From 0b4792ff8245f9eac16e6d02452eb9a091f6f72b Mon Sep 17 00:00:00 2001
From: huanghongfeng <huanghongfeng@hnkhzn.com>
Date: 星期二, 28 十月 2025 19:42:04 +0800
Subject: [PATCH] 1
---
代码管理/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SpeStackerCraneJob/SpeStackerCraneJob.cs | 1045 ++++++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 730 insertions(+), 315 deletions(-)
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SpeStackerCraneJob/SpeStackerCraneJob.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SpeStackerCraneJob/SpeStackerCraneJob.cs"
index bad479b..d8bac0e 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SpeStackerCraneJob/SpeStackerCraneJob.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SpeStackerCraneJob/SpeStackerCraneJob.cs"
@@ -12,6 +12,7 @@
using System.Diagnostics.CodeAnalysis;
using System.Diagnostics.Eventing.Reader;
using System.Linq;
+using System.Net;
using System.Reflection.Metadata;
using System.Runtime.CompilerServices;
using System.Text;
@@ -68,44 +69,73 @@
{
GetStackerObject getStackerObject = new GetStackerObject(speStackerCrane);
- //璇诲彇璁惧瀹屾垚淇℃伅
- if (getStackerObject.StaclerkJobJobStatusValue == RgvJobCraneStatus.Completed && getStackerObject.CurrentRgvtaskid != 0)
+ if (getStackerObject.RGVInitializationValue == RGVInitialize.Initialized)
{
- _taskService.UpdateTaskStatus(getStackerObject.CurrentRgvtaskid,2);
- }
-
-
- if (getStackerObject.RgvCraneAutoStatusValue == RgvCraneAutoStatus.Automatic &&
- getStackerObject.StaclerkJobJobStatusValue == RgvJobCraneStatus.Ready && getStackerObject.RgvCraneWorkStatusValue == RGVStepprocess.NoAction)
- {
-
- //涓嬪彂RGV浠诲姟涔嬪墠锛屽厛璇诲彇涓�涓嬪畨鍏ㄩ棬鐘舵��
-
- //鏌ユ壘RGV杩涜涓嬪彂浠诲姟
- Dt_Task task = GetTask(speStackerCrane.DeviceCode,getStackerObject);
- if (task != null)
+ //璇诲彇璁惧瀹屾垚淇℃伅
+ if (getStackerObject.StaclerkJobJobStatusValue == RGV_Rgvtaskstutas.Completed || getStackerObject.StaclerkJobJobStatusValue == RGV_Rgvtaskstutas.AbnormalCompletion)
{
- //璋冨彇鍐欏叆RGV灏忚溅浠诲姟
- RgvCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
- bool sendFlag = getStackerObject.SendCommand(stackerCraneTaskCommand);
- if (sendFlag)
+ CommonStackerCrane_AGVTaskCompletedEventHandler(getStackerObject, speStackerCrane);
+ }
+
+ //鍒ゆ柇褰撳墠璁惧鏄叆搴撹繕鏄嚭搴�
+ /*if (GetDeviceAddress.OutbounMotherChildCartbool(speStackerCrane.DeviceCode))
+ {
+ //鍒ゆ柇褰撳墠瀹夊叏闂ㄦ槸鍚︿负缁胯壊鐏�
+ if (GetDeviceAddress.ReadAqmDecicStice(1))
{
- //淇敼浠诲姟鐘舵��
- _taskService.UpdateTaskStatusToNext(task);
+ return null;
}
}
else
{
- if(speStackerCrane.DeviceCode=="RGV101" || speStackerCrane.DeviceCode == "RGV101")
+ //鍒ゆ柇鍏ュ簱绔畨鍏ㄩ棬鏄惁姝ｅ父
+ if (GetDeviceAddress.ReadAqmDecicStice(2))
{
- //褰撴病浠诲姟鐨勬椂鍊欙紝鍒欒繘琛岀Щ鍔�
- Returnposition(speStackerCrane.DeviceCode, getStackerObject.RGVCurrentlocation);
+ return null;
}
-
- }
+ }*/
+
+
+
+ if (getStackerObject.RgvCraneAutoStatusValue == RgvCraneAutoStatus.Automatic &&
+ getStackerObject.StaclerkJobJobStatusValue == RGV_Rgvtaskstutas.Ready && getStackerObject.RgvCraneWorkStatusValue == RGVStepprocess.NoAction)
+ {
+ //鏌ユ壘RGV杩涜涓嬪彂浠诲姟
+ Dt_Task task = GetTask(speStackerCrane.DeviceCode, getStackerObject);
+ if (task != null)
+ {
+ //璋冨彇鍐欏叆RGV灏忚溅浠诲姟
+ RgvCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
+ if (stackerCraneTaskCommand != null)
+ {
+ bool sendFlag = getStackerObject.SendCommand(stackerCraneTaskCommand);
+ if (sendFlag)
+ {
+ //淇敼浠诲姟鐘舵��
+ _taskService.UpdateTaskStatusToNext(task);
+ }
+ }
+
+ }
+ else
+ {
+ if (GetDeviceAddress.OutbounMotherChildCartbool(speStackerCrane.DeviceCode))
+ {
+ //褰撴病浠诲姟鐨勬椂鍊欙紝鍒欒繘琛岀Щ鍔�
+ Returnposition(speStackerCrane.DeviceCode, getStackerObject.RGVCurrentlocation, (int)getStackerObject.RgvCraneStatusValue);
+
+ }
+ else if (GetDeviceAddress.OutbounMotherChildCartbool2(speStackerCrane.DeviceCode))
+ {
+ InReturnposition(speStackerCrane.DeviceCode, getStackerObject.RGVCurrentlocation, (int)getStackerObject.RgvCraneStatusValue);
+ }
+
+ }
+ }
}
+
}
}
catch (Exception ex)
@@ -115,6 +145,34 @@
return Task.CompletedTask;
}
+ #region 浠诲姟瀹屾垚
+ private void CommonStackerCrane_AGVTaskCompletedEventHandler(GetStackerObject getStackerObject, SpeStackerCrane speStackerCrane)
+ {
+ if (getStackerObject.StaclerkJobJobStatusValue == RGV_Rgvtaskstutas.Completed && getStackerObject.CurrentRgvtaskid == 30001)
+ {
+ speStackerCrane.SetValue(RGV_taskcoDBName.RGV_taskcomplete, 1);
+ speStackerCrane.SetValue(RGV_taskcoDBName.RGV_taskcomplete, 0);
+ }
+ else if (getStackerObject.StaclerkJobJobStatusValue == RGV_Rgvtaskstutas.Completed && getStackerObject.CurrentRgvtaskid != 0 && getStackerObject.CurrentRgvtaskid != 30001)
+ {
+ _taskService.UpdateTaskStatus(getStackerObject.CurrentRgvtaskid); //姝ｅ父浠诲姟瀹屾垚
+ speStackerCrane.SetValue(RGV_taskcoDBName.RGV_taskcomplete, 1);
+ speStackerCrane.SetValue(RGV_taskcoDBName.RGV_taskcomplete, 0);
+ }
+ else if (getStackerObject.StaclerkJobJobStatusValue == RGV_Rgvtaskstutas.AbnormalCompletion && getStackerObject.CurrentRgvtaskid != 0 && getStackerObject.CurrentRgvtaskid != 30001)
+ {
+
+ //淇敼浠诲姟鐘舵�佷负寮傚父瀹屾垚
+ _taskService.HandleInAbnormal(getStackerObject.CurrentRgvtaskid);
+
+ //鍐欏叆寮傚父瀹屾垚鎶ヨ淇℃伅
+ speStackerCrane.Communicator.Write<short>("DB101.36", 1); //鍐欏叆鎶ヨ
+ }
+ }
+ #endregion
+
+
+
private Dt_Task? GetTask(string DeviceCode, GetStackerObject getStackerObject)
{
// 鏍规嵁璁惧鍚嶇О锛岃幏鍙栧埌璁惧鐩稿叧鏁版嵁
@@ -122,7 +180,7 @@
return RGVTaskdevice.Station_tasktype switch
{
(int)RGVTasktype.Inbound => HandleInboundTask(RGVTaskdevice, getStackerObject),
- (int)RGVTasktype.Outbound => OutboundEquipmentTask(RGVTaskdevice, getStackerObject),
+ (int)RGVTasktype.Outbound => OutboundEquipmentTask(RGVTaskdevice, getStackerObject), //鍑哄簱
_ => null
};
@@ -132,73 +190,195 @@
#region 鍏ュ簱鏂规硶
private Dt_Task? HandleInboundTask(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
{
- if(RGVTaskdevice.Station_material== (int)RGVEquipment.InRGVForklift && getStackerObject.RgvCraneStatusValue== RgvEquipmentStatus.NoCargo)
+ return (RGVTaskdevice.Station_material, getStackerObject.RgvCraneStatusValue) switch
{
- return _taskService.GetInkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode, 1);
- }
- else if (RGVTaskdevice.Station_material == (int)RGVEquipment.InRGVForklift && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.HasCargo)
- {
- return _taskService.GetInkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode, 2);
- }else if (RGVTaskdevice.Station_material == (int)RGVEquipment.Corridorcar && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.NoCargo)
- {
- return ZichePickUpAisle(RGVTaskdevice, getStackerObject);
- }else if (RGVTaskdevice.Station_material == (int)RGVEquipment.Corridorcar && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.HasCargo)
- {
- return GoodsPlacedCorridor(RGVTaskdevice, getStackerObject);
- }
- else if (RGVTaskdevice.Station_material == (int)RGVEquipment.Corridorcar && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.NoCargo)
- {
- return ZicheMobile(RGVTaskdevice, getStackerObject);
- }
- else if (RGVTaskdevice.Station_material == (int)RGVEquipment.Mothertrailer && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.HasCargo)
- {
- return MotherVehicleMovement(RGVTaskdevice);
- }
- else { return null; }
+ ((int)RGVEquipment.InRGVForklift, RgvEquipmentStatus.NoCargo) //鍙夎溅寮廟GV鏃犺揣,涓嬪彂鍙栬揣浠诲姟
+ => _taskService.PickupWarehouse(RGVTaskdevice.ChildPosiDeviceCode),
+
+ ((int)RGVEquipment.InRGVForklift, RgvEquipmentStatus.HasCargo)
+ => ForkliftUnloading(RGVTaskdevice), //鍙夎溅寮忚繘琛屾斁璐э紙宸插畬鎴愶級
+
+ ((int)RGVEquipment.Corridorcar, RgvEquipmentStatus.NoCargo)
+ => ZichePickUpAisle(RGVTaskdevice, getStackerObject), //杩囬亾瀛愯溅杩涜鍙栬揣锛堝凡瀹屾垚锛�
+
+ ((int)RGVEquipment.Corridorcar, RgvEquipmentStatus.HasCargo)
+ => GoodsPlacedCorridor(RGVTaskdevice), //瀛愯溅鏀捐揣浠诲姟(宸插畬鎴�)
+
+ ((int)RGVEquipment.Mothertrailer, RgvEquipmentStatus.HasCargo)
+ => MotherVehicleMovement(RGVTaskdevice), //姣嶈溅绉诲姩锛堝凡瀹屾垚锛�
+
+ _ => null
+ };
}
+ #region 鍙夎溅寮忚繘琛屾斁璐э紙宸插畬鎴愶級
+ public Dt_Task? ForkliftUnloading(AGVStation RGVTaskdevice)
+ {
+ Dt_Task dt_Task = _taskService.GetInkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode);
- #region 杩囬亾瀛愯溅杩涜鍙栬揣
+ //鍒ゆ柇HCJ鏄惁鏈夎揣
+ if (GetDeviceAddress.HCJIsstock(dt_Task.NextAddress))
+ {
+ //鍒ゆ柇瀛愯溅鏄惁鍦ㄦ帴椹冲彴涓�
+ var zichestation = _agvStationService.OutGetZicheDeepHCJ(1061);
+ int ziche = GetDeviceAddress.GetEquipmentlocation(zichestation.ChildPosiDeviceCode);
+ if ((ziche == zichestation.WaitmomentOne || ziche == zichestation.WaitmomentTwo || ziche == zichestation.MotherCarDeviceCode || ziche == zichestation.MotherCardeputy || ziche == zichestation.HCJStorageaddress) && ziche != 1021)
+ {
+ //鑾峰彇杩欎釜鎺ラ┏鍙版槸鍚︽湁鍙栬揣浠诲姟
+ Dt_Task zitask = _taskService.ViceChariotPickupTask2(RGVTaskdevice.ChildPosiDeviceCode);
+ if (zitask == null)
+ {
+
+ return dt_Task;
+ }
+ }
+ }
+ return null;
+ }
+ #endregion
+
+ #region 杩囬亾瀛愯溅杩涜鍙栬揣锛堝凡瀹屾垚锛�
public Dt_Task? ZichePickUpAisle(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
{
//鑾峰彇瀛愯溅鍙栬揣浠诲姟
- Dt_Task dt_Task = _taskService.GetInzicheTask(RGVTaskdevice.ChildPosiDeviceCode,1);
- if(dt_Task.CurrentAddress== getStackerObject.RGVCurrentlocation.ToString())
+ Dt_Task dt_Task = _taskService.ViceChariotPickupTask(RGVTaskdevice.ChildPosiDeviceCode);
+ if (dt_Task == null) return null;
+ if (RGVTaskdevice.Station_Area == 6) //澶栦晶杩涘彇璐э紝鍒欓渶瑕佸垽鏂瓙杞﹀綋鍓嶄綅缃�
{
- return dt_Task;
- }
- else
- {
- //濡傛灉涓嶇瓑浜庯紝鍒欒繘琛屽垽鏂瓙杞﹀湪鍝釜浣嶇疆
- if (RGVTaskdevice.Station_Area == 1)
+ if (getStackerObject.RGVCurrentlocation == RGVTaskdevice.WaitmomentOne)
{
- // 鏍规嵁瀛愯溅浣嶇疆澶勭悊涓嶅悓鎯呭喌
- 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
- {
- //鍙朒CJ浣嶇殑鏂欏垽鏂�
- 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;
- }
- }
+ //杩橀渶瑕佸垽鏂叆搴撳彛鍙夎溅鏄惁鏀跺洖鍙夎溅浜�
+ //鍦ㄧ瓑寰呯偣1锛屽垯闇�瑕佸垽鏂�1鍙锋瘝杞﹀湪鍫嗗灈鏈哄彇璐у彛
+ var mu1rgv = _agvStationService.GetMothervehicle(RGVTaskdevice.MotherCarDeviceCode);
+ int mu1 = GetDeviceAddress.GetEquipmentlocation(mu1rgv.ChildPosiDeviceCode); //姝ゆ椂鐨凴GV搴旇鏃犺揣
+ bool ywh = GetDeviceAddress.Mucheywhaddres(mu1rgv.ChildPosiDeviceCode);
+ if (mu1 == mu1rgv.Motherinlaw || (ywh && mu1 == mu1rgv.ZicheMotherinlaw)) //鍦ㄥ爢鍨涙満鍙栬揣鍙�
+ {
+ //=============================鏂板褰撳幓鍙栬揣鏃惰繘琛屽垽鏂贩閬擄紝鐪嬭兘涓嶈兘鎻愬墠鎷夊嚭姣嶈溅
+ if (int.Parse(dt_Task.TargetAddress) == (int)StorageAisleEnum.LaneTwo)
+ {
+ int taraddress = int.Parse(dt_Task.TargetAddress);
+ var InMotherVehicle = _agvStationService.ObtainCcordingTunnel(taraddress); //鑾峰彇鍒伴渶瑕佸叆搴撶殑姣嶈溅(2宸烽亾)
+ int mu2 = GetDeviceAddress.GetEquipmentlocation(InMotherVehicle.ChildPosiDeviceCode); //姝ゆ椂鐨凴GV搴旇鏃犺揣
+ if (GetDeviceAddress.Mucheywhaddres(InMotherVehicle.ChildPosiDeviceCode)) //鍒ゆ柇鏃犺揣
+ {
+ if (mu2 == InMotherVehicle.ZicheMotherinlaw)
+ {
+ return dt_Task;
+ }
+ else if (mu2 == InMotherVehicle.Motherinlaw)
+ {
+ RGVMovetask(InMotherVehicle.ZicheMotherinlaw, InMotherVehicle.ChildPosiDeviceCode);
+ }
+ }
+ }
+ //=============================鏂板褰撳幓鍙栬揣鏃惰繘琛屽垽鏂贩閬擄紝鐪嬭兘涓嶈兘鎻愬墠鎷夊嚭姣嶈溅
+ return dt_Task;
+ }
+ //鍘绘帀鍘熷洜锛氬湪璇ュ嚭瀛愯溅鍘诲彇璐э紝鍙洿鎺ョ┛杩囨棤璐ф瘝杞︼紝鎷栬溅
+ /*else
+ {
+ Dt_Task task = _taskService.MothermachinemovementTask2(RGVTaskdevice.ChildPosiDeviceCode);
+ if (task == null)
+ {
+ RGVMovetask(mu1rgv.Motherinlaw, mu1rgv.ChildPosiDeviceCode);
+ }
+ }*/
+
+ }
+ else if (getStackerObject.RGVCurrentlocation == RGVTaskdevice.WaitmomentTwo) //鍒欓渶瑕佸垽鏂袱涓瘝杞︾殑浣嶅瓙
+ {
+ //鍒ゆ柇涓や釜瀛愯溅鏄惁鍦ㄥ爢鍨涙満鍙栬揣鍙�
+
+ //姣嶈溅1
+ var mu1rgv = _agvStationService.GetMothervehicle(RGVTaskdevice.MotherCarDeviceCode);
+ int mu1 = GetDeviceAddress.GetEquipmentlocation(mu1rgv.ChildPosiDeviceCode); //姝ゆ椂鐨凴GV搴旇鏃犺揣
+ bool m1Isitstock1 = GetDeviceAddress.Mucheywhaddres(mu1rgv.ChildPosiDeviceCode);
+
+ var mu2rgv = _agvStationService.GetMothervehicle(RGVTaskdevice.MotherCardeputy);
+ int mu2 = GetDeviceAddress.GetEquipmentlocation(mu2rgv.ChildPosiDeviceCode); //姝ゆ椂鐨凴GV搴旇鏃犺揣
+ bool m1Isitstock2 = GetDeviceAddress.Mucheywhaddres(mu2rgv.ChildPosiDeviceCode);
+
+ // 鎻愬彇鍙鎬у彉閲�
+ bool mu1AtHome = mu1 == mu1rgv.Motherinlaw;
+ bool mu2AtHome = mu2 == mu2rgv.Motherinlaw;
+ bool mu1Ready = mu1 == mu1rgv.ZicheMotherinlaw && m1Isitstock1;
+ bool mu2Ready = mu2 == mu2rgv.ZicheMotherinlaw && m1Isitstock2;
+
+ // 鍚堝苟鎵�鏈夋弧瓒虫潯浠剁殑鎯呭喌
+ if ((mu1AtHome && mu2AtHome) || // 閮藉湪鍒濆浣嶇疆
+ (mu1Ready && mu2Ready) || // 閮藉湪灏辩华浣嶇疆涓旀棤璐�
+ (mu1AtHome && mu2Ready) || // 1鍦ㄥ垵濮嬩綅缃紝2灏辩华
+ (mu1Ready && mu2AtHome)) // 1灏辩华锛�2鍦ㄥ垵濮嬩綅缃�
+ {
+ return dt_Task;
+ }
+
+ /*else
+ {
+ //鏃犻渶鎶婃瘝杞︾Щ鍔ㄨ嚦鍙栬揣鍙�,鏃犺揣鐘舵�佺殑瀛愯溅鏃犻渶韪╂墭鐩樿繃鍘诲幓鍙栬揣
+ if (mu1 != mu1rgv.Motherinlaw)
+ {
+ Dt_Task task = _taskService.MothermachinemovementTask2(mu1rgv.ChildPosiDeviceCode);
+ if (task == null)
+ {
+ RGVMovetask(mu1rgv.Motherinlaw, mu1rgv.ChildPosiDeviceCode);
+ }
+ }
+ if (mu2 != mu2rgv.Motherinlaw)
+ {
+ Dt_Task task2 = _taskService.MothermachinemovementTask2(mu2rgv.ChildPosiDeviceCode);
+ if (task2 == null)
+ {
+ RGVMovetask(mu2rgv.Motherinlaw, mu2rgv.ChildPosiDeviceCode);
+ }
+ }
+ }*/
+ }
}
+ else if (RGVTaskdevice.Station_Area == 5)
+ {
+ if (getStackerObject.RGVCurrentlocation == RGVTaskdevice.WaitmomentOne)
+ {
+ //闇�瑕佸垽鏂渚у皬杞︽槸鍚﹀湪HCJ涓�
+ var zichestation = _agvStationService.OutGetZicheDeepHCJ(RGVTaskdevice.HCJStorageaddress);
+ int waiziche = GetDeviceAddress.GetEquipmentlocation(zichestation.ChildPosiDeviceCode);
+
+ if ((waiziche == zichestation.WaitmomentOne || waiziche == zichestation.WaitmomentTwo || waiziche == zichestation.MotherCardeputy || waiziche == zichestation.MotherCarDeviceCode || waiziche == 1021) && waiziche != zichestation.HCJStorageaddress)
+ {
+ return dt_Task;
+ }
+
+ }
+ else if (getStackerObject.RGVCurrentlocation == RGVTaskdevice.WaitmomentTwo) //闇�瑕佸垽鏂�3宸烽亾姣嶈溅鏄惁鍦ㄥ彇璐х珯鍙�
+ {
+ //鍒ゆ柇瀛愯溅鏄惁鍦℉CJ绔欏彴
+ var zichestation = _agvStationService.OutGetZicheDeepHCJ(RGVTaskdevice.HCJStorageaddress);
+ int waiziche = GetDeviceAddress.GetEquipmentlocation(zichestation.ChildPosiDeviceCode);
+
+ if ((waiziche == zichestation.WaitmomentOne || waiziche == zichestation.WaitmomentTwo || waiziche == zichestation.MotherCardeputy || waiziche == zichestation.MotherCarDeviceCode || waiziche == 1021) && waiziche != zichestation.HCJStorageaddress)
+ {
+ //姣嶈溅1
+ var mu1rgv = _agvStationService.GetMothervehicle(RGVTaskdevice.MotherCarDeviceCode);
+ int mu1 = GetDeviceAddress.GetEquipmentInformation(mu1rgv.ChildPosiDeviceCode); //姝ゆ椂鐨凴GV搴旇鏃犺揣
+ if (mu1 == mu1rgv.Motherinlaw)
+ {
+ return dt_Task;
+ }
+ else
+ {
+ Dt_Task task = _taskService.MothermachinemovementTask2(mu1rgv.ChildPosiDeviceCode);
+ if (task == null)
+ {
+ RGVMovetask(mu1rgv.Motherinlaw, mu1rgv.ChildPosiDeviceCode);
+ }
+ }
+ }
+ }
+ }
+ return null;
}
/// <summary>
/// 鍒ゆ柇澶栦晶姣嶈溅鏄惁鍦ㄥ叆鍙ｅ彛
@@ -246,17 +426,18 @@
#endregion
#region 杩囬亾瀛愯溅杩涜鏀捐揣
- public Dt_Task? GoodsPlacedCorridor(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
+ public Dt_Task? GoodsPlacedCorridor(AGVStation RGVTaskdevice)
{
- Dt_Task task = _taskService.GetInzicheTask(RGVTaskdevice.ChildPosiDeviceCode, 2);
- int nexaddres = int.Parse(task.NextAddress);
+ Dt_Task task = _taskService.ViceChariotPlacingTask(RGVTaskdevice.ChildPosiDeviceCode); //鑾峰彇鍒版斁璐т换鍔�
+ if (task == null) return null;
+ int nexaddres = int.Parse(task.NextAddress); //鍒ゆ柇鏄斁璐у湪鍝殑浠诲姟
switch (nexaddres)
{
- case int Whcjaddress when Whcjaddress == RGVTaskdevice.MotherCarDeviceCode: //鏀捐揣鐐瑰湪绗竴涓繃閬撶偣
+ case int Whcjaddress when Whcjaddress == RGVTaskdevice.MotherCarDeviceCode: //鏀捐揣鐐瑰湪绗竴涓繃閬撶偣(宸插畬鎴�)
return MotherCarMoves(task, RGVTaskdevice);
- case int Waddress when Waddress == RGVTaskdevice.MotherCardeputy: //鏀捐揣鐐瑰湪绗簩涓繃閬撶偣
+ case int Waddress when Waddress == RGVTaskdevice.MotherCardeputy: //鏀捐揣鐐瑰湪绗簩涓繃閬撶偣(宸插畬鎴�)
return MotherCarMovesinside(task, RGVTaskdevice);
- case int HCJaddress when HCJaddress == RGVTaskdevice.HCJStorageaddress: //鏀捐揣鐐瑰湪HCJ涓�
+ case int HCJaddress when HCJaddress == RGVTaskdevice.HCJStorageaddress: //鏀捐揣鐐瑰湪HCJ涓婏紙宸插畬鎴愶級
return HCJMotherCarMovesinside(task, RGVTaskdevice);
default: return null;
}
@@ -266,12 +447,29 @@
//鍖哄煙涓�鍒ゆ柇姣嶈溅鏄惁鍒颁綅锛屽彲绔嬪嵆鏀捐揣
private Dt_Task? MotherCarMoves(Dt_Task _Task, AGVStation aGVStation)
{
- AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.ZicheMotherinlaw);
-
- int motherCarAddress = GetDeviceAddress.GetEquipmentInMuche(Muche.ChildPosiDeviceCode);
- if (motherCarAddress == Muche.ZicheMotherinlaw) return _Task;
- if(motherCarAddress!=0) RGVMovetask(Muche.ZicheMotherinlaw, aGVStation.ChildPosiDeviceCode);
-
+ AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode);
+ Dt_Task task = _taskService.MothermachinemovementTask2(Muche.ChildPosiDeviceCode); //鑾峰彇鍒版瘝杞︾Щ鍔ㄤ换鍔�
+ if (task == null)
+ {
+ GetStackerObject getStackerObject = GetDeviceAddress.GetChildDeviceCode(Muche.ChildPosiDeviceCode);
+ if (getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.NoCargo) //鍒ゆ柇姣嶈溅鏄惁鏈夎揣
+ {
+ if (getStackerObject.RGVCurrentlocation == Muche.ZicheMotherinlaw) //鍒ゆ柇姣嶈溅鏄惁鍦ㄨ繃閬撶偣锛�
+ {
+ return _Task;
+ }
+ else
+ {
+ //鍒ゆ柇姣嶈溅鏄惁鏈変换鍔�
+ Dt_Task _Task1 = _taskService.MothermacTask(Muche.ChildPosiDeviceCode);
+ if (task == null)
+ {
+ RGVMovetask(Muche.ZicheMotherinlaw, Muche.ChildPosiDeviceCode); //濡傛灉娌℃湁浠诲姟锛屽垯鍙互杩涜绉诲姩鍑烘潵
+ }
+
+ }
+ }
+ }
return null;
}
@@ -283,22 +481,45 @@
/// <returns></returns>
private Dt_Task? MotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation)
{
- AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode); //澶栦晶姣嶈溅
- AGVStation Muche2 = _agvStationService.GetMothervehicle(aGVStation.MotherCardeputy); //鍐呬晶姣嶈溅
- int motherCarAddress = GetDeviceAddress.GetEquipmentInMuche(Muche.ChildPosiDeviceCode);
- int motherCarAddress2 = GetDeviceAddress.GetEquipmentInMuche(Muche2.ChildPosiDeviceCode);
- // 濡傛灉姣嶈溅涓嶅湪棰勬湡浣嶇疆锛屼笅鍙戠Щ鍔ㄤ换鍔�
- if (motherCarAddress != Muche.Motherinlaw && motherCarAddress != 0)
+ //鍒ゆ柇澶栦晶姣嶈溅鏄惁闇�瑕佺Щ鍔ㄨ嚦鍫嗗灈鏈哄彇璐у彛
+ AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode);
+ int muche1objet = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
+
+ //鍒ゆ柇鍐呬晶姣嶈溅鏄惁鍦ㄦ斁璐х偣
+ AGVStation Muche2 = _agvStationService.GetMothervehicle(aGVStation.MotherCardeputy); //鍐呬晶姣嶈溅
+ int muche2objet = GetDeviceAddress.GetEquipmentlocation(Muche2.ChildPosiDeviceCode);
+ bool NoCargobool = GetDeviceAddress.Mucheywhaddres(Muche2.ChildPosiDeviceCode);
+
+ //姝ｅ父鎯呭喌涓嬶紝鎶婁俊鎭弽棣堝嚭鍘�
+ if (muche1objet == Muche.Motherinlaw && muche2objet == Muche2.ZicheMotherinlaw && NoCargobool)
{
- RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
+ return _Task;
}
- if (motherCarAddress2 != Muche2.ZicheMotherinlaw && motherCarAddress2 != 0)
+ //姣嶈溅1涓嶅湪鍙栬揣鍙�
+ if (muche1objet != Muche.Motherinlaw) //鍒ゆ柇姣嶈溅鏄惁鍦ㄨ繃閬撶偣锛�
{
- RGVMovetask(Muche2.ZicheMotherinlaw, Muche2.ChildPosiDeviceCode);
+ Dt_Task task = _taskService.MothermachinemovementTask2(Muche.ChildPosiDeviceCode); //鑾峰彇鍒版瘝杞︾Щ鍔ㄤ换鍔�
+ if (task == null)
+ {
+ RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode); //濡傛灉娌℃湁浠诲姟锛屽垯鍙互杩涜绉诲姩鍑烘潵
+ }
}
- if (motherCarAddress == Muche.Motherinlaw && motherCarAddress2 == Muche2.ZicheMotherinlaw) return _Task;
- // 姣嶈溅宸插湪姝ｇ‘浣嶇疆
+
+ //姣嶈溅2涓嶅湪杩囬亾绔欑偣
+ if (muche2objet != Muche2.ZicheMotherinlaw) //鍒ゆ柇姣嶈溅鏄惁鍦ㄨ繃閬撶偣锛�
+ {
+ Dt_Task task = _taskService.MothermachinemovementTask2(Muche2.ChildPosiDeviceCode); //鑾峰彇鍒版瘝杞︾Щ鍔ㄤ换鍔�
+ if (task == null)
+ {
+ Dt_Task _Task1 = _taskService.MothermacTask(Muche.ChildPosiDeviceCode);
+ if (task == null)
+ {
+ RGVMovetask(Muche2.ZicheMotherinlaw, Muche2.ChildPosiDeviceCode); //濡傛灉娌℃湁浠诲姟锛屽垯鍙互杩涜绉诲姩鍑烘潵
+ }
+
+ }
+ }
return null;
}
/// <summary>
@@ -309,121 +530,94 @@
/// <returns></returns>
private Dt_Task? HCJMotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation)
{
- AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode); //澶栦晶姣嶈溅
- AGVStation Muche2 = _agvStationService.GetMothervehicle(aGVStation.MotherCardeputy); //鍐呬晶姣嶈溅
- AGVStation Ziche3 = _agvStationService.GetZicheDeep(aGVStation.HCJStorageaddress); //鍐呬晶瀛愯溅
+ //鍏堝垽鏂璈CJ绔欏彴鐐规槸鍚︽湁璐э紝鏈変换鍔�
+ if (GetDeviceAddress.HCJIsstock(_Task.NextAddress))
+ {
+ //鍒ゆ柇鍐呰溅瀛愯溅鏄惁鍦ㄧ瓑寰呯偣
+ AGVStation neiziche = _agvStationService.GetZicheDeep(aGVStation.HCJStorageaddress); //鍐呬晶瀛愯溅
+ int neizichecurraddres = GetDeviceAddress.GetEquipmentlocation(neiziche.ChildPosiDeviceCode);
- int motherCarAddress = GetDeviceAddress.GetEquipmentInMuche(Muche.ChildPosiDeviceCode);
- int motherCarAddress2 = GetDeviceAddress.GetEquipmentInMuche(Muche2.ChildPosiDeviceCode);
- int ZiCarAddress3 = GetDeviceAddress.GetEquipmentInMuche(Ziche3.ChildPosiDeviceCode);
- // 濡傛灉姣嶈溅涓嶅湪棰勬湡浣嶇疆锛屼笅鍙戠Щ鍔ㄤ换鍔�
- if (motherCarAddress != Muche.Motherinlaw && motherCarAddress != 0)
- {
- RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
- }
- if (motherCarAddress2 != Muche2.Motherinlaw && motherCarAddress2 != 0)
- {
- RGVMovetask(Muche2.Motherinlaw, Muche2.ChildPosiDeviceCode);
- }
- if (ZiCarAddress3 == Ziche3.HCJStorageaddress && ZiCarAddress3!=0)
- {
- //鍒ゆ柇鐩爣绔欏彴鏄叆搴撳埌鍑犲彿鍫嗗灈鏈�
- if (_Task.TargetAddress == "3") //鍏ュ簱鑷�3鍙峰爢鍨涙満
+
+ Dt_Task task = _taskService.ViceChariotPickupTask2(neiziche.ChildPosiDeviceCode); //鑾峰彇鍒板唴渚у瓙杞﹀彇璐т换鍔�
+ if ((neizichecurraddres != neiziche.WaitmomentOne && neizichecurraddres != neiziche.WaitmomentTwo) || task != null) //鍐呬晶瀛愯溅涓嶅湪涓や釜缂撳瓨鐐�
{
- //鍒ゆ柇澶栦晶姣嶈溅浣嶇疆锛�2鍖哄煙锛�
- AGVStation MucheN = _agvStationService.GetMothervehicle(Ziche3.MotherCarDeviceCode); //澶栦晶姣嶈溅
- int motNCarAddress = GetDeviceAddress.GetEquipmentInMuche(MucheN.ChildPosiDeviceCode); //鑾峰彇鍒版瘝杞﹀綋鍓嶄綅缃�
- if (motNCarAddress!=0)
+ return null;
+ }
+ AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode); //澶栦晶姣嶈溅
+ int mucheaddre1 = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
+ AGVStation Muche2 = _agvStationService.GetMothervehicle(aGVStation.MotherCardeputy); //鍐呬晶姣嶈溅
+ int mucheaddre2 = GetDeviceAddress.GetEquipmentlocation(Muche2.ChildPosiDeviceCode);
+
+ if ((neizichecurraddres == neiziche.WaitmomentOne || neizichecurraddres == neiziche.WaitmomentTwo) && task == null && neizichecurraddres != neiziche.HCJStorageaddress && mucheaddre1 == Muche.Motherinlaw && mucheaddre2 == Muche2.Motherinlaw)
+ {
+ return _Task;
+ }
+ //鍒ゆ柇涓や釜姣嶈溅浣嶇疆
+ if (mucheaddre1 != Muche.Motherinlaw) //鍒ゆ柇姣嶈溅鏄惁鍦ㄨ繃閬撶偣锛�
+ {
+ Dt_Task muche1task = _taskService.MothermachinemovementTask2(Muche.ChildPosiDeviceCode); //鑾峰彇鍒版瘝杞︾Щ鍔ㄤ换鍔�
+ if (muche1task == null)
{
- if (MucheN.ZicheMotherinlaw == motNCarAddress)
- {
- RGVMovetask(Ziche3.MotherCarDeviceCode, Ziche3.ChildPosiDeviceCode);
- }
- else
- {
- RGVMovetask(MucheN.ZicheMotherinlaw, MucheN.ChildPosiDeviceCode);
- }
+ RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode); //濡傛灉娌℃湁浠诲姟锛屽垯鍙互杩涜绉诲姩鍑烘潵
}
}
- else if (_Task.TargetAddress == "4") //鍏ュ簱鑷�4鍙峰爢鍨涙満
+ if (mucheaddre2 != Muche2.Motherinlaw) //鍒ゆ柇姣嶈溅鏄惁鍦ㄨ繃閬撶偣锛�
{
- //鍒ゆ柇澶栦晶姣嶈溅浣嶇疆锛�2鍖哄煙锛�
- AGVStation MucheN = _agvStationService.GetMothervehicle(Ziche3.MotherCarDeviceCode); //澶栦晶姣嶈溅
- int motNCarAddress = GetDeviceAddress.GetEquipmentInMuche(MucheN.ChildPosiDeviceCode); //鑾峰彇鍒版瘝杞﹀綋鍓嶄綅缃�
- if (MucheN.Motherinlaw != motNCarAddress && motNCarAddress!=0)
+ Dt_Task muche2task = _taskService.MothermachinemovementTask2(Muche2.ChildPosiDeviceCode); //鑾峰彇鍒版瘝杞︾Щ鍔ㄤ换鍔�
+ if (muche2task == null)
{
- RGVMovetask(MucheN.Motherinlaw, MucheN.ChildPosiDeviceCode);
- }
- AGVStation MucheN2 = _agvStationService.GetMothervehicle(Ziche3.MotherCardeputy); //澶栦晶姣嶈溅
- int motNCarAddress2 = GetDeviceAddress.GetEquipmentInMuche(MucheN2.ChildPosiDeviceCode); //鑾峰彇鍒版瘝杞﹀綋鍓嶄綅缃�
- if (MucheN2.ZicheMotherinlaw != motNCarAddress2 && motNCarAddress2!=0)
- {
- RGVMovetask(MucheN2.ZicheMotherinlaw, MucheN2.ChildPosiDeviceCode);
- }
-
- if (MucheN.Motherinlaw == motNCarAddress && MucheN2.ZicheMotherinlaw == motNCarAddress2)
- {
- RGVMovetask(Ziche3.MotherCardeputy, Ziche3.ChildPosiDeviceCode);
+ RGVMovetask(Muche2.Motherinlaw, Muche2.ChildPosiDeviceCode); //濡傛灉娌℃湁浠诲姟锛屽垯鍙互杩涜绉诲姩鍑烘潵
}
}
}
-
- if (motherCarAddress == Muche.Motherinlaw && motherCarAddress2 == Muche2.Motherinlaw && ZiCarAddress3 != Ziche3.HCJStorageaddress) return _Task;
- // 姣嶈溅宸插湪姝ｇ‘浣嶇疆
return null;
- }
- #endregion
-
- #region 瀛愯溅绉诲姩浠诲姟(鍚庣画鍙兘闇�瑕佷紭鍖栦竴涓�)
- public Dt_Task? ZicheMobile(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
- {
- Dt_Task task = _taskService.GetInzicheTaskMobile(RGVTaskdevice.ChildPosiDeviceCode, 1);
- return task;
}
#endregion
#region 姣嶈溅绉诲姩浠诲姟
public Dt_Task? MotherVehicleMovement(AGVStation RGVTaskdevice)
{
- Dt_Task task = _taskService.GetInzicheTaskMobile(RGVTaskdevice.ChildPosiDeviceCode, 2);
- int curradder = int.Parse(task.CurrentAddress);
- AGVStation GdZiche = _agvStationService.GetMotheaisle(curradder);
- int motherCarAddress = GetDeviceAddress.GetEquipmentInformation(GdZiche.ChildPosiDeviceCode);
- if (motherCarAddress != curradder && motherCarAddress!=0) return task;
- RGVMovetask(GdZiche.Motherinlaw, GdZiche.ChildPosiDeviceCode);
+ Dt_Task task = _taskService.MothermachinemovementTask(RGVTaskdevice.ChildPosiDeviceCode);
+ if (task == null) return null;
+
+ AGVStation GdZiche = _agvStationService.GetMotheaisle(RGVTaskdevice.ZicheMotherinlaw);
+ int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(GdZiche.ChildPosiDeviceCode);
+ if (GdZiche.WaitmomentOne == motherCarAddress || GdZiche.WaitmomentTwo == motherCarAddress)
+ {
+ return task;
+ }
return null;
}
#endregion
#endregion
- #region 鍑哄簱鏂规硶
+ #region 鍑哄簱鏂规硶(鍙繘琛屾祴璇�)
public Dt_Task? OutboundEquipmentTask(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
{
return (RGVTaskdevice.Station_material, getStackerObject.RgvCraneStatusValue) switch
{
- ((int)RGVEquipment.Mothertrailer, RgvEquipmentStatus.HasCargo)
- => Mothertaskdistribution(RGVTaskdevice),
+ ((int)RGVEquipment.Mothertrailer, RgvEquipmentStatus.HasCargo) //涓嬪彂姣嶈溅鍑烘潵鍒拌繃閬撲笂
+ => Mothertaskdistribution(RGVTaskdevice),//宸插畬鎴�
- ((int)RGVEquipment.Corridorcar, RgvEquipmentStatus.NoCargo)
- => ChildPickupAddres(RGVTaskdevice),
+ ((int)RGVEquipment.Corridorcar, RgvEquipmentStatus.NoCargo) //鏌ユ壘瀛愯溅鍑烘潵鍙栬揣
+ => ChildPickupAddres(RGVTaskdevice, getStackerObject.RGVCurrentlocation), //宸插畬鎴�
((int)RGVEquipment.Corridorcar, RgvEquipmentStatus.HasCargo)
- => Findshippingtask(RGVTaskdevice),
+ => Findshippingtask(RGVTaskdevice, getStackerObject.RGVCurrentlocation), //瀛愯溅鍙栬揣鍚庯紝杩涜鏀捐揣锛堝凡瀹屾垚锛�
((int)RGVEquipment.OutRGVForklift, RgvEquipmentStatus.NoCargo)
- => _taskService.GetOutkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode,
- RGVTaskdevice.HCJStorageaddress.ToString(), 1),
+ => OutboundGateVehicle(RGVTaskdevice), //鍑哄簱鍙GV鍙栬揣锛堝凡瀹屾垚锛�
((int)RGVEquipment.OutRGVForklift, RgvEquipmentStatus.HasCargo)
=> _taskService.GetOutkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode,
- RGVTaskdevice.HCJStorageaddress.ToString(), 2),
+ RGVTaskdevice.HCJStorageaddress.ToString()),
_ => null
};
}
- #region 涓嬪彂姣嶈溅浠诲姟锛岄渶瑕佸垽鏂綋鍓嶈灏忚溅鍦ㄥ摢涓綅瀛�
+ #region 涓嬪彂姣嶈溅浠诲姟锛岄渶瑕佸垽鏂綋鍓嶈灏忚溅鍦ㄥ摢涓綅瀛�(宸插畬鎴�)
private Dt_Task? Mothertaskdistribution(AGVStation GdZiche)
{
@@ -431,171 +625,373 @@
if (GdZiche.Station_Area < 1 || GdZiche.Station_Area > 4)
return null;
+ //鏍规嵁姣嶈溅鍦板潃锛岃幏鍙栧綋鍓嶈閬撶殑瀛愯溅
AGVStation ZicheinnerSide = _agvStationService.GetMotheaisle(GdZiche.ZicheMotherinlaw);
- int ZiCarAddress3 = GetDeviceAddress.GetEquipmentInformation(ZicheinnerSide.ChildPosiDeviceCode);
+ int zichecurraddre = GetDeviceAddress.GetEquipmentlocation(ZicheinnerSide.ChildPosiDeviceCode); //鑾峰彇鍒板瓙杞﹀疄渚�
- // 浣跨敤switch璇彞鎻愰珮鍙鎬�
+ if (zichecurraddre != ZicheinnerSide.WaitmomentOne && zichecurraddre != ZicheinnerSide.WaitmomentTwo) return null;
+
+ //鍒ゆ柇鏄摢涓贩閬撶殑姣嶈溅
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),
-
+ 4 => OutboundSideAisle4(zichecurraddre, ZicheinnerSide), //鍦�4宸烽亾杩涜鍑哄簱鐨勪换鍔★紙宸插畬鎴愶級
+ 3 => OutboundSideAisle3(zichecurraddre, ZicheinnerSide), //鍦�3宸烽亾杩涜鍑哄簱鐨勪换鍔★紙宸插畬鎴愶級
+ 2 => OutboundSideAisle2(ZicheinnerSide), //鍦ㄤ簩宸烽亾杩涜鍑哄簱鐨勪换鍔★紙宸插畬鎴愶級
+ 1 => _taskService.ObtainMuChetask(GdZiche.ZicheMotherinlaw.ToString()), //鏍规嵁姣嶈溅瀛愬湴鍧�锛屾煡鎵炬槸鍚︽湁闇�瑕佺Щ鍔ㄧ殑浠诲姟锛堝凡瀹屾垚锛�
_ => null
};
+
}
+
+ public Dt_Task? OutboundSideAisle1(AGVStation ZicheinnerSide)
+ {
+ //鑾峰彇1宸烽亾姣嶈溅鏄惁鏈変换鍔�
+ Dt_Task Muche1Task = _taskService.ObtainMuChetask(ZicheinnerSide.MotherCarDeviceCode.ToString());
+ if (Muche1Task == null) return null;
+
+ Dt_Task zicheTASK = _taskService.GetChariotTaskBool(ZicheinnerSide.ChildPosiDeviceCode);
+ if (zicheTASK != null) return null;
+
+ return Muche1Task;
+ }
+
+ public Dt_Task? OutboundSideAisle2(AGVStation ZicheinnerSide)
+ {
+ //鑾峰彇2宸烽亾姣嶈溅鏄惁鏈変换鍔�
+ Dt_Task Muche2Task = _taskService.ObtainMuChetask(ZicheinnerSide.MotherCardeputy.ToString());
+ if (Muche2Task == null) return null;
+
+ //鑾峰彇瀛愯溅鏄惁鏈変换鍔�
+ Dt_Task zicheTASK = _taskService.GetChariotTaskBool(ZicheinnerSide.ChildPosiDeviceCode);
+ if (zicheTASK != null) return null;
+
+ //鑾峰彇2宸烽亾瀛愯溅鏄惁鏈変换鍔�
+ var muche1 = _agvStationService.GetMothervehicle(ZicheinnerSide.MotherCarDeviceCode);
+ Dt_Task Muche1 = _taskService.GetChariotTaskBool(muche1.ChildPosiDeviceCode.ToString());
+ if(Muche1!=null) return null;
+
+ return Muche2Task;
+ }
+ public Dt_Task? OutboundSideAisle3(int curraddZiChe, AGVStation ZicheinnerSide)
+ {
+ //鑾峰彇3宸烽亾姣嶈溅鏄惁鏈変换鍔�
+ Dt_Task Muche3Task = _taskService.ObtainMuChetask(ZicheinnerSide.MotherCarDeviceCode.ToString());
+ if (Muche3Task == null) return null;
+
+ //鍒ゆ柇瀛愯溅鏄惁鏈夎鍙朒CJ浠诲姟
+ Dt_Task zicheTASK = _taskService.GetHCJTaskBool(ZicheinnerSide.ChildPosiDeviceCode, ZicheinnerSide.HCJStorageaddress);
+ if (zicheTASK != null) return null;
+
+ return Muche3Task;
+ }
+ public Dt_Task? OutboundSideAisle4(int curraddZiChe, AGVStation ZicheinnerSide)
+ {
+ //鑾峰彇褰撳墠姣嶈溅鏄惁鏈変换鍔�
+ Dt_Task Muche4Task = _taskService.ObtainMuChetask(ZicheinnerSide.MotherCardeputy.ToString());
+ if (Muche4Task == null) return null;
+
+ //鍒ゆ柇鏄惁鏈夐渶瑕佸彇HCJ鐨勪换鍔�
+ Dt_Task zicheTASK = _taskService.GetChariotTaskBool(ZicheinnerSide.ChildPosiDeviceCode);
+ if (zicheTASK != null) return null;
+
+ //鍒ゆ柇3宸烽亾鏄惁鏈夊嚭搴撶殑浠诲姟
+ var muche3 = _agvStationService.GetMothervehicle(ZicheinnerSide.MotherCarDeviceCode);
+ Dt_Task muchetask = _taskService.OutMothermaTask(muche3.ChildPosiDeviceCode);
+ if (muchetask != null) return null;
+
+ return Muche4Task;
+ }
+
#endregion
- #region 鍒ゆ柇宸茬Щ鍔ㄥ嚭鏉ョ殑姣嶈溅锛屽啀鍒ゆ柇灏忚溅浣嶇疆
- public Dt_Task? ChildPickupAddres(AGVStation GdZiche)
+ #region 鍒ゆ柇宸茬Щ鍔ㄥ嚭鏉ョ殑姣嶈溅锛屽啀鍒ゆ柇灏忚溅浣嶇疆(宸插畬鎴�)
+ public Dt_Task? ChildPickupAddres(AGVStation GdZiche, int curraderr)
{
- if (GdZiche.Station_Area == 5)
- return _taskService.ChildVehicleMission(GdZiche);
+ if (curraderr == GdZiche.WaitmomentOne || curraderr == GdZiche.WaitmomentTwo)
+ {
+ Dt_Task dtTasks = _taskService.ChildVehicleMission(GdZiche);
+ if (dtTasks == null) return null;
+ if (GdZiche.Station_Area == 5)
+ {
+ if (dtTasks.CurrentAddress == GdZiche.MotherCardeputy.ToString()) //鍙栬揣鐨勭偣鍦�2宸烽亾锛屽垯瀛愯溅鏃犺鍦ㄥ摢涓瓑寰呯偣锛岄兘鍙互鍙栬揣
+ {
+ return dtTasks;
+ }
+ else if (dtTasks.CurrentAddress == GdZiche.MotherCarDeviceCode.ToString()) //鍙�1宸烽亾鐨勮揣
+ {
+ if (curraderr == GdZiche.WaitmomentOne) //瀛愯溅鍒氬ソ鍦ㄦ梺杈癸紝鍙珛椹彇璐�
+ {
+ return dtTasks;
+ }
+ else if (curraderr == GdZiche.WaitmomentTwo)
+ {
+ var muchestation = _agvStationService.GetMothervehicle(GdZiche.MotherCardeputy);
+ int muche2addres = GetDeviceAddress.GetEquipmentlocation(muchestation.ChildPosiDeviceCode); //鑾峰彇2宸烽亾姣嶈溅瀹炰緥
+ if (muche2addres == muchestation.Motherinlaw)
+ {
+ return dtTasks;
+ }
+ }
+ }
+ }
+ else if (GdZiche.Station_Area == 6)
+ {
+ //HCJ绔欏彴娌′换鍔�
+ if (dtTasks.CurrentAddress == GdZiche.MotherCardeputy.ToString()) //浼樺厛鍒ゆ柇鏄惁鏄渶澶栭潰鐨勪换鍔�
+ {
+ if (curraderr == GdZiche.WaitmomentTwo)
+ {
+ return dtTasks;
+ }
+ else
+ {
+ var muchestation = _agvStationService.GetMothervehicle(GdZiche.MotherCarDeviceCode);
+ int muche3x = GetDeviceAddress.GetEquipmentlocation(muchestation.ChildPosiDeviceCode);
+ if (muche3x == muchestation.Motherinlaw)
+ {
+ return dtTasks;
+ }
+ }
+ }
+ else if (dtTasks.CurrentAddress == GdZiche.MotherCarDeviceCode.ToString()) //璇ヤ换鍔′负鍙�3宸烽亾
+ {
+ if (curraderr == GdZiche.WaitmomentOne)
+ {
+ return dtTasks;
+ }
+ else if(curraderr == GdZiche.WaitmomentTwo)
+ {
+ var muchestation = _agvStationService.GetMothervehicle(GdZiche.MotherCardeputy);
+ int muche4x = GetDeviceAddress.GetEquipmentlocation(muchestation.ChildPosiDeviceCode);
+ if (muche4x == muchestation.Motherinlaw)
+ {
+ return dtTasks;
+ }
+ }
- var task = _taskService.ChildVehicleMission(GdZiche);
+ }
+ else if (dtTasks.CurrentAddress == GdZiche.HCJStorageaddress.ToString())
+ {
+ //鍒ゆ柇鍐呬晶瀛愯溅鐨勪綅缃�
+ AGVStation neiziche = _agvStationService.GetOutZicheDeep(GdZiche.HCJStorageaddress); //鍐呬晶瀛愯溅
+ int neizichecurraddres = GetDeviceAddress.GetEquipmentlocation(neiziche.ChildPosiDeviceCode);
+ if ((neiziche.WaitmomentOne == neizichecurraddres || neiziche.WaitmomentTwo == neizichecurraddres || neiziche.MotherCarDeviceCode == neizichecurraddres || neiziche.MotherCardeputy == neizichecurraddres) && neiziche.HCJStorageaddress != neizichecurraddres)
+ {
+ if (curraderr == GdZiche.WaitmomentTwo)
+ {
+ var mu1rgv = _agvStationService.GetMothervehicle(GdZiche.MotherCarDeviceCode);
+ int mu1 = GetDeviceAddress.GetEquipmentlocation(mu1rgv.ChildPosiDeviceCode);
- // 蹇�熻繑鍥炴潯浠舵鏌�
- if (task.CurrentAddress != GdZiche.HCJStorageaddress.ToString())
- return task;
+ var mu2rgv = _agvStationService.GetMothervehicle(GdZiche.MotherCardeputy);
+ int mu2 = GetDeviceAddress.GetEquipmentlocation(mu2rgv.ChildPosiDeviceCode);
- var innerStation = _agvStationService.GetZicheDeep(GdZiche.HCJStorageaddress);
- if (GetDeviceAddress.GetEquipmentInformation(innerStation.ChildPosiDeviceCode) != innerStation.HCJStorageaddress)
- return task;
+ if (mu1 == mu1rgv.Motherinlaw && mu2 == mu2rgv.Motherinlaw)
+ {
+ return dtTasks;
+ }
+ }
+ else if (curraderr == GdZiche.WaitmomentOne)
+ {
+ return dtTasks;
+ }
+ }
+ }
- var motherStation = _agvStationService.GetMothervehicle(innerStation.MotherCarDeviceCode);
- if (GetDeviceAddress.ReturnCurrentStatus(motherStation.ChildPosiDeviceCode))
- RGVMovetask(innerStation.MotherCarDeviceCode, innerStation.ChildPosiDeviceCode);
+ }
+
+ }
return null;
}
#endregion
- #region 鏌ユ壘瀛愯溅鏀捐揣浠诲姟
- public Dt_Task? Findshippingtask(AGVStation GdZiche)
+ #region 鏌ユ壘瀛愯溅鏀捐揣浠诲姟(宸插畬鎴�)
+ public Dt_Task? Findshippingtask(AGVStation GdZiche, int curraderr)
{
Dt_Task task = _taskService.GetFinhuoTask(GdZiche.ChildPosiDeviceCode);
- if (GetDeviceAddress.HCJIsstock(task.NextAddress)) return task;
+ if (task == null) return null;
+ if (GetDeviceAddress.HCJIsstock(task.NextAddress))
+ {
+ if (GdZiche.Station_Area == 5)
+ {
+ //闇�瑕佸垽鏂渚у皬杞︽槸鍚﹀湪HCJ涓�
+ var zichestation = _agvStationService.OutGetZicheDeepHCJ(GdZiche.HCJStorageaddress);
+ int waiziche = GetDeviceAddress.GetEquipmentlocation(zichestation.ChildPosiDeviceCode);
+ if ((waiziche == zichestation.WaitmomentOne || waiziche == zichestation.WaitmomentTwo || waiziche == zichestation.MotherCardeputy || waiziche == zichestation.MotherCarDeviceCode) && waiziche != zichestation.HCJStorageaddress)
+ {
+ //鍒ゆ柇褰撳墠浣嶇疆
+ if (task.CurrentAddress == GdZiche.MotherCarDeviceCode.ToString())
+ {
+ var muchestation = _agvStationService.GetMothervehicle(GdZiche.MotherCardeputy);
+ int muche2 = GetDeviceAddress.GetEquipmentlocation(muchestation.ChildPosiDeviceCode);
+ if (muche2 == muchestation.Motherinlaw)
+ {
+ return task;
+ }
+ }
+ else if (task.CurrentAddress == GdZiche.MotherCardeputy.ToString())
+ {
+ return task;
+ }
+ }
+ }
+ else if (GdZiche.Station_Area == 6)
+ {
+ if (GdZiche.HCJStorageaddress == curraderr)
+ {
+ //鍒ゆ柇3宸烽亾姣嶈溅
+ var muchestation = _agvStationService.GetMothervehicle(GdZiche.MotherCarDeviceCode);
+ int mucboject3 = GetDeviceAddress.GetEquipmentlocation(muchestation.ChildPosiDeviceCode);
+ if (mucboject3 == muchestation.Motherinlaw)
+ {
+ //鍒ゆ柇4宸烽亾姣嶈溅
+ var muchestation2 = _agvStationService.GetMothervehicle(GdZiche.MotherCardeputy);
+ int mucboject4 = GetDeviceAddress.GetEquipmentlocation(muchestation2.ChildPosiDeviceCode);
+ if (mucboject4 == muchestation2.Motherinlaw)
+ {
+ return task;
+ }
+
+ }
+ }
+ else if (GdZiche.MotherCarDeviceCode == curraderr)
+ {
+ //鍒ゆ柇4宸烽亾姣嶈溅
+ var muchestation2 = _agvStationService.GetMothervehicle(GdZiche.MotherCardeputy);
+ int mucboject4 = GetDeviceAddress.GetEquipmentlocation(muchestation2.ChildPosiDeviceCode);
+ if (mucboject4 == muchestation2.Motherinlaw)
+ {
+ return task;
+ }
+ }
+ else if (GdZiche.MotherCardeputy == curraderr) return task;
+ }
+ }
+ return null;
+ }
+ #endregion
+
+ #region 鍑哄簱鍙ｅ瓙杞﹀彇璐�(宸插畬鎴�)
+ public Dt_Task OutboundGateVehicle(AGVStation GdZiche)
+ {
+ //闇�瑕佸垽鏂瓙杞︽槸鍚﹀湪HCJ涓�
+ var zichestation = _agvStationService.OutGetZicheDeepHCJ(1131);
+ int ziche = GetDeviceAddress.GetEquipmentlocation(zichestation.ChildPosiDeviceCode);
+
+ if (ziche != GdZiche.HCJStorageaddress && (ziche == zichestation.HCJStorageaddress || ziche == zichestation.WaitmomentOne || ziche == zichestation.WaitmomentTwo || ziche == zichestation.MotherCardeputy || ziche == zichestation.MotherCarDeviceCode))
+ {
+ return _taskService.GetOutchachekouFinhuoTask(GdZiche.ChildPosiDeviceCode, GdZiche.HCJStorageaddress.ToString());
+ }
return null;
}
#endregion
#endregion
- #region 鍑哄簱灏忚溅绉诲姩浠诲姟涓嬪彂
- public void Returnposition(string DeviceCode, int RGVCurrentlocation)
+ #region 鍑哄簱灏忚溅绉诲姩浠诲姟涓嬪彂(宸插畬鎴�)
+ public void Returnposition(string DeviceCode, int RGVCurrentlocation, int RgvCraneStatusValue)
{
- int HCJGoodsplatform = 1170; //瀹氫箟鐨勬斁璐х珯鍙�
- //鍒ゆ柇姣嶈溅鏄惁闇�瑕佽繘琛岀Щ鍔�
AGVStation GdZiche = _agvStationService.Corridorequipment(DeviceCode);
- if (GdZiche.Station_Area == 1)
+ if (GdZiche.Station_material == (int)RGVEquipment.Mothertrailer)
{
- switch (RGVCurrentlocation)
+ if (GdZiche.Motherinlaw == RGVCurrentlocation) return;
+ if (RgvCraneStatusValue == (int)RgvEquipmentStatus.HasCargo) return;
+
+ //姣嶄翰鍥炲爢鍨涙満鍙ｄ换鍔★紝鍒ゆ柇瀛愯溅鐨勪綅缃槸鍚﹀湪姣嶈溅涓�
+ var zichestation = _agvStationService.GetMotheaisle(GdZiche.ZicheMotherinlaw);
+
+ //鑾峰彇瀛愯溅鏄惁鏈変换鍔℃潵璇ヤ綅缃彇璐�
+ Dt_Task Muche2Task = _taskService.OutPickupZiche(zichestation.ChildPosiDeviceCode.ToString());
+ if (Muche2Task != null) return;
+ GetStackerObject getStackerObject = GetDeviceAddress.GetChildDeviceCode(zichestation.ChildPosiDeviceCode);
+
+ if (getStackerObject.StaclerkJobJobStatusValue != RGV_Rgvtaskstutas.Executing && getStackerObject.RgvCraneAutoStatusValue == RgvCraneAutoStatus.Automatic
+ && (getStackerObject.RGVCurrentlocation == zichestation.WaitmomentOne || getStackerObject.RGVCurrentlocation == zichestation.WaitmomentTwo || getStackerObject.RGVCurrentlocation==1171) && getStackerObject.RGVCurrentlocation != zichestation.ZicheMotherinlaw)
{
- case int Whcjaddress when Whcjaddress == GdZiche.MotherCarDeviceCode: //鍦ㄧ涓�涓瘝杞︿笂
- RGVMovetask(HCJGoodsplatform, GdZiche.ChildPosiDeviceCode);
- break;
- case int Waddress when Waddress == GdZiche.MotherCardeputy: //鍦ㄧ浜屼釜姣嶈溅涓�
- OutNMotherCar(GdZiche.MotherCarDeviceCode);
- break;
- case int HCJaddress when HCJaddress == GdZiche.HCJStorageaddress: //鍦℉CJ绔欏彴涓�
- OutHCJMotherCar(GdZiche);
- break;
- default: break;
+ RGVMovetask(GdZiche.Motherinlaw, GdZiche.ChildPosiDeviceCode);
}
}
- else
+ else if (GdZiche.Station_material == (int)RGVEquipment.Corridorcar)
{
- switch (RGVCurrentlocation)
+ if (RgvCraneStatusValue == (int)RgvEquipmentStatus.HasCargo) return;
+ if (GdZiche.Station_Area == 5)
{
- case int Whcjaddress when Whcjaddress == GdZiche.MotherCarDeviceCode: //鍦ㄧ涓�涓瘝杞︿笂锛岄渶瑕佸垽鏂渚у瓙杞︽槸鍚﹀湪HCJ涓�
- OutinnerSideNMotherCar(GdZiche);
- break;
- case int Waddress when Waddress == GdZiche.MotherCardeputy: //鍦ㄧ浜屼釜姣嶈溅涓婏紝闇�瑕佸垽鏂瓙杞︿笌澶栦晶姣嶈溅鏄惁鍦ㄨ繃閬撲笂
- OutinnerSideMotherCar(GdZiche);
- break;
- default: break;
+ if (GdZiche.MotherCardeputy == RGVCurrentlocation || GdZiche.HCJStorageaddress == RGVCurrentlocation)
+ {
+ RGVMovetask(GdZiche.WaitmomentTwo, GdZiche.ChildPosiDeviceCode);
+ }
+ else if (GdZiche.MotherCarDeviceCode == RGVCurrentlocation)
+ {
+ RGVMovetask(GdZiche.WaitmomentOne, GdZiche.ChildPosiDeviceCode);
+ }
+ }
+ else
+ {
+ if (GdZiche.MotherCarDeviceCode == RGVCurrentlocation || GdZiche.HCJStorageaddress == RGVCurrentlocation)
+ {
+ RGVMovetask(GdZiche.WaitmomentOne, GdZiche.ChildPosiDeviceCode);
+ }
+ else if (GdZiche.MotherCardeputy == RGVCurrentlocation || RGVCurrentlocation == 1171)
+ {
+ RGVMovetask(GdZiche.WaitmomentTwo, GdZiche.ChildPosiDeviceCode);
+ }
}
}
}
+ #endregion
- #region 澶栦晶灏忚溅鍥炲綊鍒拌捣濮嬬偣浣�
- /// <summary>
- /// 鍒ゆ柇鏀剧浜屼釜姣嶈溅浣嶇疆
- /// </summary>
- /// <param name="_Task"></param>
- /// <param name="aGVStation"></param>
- /// <returns></returns>
- private void OutNMotherCar(int MotherCarDeviceCode)
+ #region 鍏ュ簱灏忚溅绉诲姩浠诲姟涓嬪彂(宸插畬鎴�)
+ public void InReturnposition(string DeviceCode, int RGVCurrentlocation, int RgvCraneStatusValue)
{
- AGVStation Muche = _agvStationService.GetMothervehicle(MotherCarDeviceCode); //澶栦晶姣嶈溅
- int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
- if (motherCarAddress != Muche.Motherinlaw)
+ AGVStation GdZiche = _agvStationService.Corridorequipment(DeviceCode);//鑾峰彇鍒拌绉诲姩鐨勫瓙杞�
+ if (GdZiche.Station_material == (int)RGVEquipment.Corridorcar)
{
- RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
- }
- }
- private void OutHCJMotherCar(AGVStation aGVStation)
- {
- AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode); //澶栦晶姣嶈溅
- AGVStation Muche2 = _agvStationService.GetMothervehicle(aGVStation.MotherCardeputy); //鍐呬晶姣嶈溅
- int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
- int motherCarAddress2 = GetDeviceAddress.GetEquipmentlocation(Muche2.ChildPosiDeviceCode);
- // 濡傛灉姣嶈溅涓嶅湪棰勬湡浣嶇疆锛屼笅鍙戠Щ鍔ㄤ换鍔�
- if (motherCarAddress != Muche.Motherinlaw)
- {
- RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
- }
- if (motherCarAddress2 != Muche2.Motherinlaw)
- {
- RGVMovetask(Muche2.Motherinlaw, Muche2.ChildPosiDeviceCode);
+ if (GdZiche.Station_Area == 5)
+ {
+ Dt_Task task = _taskService.GetChariotTaskBool(GdZiche.ChildPosiDeviceCode);
+ if (task == null && RgvCraneStatusValue == (int)RgvEquipmentStatus.NoCargo)
+ {
+ if (GdZiche.MotherCarDeviceCode == RGVCurrentlocation || GdZiche.HCJStorageaddress == RGVCurrentlocation)
+ {
+ RGVMovetask(GdZiche.WaitmomentOne, GdZiche.ChildPosiDeviceCode);
+ }
+ else if (GdZiche.MotherCardeputy == RGVCurrentlocation)
+ {
+ RGVMovetask(GdZiche.WaitmomentTwo, GdZiche.ChildPosiDeviceCode);
+ }
+ }
+
+ }
+ else
+ {
+ Dt_Task task = _taskService.GetChariotTaskBool(GdZiche.ChildPosiDeviceCode);
+ if (task == null && RgvCraneStatusValue == (int)RgvEquipmentStatus.NoCargo)
+ {
+ if (GdZiche.HCJStorageaddress == RGVCurrentlocation)
+ {
+ //濡傛灉鍦�2宸烽亾鐨勬瘝杞︼紝鍒欏彲浠ユ斁瀛愯溅鏉�1鍙风瓑寰呯偣锛屽鏋滃湪HCJ鍒欏彲浠ヨ瀛愯溅鍘�2鍙�
+ RGVMovetask(GdZiche.WaitmomentTwo, GdZiche.ChildPosiDeviceCode);
+ }
+ else if (GdZiche.MotherCarDeviceCode == RGVCurrentlocation || GdZiche.MotherCardeputy == RGVCurrentlocation)
+ {
+ RGVMovetask(GdZiche.WaitmomentOne, GdZiche.ChildPosiDeviceCode);
+ }
+ else if (RGVCurrentlocation == 1021)
+ {
+ //鍔犲叆鍒ゆ柇锛屽鏋滃湪1021绔欏彴锛屽垯闇�瑕佸垽鏂�1鍙峰贩閬撴瘝杞︽槸鍚﹀湪鍫嗗灈鏈哄彇璐у彛
+ var zichestation = _agvStationService.GetMothervehicle(GdZiche.MotherCarDeviceCode);
+ int ziche = GetDeviceAddress.GetEquipmentlocation(zichestation.ChildPosiDeviceCode);
+ if (GetDeviceAddress.Mucheywhaddres(zichestation.ChildPosiDeviceCode) && (ziche == zichestation.ZicheMotherinlaw || ziche == zichestation.Motherinlaw))
+ {
+ RGVMovetask(GdZiche.WaitmomentOne, GdZiche.ChildPosiDeviceCode);
+ }
+
+ }
+ }
+ }
}
}
#endregion
-
- #region 澶栦晶灏忚溅鍥炲綊鍒拌捣濮嬬偣浣�
- /// <summary>
- /// 鍦ㄧ涓�涓綅缃紝鍒欏垽鏂渚у瓙杞︽槸鍚﹀湪HCJ绔欏彴涓嬮潰
- /// </summary>
- /// <param name="_Task"></param>
- /// <param name="aGVStation"></param>
- /// <returns></returns>
- private void OutinnerSideNMotherCar(AGVStation aGVStation)
- {
- AGVStation Ziche3 = _agvStationService.GetZicheOuterSide(aGVStation.HCJStorageaddress); //澶栦晶瀛愯溅
- int ZiCarAddress3 = GetDeviceAddress.GetEquipmentlocation(Ziche3.ChildPosiDeviceCode);
- if (ZiCarAddress3 == Ziche3.HCJStorageaddress)
- {
- OutHCJMotherCar(Ziche3);
- }
- else
- {
- RGVMovetask(aGVStation.HCJStorageaddress, aGVStation.ChildPosiDeviceCode);
- }
- }
- private void OutinnerSideMotherCar(AGVStation aGVStation)
- {
- AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode); //澶栦晶姣嶈溅
- int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
- // 濡傛灉姣嶈溅涓嶅湪棰勬湡浣嶇疆锛屼笅鍙戠Щ鍔ㄤ换鍔�
- if (motherCarAddress != Muche.Motherinlaw)
- {
- RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
- }
- OutinnerSideNMotherCar(aGVStation);
-
- }
- #endregion
-
- #endregion
-
/// <summary>
/// 瀛愭瘝杞︾Щ鍔ㄤ换鍔�
@@ -618,20 +1014,37 @@
public RgvCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
{
RgvCraneTaskCommand stackerCraneTaskCommand = new RgvCraneTaskCommand();
- short locaticurr = task.RGVTaskType switch
+
+ short locaticurr = task.TaskType switch
{
- _ when task.RGVTaskType == (short)RGVTaskTypeEnum.PickingUp ||
- (task.RGVTaskType == (short)RGVTaskTypeEnum.TravelingOnly && task.TaskType != (int)TaskInStatusEnum.RGV_InZichemoveFinish)
- => short.Parse(task.CurrentAddress),
- _ when task.RGVTaskType == (short)RGVTaskTypeEnum.Placing || (task.RGVTaskType == (short)RGVTaskTypeEnum.TravelingOnly && task.TaskType== (int)TaskInStatusEnum.RGV_InZichemoveFinish)
- => short.Parse(task.NextAddress),
+ _ when task.TaskType == (int)TaskInboundTypeEnum.Inbound
+ => InRgvLocaaddres(task),
+ _ when task.TaskType == (int)TaskOutboundTypeEnum.Outbound
+ => RgvLocaaddres(task),
_ => (short)0
};
+ if (locaticurr == 0) return null;
+
stackerCraneTaskCommand.RGV_RGVTasklocation = locaticurr;
stackerCraneTaskCommand.RGV_RGVtasktype = (short)task.RGVTaskType;
stackerCraneTaskCommand.RGV_Rgvtaskid = (short)task.TaskNum;
stackerCraneTaskCommand.RGV_Lanjiantaskid = (short)task.TaskNum;
return stackerCraneTaskCommand;
+ }
+
+ public short InRgvLocaaddres(Dt_Task dt_Task)
+ {
+ if (dt_Task.RGVTaskType == (short)RGVTaskTypeEnum.PickingUp) return short.Parse(dt_Task.CurrentAddress);
+ else if (dt_Task.RGVTaskType == (short)RGVTaskTypeEnum.Placing) return short.Parse(dt_Task.NextAddress);
+ else if (dt_Task.RGVTaskType == (short)RGVTaskTypeEnum.TravelingOnly && dt_Task.TaskState == (int)TaskInStatusEnum.RGV_InZicheReleaseFinish) return short.Parse(dt_Task.NextAddress);
+ return 0;
+ }
+ public short RgvLocaaddres(Dt_Task dt_Task)
+ {
+ if (dt_Task.RGVTaskType == (short)RGVTaskTypeEnum.PickingUp) return short.Parse(dt_Task.CurrentAddress);
+ else if (dt_Task.RGVTaskType == (short)RGVTaskTypeEnum.Placing) return short.Parse(dt_Task.NextAddress);
+ else if (dt_Task.RGVTaskType == (short)RGVTaskTypeEnum.TravelingOnly && dt_Task.TaskState == (int)TaskOutStatusEnum.OutNew) return short.Parse(dt_Task.NextAddress);
+ return 0;
}
@@ -646,8 +1059,8 @@
RgvCraneTaskCommand stackerCraneTaskCommand = new RgvCraneTaskCommand();
stackerCraneTaskCommand.RGV_RGVTasklocation = (short)RGVAddress;
stackerCraneTaskCommand.RGV_RGVtasktype = 3;
- stackerCraneTaskCommand.RGV_Rgvtaskid = 999; //rgv浠诲姟鍙�
- stackerCraneTaskCommand.RGV_Lanjiantaskid = 999; //鍏板墤浠诲姟id
+ stackerCraneTaskCommand.RGV_Rgvtaskid = 30001; //rgv浠诲姟鍙�
+ stackerCraneTaskCommand.RGV_Lanjiantaskid = 30001; //鍏板墤浠诲姟id
return stackerCraneTaskCommand;
}
public bool SendCommand2(RgvCraneTaskCommand command, string DeviceCode)
@@ -661,14 +1074,14 @@
int MCGStatus = GetDeviceAddress.RGVGetLine(Commonstacker, deviceProDTO.DeviceProAddress);
- if (Commonstacker.IsConnected)
+ if (MCGStatus == 0)
{
- if (MCGStatus == (int)RgvJobCraneStatus.Ready)
+ if (MCGStatus == (int)RGV_Rgvtaskstutas.Ready)
{
- Commonstacker.SetValue(RgvCraneDBName.RGV_RGVTasklocation, command.RGV_RGVTasklocation);
- Commonstacker.SetValue(RgvCraneDBName.RGV_RGVtasktype, command.RGV_RGVtasktype);
- Commonstacker.SetValue(RgvCraneDBName.RGV_Rgvtaskid, command.RGV_Rgvtaskid);
- Commonstacker.SetValue(RgvCraneDBName.RGV_Lanjiantaskid, command.RGV_Lanjiantaskid);
+ Commonstacker.SetValue(RgvCraneDBName.RGV_RGVTasklocationt, command.RGV_RGVTasklocation);
+ Commonstacker.SetValue(RgvCraneDBName.RGV_RGVtasktypet, command.RGV_RGVtasktype);
+ Commonstacker.SetValue(RgvCraneDBName.RGV_Rgvtaskidt, command.RGV_Rgvtaskid);
+ Commonstacker.SetValue(RgvCraneDBName.RGV_Lanjiantaskidt, command.RGV_Lanjiantaskid);
return true;
}
}
@@ -680,5 +1093,7 @@
return false;
}
}
+
+
}
}
--
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