变更）。

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              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
              "WhenOpened": "2026-02-10T06:18:41.307Z"
            },
            {
              "$type": "Document",
              "DocumentIndex": 7,
              "Title": "TaskService.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_TaskInfoService\\TaskService.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_TaskInfoService\\TaskService.cs",
              "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_TaskInfoService\\TaskService.cs",
              "RelativeToolTip": "WIDESEAWCS_TaskInfoService\\TaskService.cs",
              "ViewState": "AgIAAEEBAAAAAAAAAAAhwE4BAAAiAAAAAAAAAA==",
              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
              "WhenOpened": "2026-02-10T06:11:48.071Z",
              "EditorCaption": ""
            },
            {
              "$type": "Document",
              "DocumentIndex": 12,
              "Title": "CommonConveyorLineJob.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Tasks\\ConveyorLineJob\\CommonConveyorLineJob.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_Tasks\\ConveyorLineJob\\CommonConveyorLineJob.cs",
@@ -121,20 +238,20 @@
            },
            {
              "$type": "Document",
              "DocumentIndex": 2,
              "DocumentIndex": 9,
              "Title": "ConfigKey.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Common\\HttpEnum\\ConfigKey.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_Common\\HttpEnum\\ConfigKey.cs",
              "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Common\\HttpEnum\\ConfigKey.cs",
              "RelativeToolTip": "WIDESEAWCS_Common\\HttpEnum\\ConfigKey.cs",
              "ViewState": "AgIAAAsAAAAAAAAAAADwvyUAAAATAAAAAAAAAA==",
              "ViewState": "AgIAAA4AAAAAAAAAAADwvy8AAAAYAAAAAAAAAA==",
              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
              "WhenOpened": "2026-02-09T01:45:04.7Z",
              "EditorCaption": ""
            },
            {
              "$type": "Document",
              "DocumentIndex": 9,
              "DocumentIndex": 16,
              "Title": "CreateTaskDto.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_DTO\\TaskInfo\\CreateTaskDto.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_DTO\\TaskInfo\\CreateTaskDto.cs",
@@ -146,7 +263,7 @@
            },
            {
              "$type": "Document",
              "DocumentIndex": 8,
              "DocumentIndex": 15,
              "Title": "StockDTO.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_DTO\\Stock\\StockDTO.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_DTO\\Stock\\StockDTO.cs",
@@ -158,7 +275,7 @@
            },
            {
              "$type": "Document",
              "DocumentIndex": 7,
              "DocumentIndex": 14,
              "Title": "Dt_RobotTask.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Model\\Models\\TaskInfo\\Dt_RobotTask.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_Model\\Models\\TaskInfo\\Dt_RobotTask.cs",
@@ -170,7 +287,7 @@
            },
            {
              "$type": "Document",
              "DocumentIndex": 6,
              "DocumentIndex": 13,
              "Title": "RobotTaskService.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_TaskInfoService\\RobotTaskService.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_TaskInfoService\\RobotTaskService.cs",
@@ -182,7 +299,7 @@
            },
            {
              "$type": "Document",
              "DocumentIndex": 10,
              "DocumentIndex": 17,
              "Title": "IRobotTaskService.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_ITaskInfoService\\IRobotTaskService.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_ITaskInfoService\\IRobotTaskService.cs",
@@ -194,13 +311,13 @@
            },
            {
              "$type": "Document",
              "DocumentIndex": 0,
              "DocumentIndex": 5,
              "Title": "RobotJob.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Tasks\\RobotJob\\RobotJob.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_Tasks\\RobotJob\\RobotJob.cs",
              "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Tasks\\RobotJob\\RobotJob.cs",
              "RelativeToolTip": "WIDESEAWCS_Tasks\\RobotJob\\RobotJob.cs",
              "ViewState": "AgIAAE0BAAAAAAAAAAAowGIBAAAYAAAAAAAAAA==",
              "ViewState": "AgIAAAAAAAAAAAAAAAAAABgAAAA0AAAAAAAAAA==",
              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
              "WhenOpened": "2026-02-05T05:38:04.031Z",
              "EditorCaption": ""

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs

@@ -361,11 +361,6 @@

                    if (task.TaskState == (int)TaskInStatusEnum.Line_InFinish)
                    {
                        //Random random = new Random();
                        //task.CurrentAddress = task.NextAddress;
                        //task.NextAddress = $"{random.Next(1, 100).ToString().PadLeft(3, '0')}-{random.Next(1, 100).ToString().PadLeft(3, '0')}-{random.Next(1, 100).ToString().PadLeft(3, '0')}";
                        //task.TargetAddress = task.NextAddress;

                        // è°ƒç”¨WMS系统接口，获取最终目标地址
                        CreateTaskDto taskDto = new CreateTaskDto()
                        {

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/ConveyorLineDispatchHandler.cs

@@ -96,11 +96,7 @@
                if (string.Equals(task.NextAddress, ConstraintMachineName, StringComparison.Ordinal))
                {
                    ConstraintMachine? constraint = devices.OfType<ConstraintMachine>().FirstOrDefault(d => d.DeviceName == ConstraintMachineName);
                    if (constraint == null)
                    {
                        // å¤„理 processing ä¸ºç©ºçš„情况（可根据实际业务需求添加处理逻辑）
                        return;
                    }
                    if (constraint == null) return;

                    ProcessDeviceRequest(conveyorLine, constraint, childDeviceCode,
                    () => constraint.GetValue<ConstraintMachineDBName, bool>(ConstraintMachineDBName.MaterialRequestUpper),
@@ -110,11 +106,7 @@
                else if (string.Equals(task.NextAddress, PinMachineName, StringComparison.Ordinal))
                {
                    PinMachine? pinMachine = devices.OfType<PinMachine>().FirstOrDefault(d => d.DeviceName == PinMachineName);
                    if (pinMachine == null)
                    {
                        // å¤„理 pinMachine ä¸ºç©ºçš„情况（可根据实际业务需求添加处理逻辑）
                        return;
                    }
                    if (pinMachine == null) return;

                    ProcessDeviceRequest(conveyorLine, pinMachine, childDeviceCode,
                    () => pinMachine.GetValue<PinMachineDBName, bool>(PinMachineDBName.MaterialRequestUpper),
@@ -123,10 +115,10 @@
                }

                Dt_Task? newTask = _taskService.UpdatePosition(task.TaskNum, task.CurrentAddress);
                //if (newTask != null)
                //{
                //    _taskService.UpdateTaskStatusToNext(task);
                //}
                if (newTask != null)
                {
                    _taskService.UpdateTaskStatusToNext(task);
                }
            }
        }

@@ -227,101 +219,6 @@
                conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_ACK, 1, childDeviceCode);
                WebResponseContent content = _taskService.UpdateTaskStatusToNext(task);
                Console.Out.WriteLine(content.Serialize());
            }
        }

        /// <summary>
        /// å…¥åº“拘束机请求处理
        /// </summary>
        /// <param name="conveyorLine"></param>
        /// <param name="command"></param>
        /// <param name="constraint"></param>
        /// <param name="childDeviceCode"></param>
        public void InboundConstraintMachineRequest(CommonConveyorLine conveyorLine, ConveyorLineTaskCommandNew command, ConstraintMachine? constraint, string childDeviceCode)
        {
            //入库拘束机请求处理逻辑
            bool materialReq = constraint.GetValue<ConstraintMachineDBName, bool>(ConstraintMachineDBName.MaterialRequestUpper);
            bool outputReq = constraint.GetValue<ConstraintMachineDBName, bool>(ConstraintMachineDBName.OutputRequestUpper);

            if (materialReq)
            {
                conveyorLine.SetValue(ConveyorLineDBNameNew.Target, 1, childDeviceCode);
                conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_ACK, 1, childDeviceCode);
            }
            else
            {
                constraint.SetValue(ConstraintMachineDBName.ConstraintTrayOutputReadyUpper, outputReq ? 1 : 0);
            }
        }

        /// <summary>
        /// å…¥åº“插拔钉机请求处理
        /// </summary>
        /// <param name="conveyorLine"></param>
        /// <param name="command"></param>
        /// <param name="pinMachine"></param>
        /// <param name="childDeviceCode"></param>
        public void InboundPinMachineRequest(CommonConveyorLine conveyorLine, ConveyorLineTaskCommandNew command, PinMachine? pinMachine, string childDeviceCode)
        {
            //入库插拔钉机请求处理逻辑
            bool materialReq = pinMachine.GetValue<PinMachineDBName, bool>(PinMachineDBName.MaterialRequestUpper);
            bool outputReq = pinMachine.GetValue<PinMachineDBName, bool>(PinMachineDBName.OutputRequestUpper);
            if (materialReq)
            {
                conveyorLine.SetValue(ConveyorLineDBNameNew.Target, 1, childDeviceCode);
                conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_ACK, 1, childDeviceCode);
            }
            else
            {
                pinMachine.SetValue(PinMachineDBName.PlugPinTrayOutputReadyUpper, outputReq ? 1 : 0);
            }
        }

        /// <summary>
        /// å‡ºåº“拘束机请求处理
        /// </summary>
        /// <param name="conveyorLine"></param>
        /// <param name="command"></param>
        /// <param name="constraint"></param>
        /// <param name="childDeviceCode"></param>
        public void OutConstraintMachineRequest(CommonConveyorLine conveyorLine, ConveyorLineTaskCommandNew command, ConstraintMachine? constraint, string childDeviceCode)
        {
            //出库拘束机请求处理逻辑

            bool materialReq = constraint.GetValue<ConstraintMachineDBName, bool>(ConstraintMachineDBName.MaterialRequestLower);
            bool outputReq = constraint.GetValue<ConstraintMachineDBName, bool>(ConstraintMachineDBName.OutputRequestLower);

            if (materialReq)
            {
                conveyorLine.SetValue(ConveyorLineDBNameNew.Target, 1, childDeviceCode);
                conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_ACK, 1, childDeviceCode);
            }
            else
            {
                constraint.SetValue(ConstraintMachineDBName.ConstraintTrayOutputReadyLower, outputReq ? 1 : 0);
            }
        }

        /// <summary>
        /// å‡ºåº“插拔钉机请求处理
        /// </summary>
        /// <param name="conveyorLine"></param>
        /// <param name="command"></param>
        /// <param name="pinMachine"></param>
        /// <param name="childDeviceCode"></param>
        public void OutPinMachineRequest(CommonConveyorLine conveyorLine, ConveyorLineTaskCommandNew command, PinMachine? pinMachine, string childDeviceCode)
        {
            //出库插拔钉机请求处理逻辑
            bool materialReq = pinMachine.GetValue<PinMachineDBName, bool>(PinMachineDBName.MaterialRequestLower);
            bool outputReq = pinMachine.GetValue<PinMachineDBName, bool>(PinMachineDBName.OutputRequestLower);
            if (materialReq)
            {
                conveyorLine.SetValue(ConveyorLineDBNameNew.Target, 1, childDeviceCode);
                conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_ACK, 1, childDeviceCode);
            }
            else
            {
                pinMachine.SetValue(PinMachineDBName.PlugPinTrayOutputReadyLower, outputReq ? 1 : 0);
            }
        }


 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs

@@ -134,7 +134,6 @@
        /// <returns></returns>
        private async Task<string?> _TcpSocket_MessageReceived(string message, bool isJson, TcpClient client, RobotSocketState state)
        {
            WebResponseContent content = new WebResponseContent();
            string messageLower = message.ToLowerInvariant();

            if (await IsSimpleCommandAsync(messageLower, state))
@@ -178,10 +177,8 @@
                            state.LastPickPositions = positions;

                            var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), state.CurrentTask?.RobotTaskType == 2 ? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.SplitPalletAsync));
                            WebResponseContent? contentNullable = JsonConvert.DeserializeObject<WebResponseContent>(result);
                            content = contentNullable ?? new WebResponseContent();

                            if (content.Status)
                            if (result.Status)
                            {
                                state.CurrentAction = "PickFinished";
                            }
@@ -210,10 +207,8 @@
                                        .ToList()
                                };
                                var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), nameof(ConfigKey.GroupPalletAsync));
                                WebResponseContent? contentNullable = JsonConvert.DeserializeObject<WebResponseContent>(result);
                                content = contentNullable ?? new WebResponseContent();

                                if (content.Status)
                                if (result.Status)
                                {
                                    state.CurrentAction = "PutFinished";
                                }
@@ -339,18 +334,14 @@
            };

            var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), taskDto.ToJsonString(), nameof(ConfigKey.CreateTaskInboundAsync));
            WebResponseContent content = JsonConvert.DeserializeObject<WebResponseContent>(result) ?? new WebResponseContent();
            if (!content.Status)
            if (!result.Status)
            {
                return;
            }

            WMSTaskDTO taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(content.Data.ToString() ?? string.Empty) ?? new WMSTaskDTO();
            content = _taskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
            if (!content.Status)
            {
                return;
            }
            WMSTaskDTO taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(result.Data.ToString() ?? string.Empty) ?? new WMSTaskDTO();
            var content = _taskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
            if (!content.Status) return;

            var taskInfo = _taskService.QueryByTaskNum(taskDTO.TaskNum);


 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs

@@ -30,6 +30,7 @@
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskRepository _taskRepository;
        private readonly IRouterService _routerService;
        private readonly StackerCraneCommandConfig _config;

        public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService)
        {
@@ -37,6 +38,28 @@
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskRepository = taskRepository;
            _routerService = routerService;
            _config = LoadConfig();
        }

        /// <summary>
        /// åŠ è½½é…ç½®ï¼ˆä¼˜å…ˆçº§ï¼šé…ç½®æ–‡ä»¶ > é»˜è®¤é…ç½®ï¼‰
        /// </summary>
        private static StackerCraneCommandConfig LoadConfig()
        {
            try
            {
                string configPath = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "StackerCraneJob", "stackercrane-command-config.json");
                if (File.Exists(configPath))
                {
                    string json = File.ReadAllText(configPath);
                    return System.Text.Json.JsonSerializer.Deserialize<StackerCraneCommandConfig>(json) ?? new StackerCraneCommandConfig();
                }
            }
            catch (Exception ex)
            {
                Console.WriteLine($"配置加载失败: {ex.Message}，使用默认配置");
            }
            return new StackerCraneCommandConfig();
        }

        public Task Execute(IJobExecutionContext context)
@@ -63,7 +86,7 @@
                    Dt_Task? task = GetTask(commonStackerCrane);
                    if (task != null)
                    {
                        StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                        var stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                        if (stackerCraneTaskCommand != null)
                        {
                            bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
@@ -178,32 +201,85 @@
        /// <summary>
        /// ä»»åŠ¡å®žä½“转换成命令Model
        /// </summary>
        /// <param name="task">任务实体</param>
        /// <returns></returns>
        public StackerCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
        public dynamic? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
        {
            StackerCraneTaskCommand stackerCraneTaskCommand = new StackerCraneTaskCommand
            // æ ¹æ®é…ç½®åˆ¤æ–­å‘½ä»¤ç±»åž‹
            string commandType = GetCommandType(task.Roadway);

            // åˆ›å»ºå¹¶æž„建命令
            return commandType switch
            {
                "Formation" => BuildCommand(task, CreateFormationCommand(task)),
                _ => BuildCommand(task, CreateStandardCommand(task))
            };
        }

        /// <summary>
        /// æ ¹æ® Roadway èŽ·å–命令类型
        /// </summary>
        private string GetCommandType(string roadway)
        {
            foreach (var mapping in _config.RoadwayCommandMapping)
            {
                if (roadway.Contains(mapping.Key))
                {
                    return mapping.Value;
                }
            }
            return _config.DefaultCommandType;
        }

        /// <summary>
        /// åˆ›å»ºæ ‡å‡†å †åž›æœºå‘½ä»¤
        /// </summary>
        private static StackerCraneTaskCommand CreateStandardCommand(Dt_Task task)
        {
            return new StackerCraneTaskCommand
            {
                Barcode = task.PalletCode,
                TaskNum = task.TaskNum,
                WorkType = 1,
                TrayType = 0
            };
        }

            TaskTypeGroup taskTypeGroup = task.TaskType.GetTaskTypeGroup();
            return taskTypeGroup switch
        /// <summary>
        /// åˆ›å»ºç»„盘堆垛机命令
        /// </summary>
        private static FormationStackerCraneTaskCommand CreateFormationCommand(Dt_Task task)
        {
            return new FormationStackerCraneTaskCommand
            {
                TaskTypeGroup.InboundGroup => BuildInboundCommand(task, stackerCraneTaskCommand),
                TaskTypeGroup.OutbondGroup => BuildOutboundCommand(task, stackerCraneTaskCommand),
                TaskTypeGroup.RelocationGroup => BuildRelocationCommand(task, stackerCraneTaskCommand),
                _ => stackerCraneTaskCommand
                Barcode = task.PalletCode,
                TaskNum = task.TaskNum,
                WorkType = 1,
                WorkAction = 1,
                FireAlarm = 0,
                HeartBeat = 0,
                FieldName = string.Empty
            };
        }

        /// <summary>
        /// æž„建入库命令
        /// é€šç”¨å‘½ä»¤æž„建方法
        /// </summary>
        private StackerCraneTaskCommand? BuildInboundCommand(Dt_Task task, StackerCraneTaskCommand command)
        private T? BuildCommand<T>(Dt_Task task, T command) where T : class
        {
            TaskTypeGroup taskTypeGroup = task.TaskType.GetTaskTypeGroup();

            return taskTypeGroup switch
            {
                TaskTypeGroup.InboundGroup => BuildInboundCommand(task, command),
                TaskTypeGroup.OutbondGroup => BuildOutboundCommand(task, command),
                TaskTypeGroup.RelocationGroup => BuildRelocationCommand(task, command),
                _ => command
            };
        }

        /// <summary>
        /// é€šç”¨å…¥åº“命令构建
        /// </summary>
        private T? BuildInboundCommand<T>(Dt_Task task, T command) where T : class
        {
            Dt_Router? router = _routerService.QueryNextRoute(task.CurrentAddress, task.Roadway, task.TaskType);
            if (router == null)
@@ -212,9 +288,9 @@
                return null;
            }

            command.StartRow = Convert.ToInt16(router.SrmRow);
            command.StartColumn = Convert.ToInt16(router.SrmColumn);
            command.StartLayer = Convert.ToInt16(router.SrmLayer);
            SetCommandProperty(command, "StartRow", Convert.ToInt16(router.SrmRow));
            SetCommandProperty(command, "StartColumn", Convert.ToInt16(router.SrmColumn));
            SetCommandProperty(command, "StartLayer", Convert.ToInt16(router.SrmLayer));

            if (!TryParseAddress(task.NextAddress, out short endRow, out short endColumn, out short endLayer))
            {
@@ -222,17 +298,17 @@
                return null;
            }

            command.EndRow = endRow;
            command.EndColumn = endColumn;
            command.EndLayer = endLayer;
            SetCommandProperty(command, "EndRow", endRow);
            SetCommandProperty(command, "EndColumn", endColumn);
            SetCommandProperty(command, "EndLayer", endLayer);

            return command;
        }

        /// <summary>
        /// æž„建出库命令
        /// é€šç”¨å‡ºåº“命令构建
        /// </summary>
        private StackerCraneTaskCommand? BuildOutboundCommand(Dt_Task task, StackerCraneTaskCommand command)
        private T? BuildOutboundCommand<T>(Dt_Task task, T command) where T : class
        {
            Dt_Router? router = _routerService.QueryNextRoute(task.Roadway, task.TargetAddress, task.TaskType);
            if (router == null)
@@ -241,9 +317,9 @@
                return null;
            }

            command.EndRow = Convert.ToInt16(router.SrmRow);
            command.EndColumn = Convert.ToInt16(router.SrmColumn);
            command.EndLayer = Convert.ToInt16(router.SrmLayer);
            SetCommandProperty(command, "EndRow", Convert.ToInt16(router.SrmRow));
            SetCommandProperty(command, "EndColumn", Convert.ToInt16(router.SrmColumn));
            SetCommandProperty(command, "EndLayer", Convert.ToInt16(router.SrmLayer));

            if (!TryParseAddress(task.CurrentAddress, out short startRow, out short startColumn, out short startLayer))
            {
@@ -251,17 +327,17 @@
                return null;
            }

            command.StartRow = startRow;
            command.StartColumn = startColumn;
            command.StartLayer = startLayer;
            SetCommandProperty(command, "StartRow", startRow);
            SetCommandProperty(command, "StartColumn", startColumn);
            SetCommandProperty(command, "StartLayer", startLayer);

            return command;
        }

        /// <summary>
        /// æž„建移库命令
        /// é€šç”¨ç§»åº“命令构建
        /// </summary>
        private StackerCraneTaskCommand? BuildRelocationCommand(Dt_Task task, StackerCraneTaskCommand command)
        private T? BuildRelocationCommand<T>(Dt_Task task, T command) where T : class
        {
            if (!TryParseAddress(task.NextAddress, out short endRow, out short endColumn, out short endLayer))
            {
@@ -269,9 +345,9 @@
                return null;
            }

            command.EndRow = endRow;
            command.EndColumn = endColumn;
            command.EndLayer = endLayer;
            SetCommandProperty(command, "EndRow", endRow);
            SetCommandProperty(command, "EndColumn", endColumn);
            SetCommandProperty(command, "EndLayer", endLayer);

            if (!TryParseAddress(task.CurrentAddress, out short startRow, out short startColumn, out short startLayer))
            {
@@ -279,14 +355,23 @@
                return null;
            }

            command.StartRow = startRow;
            command.StartColumn = startColumn;
            command.StartLayer = startLayer;
            SetCommandProperty(command, "StartRow", startRow);
            SetCommandProperty(command, "StartColumn", startColumn);
            SetCommandProperty(command, "StartLayer", startLayer);

            return command;
        }

        /// <summary>
        /// ä½¿ç”¨åå°„设置命令属性
        /// </summary>
        private static void SetCommandProperty<T>(T command, string propertyName, object value) where T : class
        {
            var property = typeof(T).GetProperty(propertyName);
            property?.SetValue(command, value);
        }

        /// <summary>
        /// è§£æžåœ°å€å­—符串（格式：行-列-层）
        /// </summary>
        private bool TryParseAddress(string address, out short row, out short column, out short layer)

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/README.md

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,123 @@
# å †åž›æœºå‘½ä»¤é…ç½®ç³»ç»Ÿ

## æ¦‚è¿°

通过配置文件灵活管理 Roadway åˆ°å‘½ä»¤ç±»åž‹çš„映射关系，支持动态扩展，无需修改代码。

## æ ¸å¿ƒè®¾è®¡

- **策略模式**: æ ¹æ® Roadway åŠ¨æ€é€‰æ‹©å‘½ä»¤ç±»åž‹
- **工厂模式**: ç»Ÿä¸€åˆ›å»ºä¸åŒç±»åž‹çš„命令对象
- **泛型编程**: é€šç”¨æ–¹æ³•å¤„理所有命令类型
- **配置驱动**: æ˜ å°„关系由配置文件管理

## é…ç½®æ–‡ä»¶

### ä½ç½®

```text
{应用程序根目录}/StackerCraneJob/stackercrane-command-config.json
```

### æ ¼å¼

```json
{
  "RoadwayCommandMapping": {
    "HC": "Formation",
    "GW": "Standard",
    "CW": "Standard"
  },
  "DefaultCommandType": "Standard"
}
```

### è¯´æ˜Ž

- **RoadwayCommandMapping**: Roadway å…³é”®å­— â†’ å‘½ä»¤ç±»åž‹æ˜ å°„
- **DefaultCommandType**: é»˜è®¤å‘½ä»¤ç±»åž‹ï¼ˆä¸åŒ¹é…æ—¶ä½¿ç”¨ï¼‰

## ä½¿ç”¨ç¤ºä¾‹

```csharp
// è‡ªåŠ¨ä»Žé…ç½®æ–‡ä»¶åŠ è½½
var job = new CommonStackerCraneJob(taskService, taskExecuteDetailService, taskRepository, routerService);

// åˆ›å»ºä»»åŠ¡
var task = new Dt_Task
{
    Roadway = "HC-01",  // åŒ…含 "HC" â†’ ä½¿ç”¨ Formation å‘½ä»¤
    PalletCode = "P001",
    TaskNum = 12345
};

// è½¬æ¢ä¸ºå‘½ä»¤
var command = job.ConvertToStackerCraneTaskCommand(task);
```

## æ‰©å±•æ–°å‘½ä»¤ç±»åž‹

### 1. åˆ›å»ºå‘½ä»¤ç±»

```csharp
public class CustomStackerCraneTaskCommand : DeviceCommand
{
    public int TaskNum { get; set; }
    public string Barcode { get; set; }
}
```

### 2. æ·»åŠ å·¥åŽ‚方法

在 `CommonStackerCraneJob` ä¸­æ·»åŠ ï¼š

```csharp
private static CustomStackerCraneTaskCommand CreateCustomCommand(Dt_Task task)
{
    return new CustomStackerCraneTaskCommand
    {
        Barcode = task.PalletCode,
        TaskNum = task.TaskNum
    };
}
```

### 3. ä¿®æ”¹ ConvertToStackerCraneTaskCommand

在 switch è¡¨è¾¾å¼ä¸­æ·»åŠ æ–°åˆ†æ”¯ï¼š

```csharp
return commandType switch
{
    "Formation" => BuildCommand(task, CreateFormationCommand(task)),
    "Custom" => BuildCommand(task, CreateCustomCommand(task)),
    _ => BuildCommand(task, CreateStandardCommand(task))
};
```

### 4. æ›´æ–°é…ç½®æ–‡ä»¶

```json
{
  "RoadwayCommandMapping": {
    "HC": "Formation",
    "GW": "Standard",
    "XX": "Custom"
  }
}
```

## ä¼˜åŠ¿

1. **简洁**: æ ¸å¿ƒé€»è¾‘清晰，易于理解
2. **灵活**: é…ç½®æ–‡ä»¶ç®¡ç†æ˜ å°„关系
3. **可扩展**: æ·»åŠ æ–°ç±»åž‹åªéœ€ 4 æ­¥
4. **可维护**: ä»£ç ç»“构简单，职责明确
5. **容错**: é…ç½®åŠ è½½å¤±è´¥è‡ªåŠ¨ä½¿ç”¨é»˜è®¤å€¼

## æ³¨æ„äº‹é¡¹

- Roadway å…³é”®å­—按顺序匹配，先匹配先生效
- é…ç½®æ–‡ä»¶å¿…须是有效的 JSON æ ¼å¼
- å‘½ä»¤ç±»åž‹åç§°åŒºåˆ†å¤§å°å†™
- é…ç½®åŠ è½½å¤±è´¥ä¼šè¾“出警告并使用默认配置

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/StackerCraneCommandConfig.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,25 @@
using System.Collections.Generic;

namespace WIDESEAWCS_Tasks.StackerCraneJob
{
    /// <summary>
    /// å †åž›æœºå‘½ä»¤é…ç½®
    /// </summary>
    public class StackerCraneCommandConfig
    {
        /// <summary>
        /// Roadway å…³é”®å­—到命令类型的映射
        /// </summary>
        public Dictionary<string, string> RoadwayCommandMapping { get; set; } = new()
        {
            { "HC", "Formation" },
            { "GW", "Standard" },
            { "CW", "Standard" }
        };

        /// <summary>
        /// é»˜è®¤å‘½ä»¤ç±»åž‹
        /// </summary>
        public string DefaultCommandType { get; set; } = "Standard";
    }
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/stackercrane-command-config.json

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,8 @@
{
  "RoadwayCommandMapping": {
    "HC": "Formation",
    "GW": "Standard",
    "CW": "Standard"
  },
  "DefaultCommandType": "Standard"
}

 Code/WMS/WIDESEA_WMSServer/.vs/WIDESEA_WMSServer/CopilotIndices/18.0.988.22099/CodeChunks.db

Binary files differ

 Code/WMS/WIDESEA_WMSServer/.vs/WIDESEA_WMSServer/CopilotIndices/18.0.988.22099/SemanticSymbols.db

Binary files differ

 Code/WMS/WIDESEA_WMSServer/.vs/WIDESEA_WMSServer/v18/DocumentLayout.backup.json

@@ -7,20 +7,24 @@
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@@ -49,12 +66,8 @@
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@@ -66,27 +79,29 @@
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