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 | 1328 ++++++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 933 insertions(+), 395 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 4b08b05..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"
@@ -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;
@@ -11,7 +12,9 @@
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;
using System.Threading.Tasks;
using WIDESEA_Common.Log;
@@ -66,40 +69,74 @@
{
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);
- 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)
- {
- //淇敼浠诲姟鐘舵��
- _taskService.UpdateTaskStatusToNext(task);
- }
+ 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))
+ {
+ return null;
+ }
+ }
+ else
+ {
+ //鍒ゆ柇鍏ュ簱绔畨鍏ㄩ棬鏄惁姝ｅ父
+ if (GetDeviceAddress.ReadAqmDecicStice(2))
+ {
+ 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)
{
@@ -108,189 +145,853 @@
return Task.CompletedTask;
}
- private Dt_Task? GetTask(string DeviceCode)
+ #region 浠诲姟瀹屾垚
+ private void CommonStackerCrane_AGVTaskCompletedEventHandler(GetStackerObject getStackerObject, SpeStackerCrane speStackerCrane)
{
- Dt_Task task = _taskService.QueryStackerCraneTask(DeviceCode);
- if (task == null) return null;
-
- return task.TaskType switch
+ if (getStackerObject.StaclerkJobJobStatusValue == RGV_Rgvtaskstutas.Completed && getStackerObject.CurrentRgvtaskid == 30001)
{
- (int)TaskInboundTypeEnum.Inbound => HandleInboundTask(task),
- (int)TaskOutboundTypeEnum.Outbound => HandleOutboundTask(task),
- _ => 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 => HandleZicheReleaseFinish(task),
- (int)TaskInStatusEnum.RGV_InZichemoveFinish => HandleZicheMoveFinish(task),
- _ => null
- };
- }
-
- private Dt_Task? HandleOutboundTask(Dt_Task task)
- {
- // 鍑哄簱浠诲姟鐨勭姸鎬佸垽鏂浉瀵圭畝鍗曪紝鍙互鐩存帴杩斿洖
- 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 鍏ュ簱鏂规硶
- private Dt_Task? HandInneRouterSides(Dt_Task task)
- {
- // 楠岃瘉杈撳叆
- if (task == null) throw new ArgumentNullException(nameof(task));
- if (string.IsNullOrEmpty(task.CurrentAddress)) return null;
-
- // 鑾峰彇褰撳墠绔欏彴淇℃伅
- AGVStation currentStation = _agvStationService.GetAllStationByDeviceCode(int.Parse(task.CurrentAddress));
- if (currentStation == null) return null;
-
- // 鍙鐞嗙壒瀹氱被鍨嬬殑绔欏彴
- if (currentStation.Station_material != (int)AgvStationEnum.HCJAisleplatform)
- return task;
-
- // 鑾峰彇瀛愯溅浣嶇疆
- int zicheAddress = GetZichelocation(task, task.CurrentAddress);
- if (zicheAddress == 0) return null;
-
- AGVStation zicheStation = _agvStationService.GetAllStationByDeviceCode(zicheAddress);
- if (zicheStation == null) return null;
-
- // 鏍规嵁瀛愯溅浣嶇疆澶勭悊涓嶅悓鎯呭喌
- switch (zicheStation.Station_material)
- {
- case (int)AgvStationEnum.Aisleplatform_Outside:
- // 瀛愯溅鍦ㄥ渚� - 鐩存帴杩斿洖浠诲姟
- return task;
-
- case (int)AgvStationEnum.Aisleplatform_Medial:
- // 瀛愯溅鍦ㄥ唴渚� - 妫�鏌ユ瘝杞︿綅缃�
- return HandleMedialCase(task, currentStation, zicheStation);
-
- default:
- // 鏈煡鐨勫瓙杞︿綅缃姸鎬�
- return null;
+ speStackerCrane.SetValue(RGV_taskcoDBName.RGV_taskcomplete, 1);
+ speStackerCrane.SetValue(RGV_taskcoDBName.RGV_taskcomplete, 0);
}
- }
-
- private Dt_Task? HandleMedialCase(Dt_Task task, AGVStation currentStation, AGVStation zicheStation)
- {
- int motherCarAddress = GetMothercarlocation(task.TaskNum, currentStation.MotherCarDeviceCode);
- if (motherCarAddress == 0) return null;
-
- // 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 != int.Parse(currentStation.MotherCarDeviceCode))
+ else if (getStackerObject.StaclerkJobJobStatusValue == RGV_Rgvtaskstutas.Completed && getStackerObject.CurrentRgvtaskid != 0 && getStackerObject.CurrentRgvtaskid != 30001)
{
- RGVMovetask(zicheStation.Motherinlaw, currentStation.ChildPosiDeviceCode, task.TaskId);
- return null; // 姣嶈溅闇�瑕佺Щ鍔紝鏆備笉杩斿洖浠诲姟
+ _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);
}
-
- // 姣嶈溅宸插湪姝ｇ‘浣嶇疆
- return task;
- }
-
- private Dt_Task? HandlePickupFinish(Dt_Task task)
- {
- try
+ else if (getStackerObject.StaclerkJobJobStatusValue == RGV_Rgvtaskstutas.AbnormalCompletion && getStackerObject.CurrentRgvtaskid != 0 && getStackerObject.CurrentRgvtaskid != 30001)
{
- //鑾峰彇闇�瑕佸尯鍒嗘槸鍚﹀幓鍏ュ簱涓庡幓涓嶅悎鏍艰浇璐у彴浠诲姟
- IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "HCJ2000");
- CommonStackerCrane Commonstacker = (CommonStackerCrane)device;
- DeviceProDTO? deviceProDTO = GetDeviceProDTO(Commonstacker, task.NextAddress, "HCJ_GoodsStatus");
- int HCJGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
- if (HCJGStatus == 0) //涓烘棤璐�
- {
- return task;
- }
+
+ //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
}
- catch (Exception ex)
- {
- //璁板綍寮傚父鎯呭喌
- _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"鍒ゆ柇HCJ绔欏彴鏄惁鏈夎揣淇℃伅鍑洪敊锛屽嚭閿欎俊鎭細{ex.Message}");
- throw;
- }
-
- return null;
- }
-
- private Dt_Task? HandleZicheFinish(Dt_Task task)
- {
- //鑾峰彇鏀捐揣鍦板潃
- AGVStation aGVStation = _agvStationService.GetAllStationByDeviceCode(int.Parse(task.NextAddress));
-
- //鍒�3鍖哄煙杩涜鏀捐揣
- return aGVStation.Station_Area switch
- {
- 1 => CheckMotherCarMove(task, aGVStation, MotherCarMoves), //澶栦晶鏀捐揣
- 2 => CheckMotherCarMove(task, aGVStation, MotherCarMovesinside), //鍐呬晶鏀捐揣
- 3 => CheckMotherCarMove(task, aGVStation, HCJMotherCarMovesinside), //浜ゆ帴鐐规斁璐�
- _ => null
- };
- }
-
- private Dt_Task? CheckMotherCarMove(Dt_Task task, AGVStation station, Func<Dt_Task, AGVStation, bool> moveFunc)
- {
- return moveFunc(task, station) ? task : null;
- }
-
- private Dt_Task? HandleZicheReleaseFinish(Dt_Task task)
- {
- AGVStation aGVStation = _agvStationService.GetAllStationByDeviceCode(int.Parse(task.CurrentAddress)); //褰撳墠鍦板潃锛屾瘝杞︿笂锛屼笅涓�涓湴鍧�鍫嗗灈鏈哄彇璐у彛
- if (aGVStation.Station_Area == 1 && aGVStation.Station_Area == 2)
- {
- return task; //杩斿洖瀛愯溅绉诲姩浠诲姟
- }
- else if (aGVStation.Station_Area == 3) //褰撳墠鍦板潃涓篐CJ绔欏彴锛屼笖AGV浠诲姟涓哄彇璐�
- {
- return task; //鍘诲彇璐т綅锛岄渶瑕佸垽鏂瓙杞﹀綋鍓嶄綅瀛愶紝锛堝悗缁紭鍖栵級
- }
-
- return null;
- }
-
- private Dt_Task? HandleZicheMoveFinish(Dt_Task task)
- {
- AGVStation aGVStation = _agvStationService.GetAllStationByDeviceCode(int.Parse(task.CurrentAddress));
- int zicheAddress = GetZichelocation(task, task.CurrentAddress);
-
- //濡傛灉瀛愯溅鍦ㄦ瘝杞︿笂锛屽垯闇�瑕佺Щ搴撴瘝杞︼紙寰呬紭鍖栵級
- return zicheAddress != int.Parse(aGVStation.ZicheMotherinlaw) ? task : null;
}
#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
+ AGVStation RGVTaskdevice = _agvStationService.Corridorequipment(DeviceCode); //鏍规嵁璁惧鑾峰彇鍒板唴瀹�
+ return RGVTaskdevice.Station_tasktype switch
+ {
+ (int)RGVTasktype.Inbound => HandleInboundTask(RGVTaskdevice, getStackerObject),
+ (int)RGVTasktype.Outbound => OutboundEquipmentTask(RGVTaskdevice, getStackerObject), //鍑哄簱
+ _ => null
+ };
+
+
+ }
+
+ #region 鍏ュ簱鏂规硶
+ private Dt_Task? HandleInboundTask(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
+ {
+ return (RGVTaskdevice.Station_material, getStackerObject.RgvCraneStatusValue) switch
+ {
+ ((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);
+
+ //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.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�
+ {
+ if (getStackerObject.RGVCurrentlocation == RGVTaskdevice.WaitmomentOne)
+ {
+ //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
+ /// </summary>
+ /// <param name="task"></param>
+ /// <param name="currentStation"></param>
+ /// <returns></returns>
+ private Dt_Task? HandleMedialCase(Dt_Task task, int currentStation)
+ {
+ AGVStation Muche = _agvStationService.GetMothervehicle(currentStation);
+ int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
+ if (motherCarAddress == Muche.Motherinlaw) return task;
+ RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
+ return null;
+ }
+ /// <summary>
+ /// 鍒ゆ柇鍐呭渚ф瘝杞︽槸鍚﹀湪鍏ュ簱鍙�
+ /// </summary>
+ /// <param name="task"></param>
+ /// <param name="currentStation"></param>
+ /// <returns></returns>
+ private Dt_Task? HandleMedialCase2(Dt_Task task, AGVStation currentStation)
+ {
+ AGVStation Muche = _agvStationService.GetMothervehicle(currentStation.MotherCarDeviceCode); //澶栦晶姣嶈溅
+ AGVStation Muche2 = _agvStationService.GetMothervehicle(currentStation.MotherCardeputy); //鍐呬晶姣嶈溅
+
+ int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
+ int motherCarAddress2 = GetDeviceAddress.GetEquipmentlocation(Muche2.ChildPosiDeviceCode);
+ if (motherCarAddress == 0 || motherCarAddress2 == 0) return null;
+ // 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 (motherCarAddress == Muche.Motherinlaw && motherCarAddress2 == Muche2.Motherinlaw) return task;
+ // 姣嶈溅宸插湪姝ｇ‘浣嶇疆
+ return null;
+ }
+
+
+ #endregion
+
+ #region 杩囬亾瀛愯溅杩涜鏀捐揣
+ public Dt_Task? GoodsPlacedCorridor(AGVStation RGVTaskdevice)
+ {
+ 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(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(宸插畬鎴�)
+ return MotherCarMovesinside(task, RGVTaskdevice);
+ 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;
+ }
+ }
+
//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 bool MotherCarMoves(Dt_Task _Task, AGVStation aGVStation)
+ private Dt_Task? MotherCarMoves(Dt_Task _Task, AGVStation aGVStation)
{
- int mcadder = GetMothercarlocation(_Task.TaskNum, aGVStation.Motherinlaw); //鑾峰彇鍒版瘝杞﹀渚т綅缃�
- if (mcadder != 0)
+ 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)
{
- if (mcadder == int.Parse(_Task.CurrentAddress))
+ GetStackerObject getStackerObject = GetDeviceAddress.GetChildDeviceCode(Muche.ChildPosiDeviceCode);
+ if (getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.NoCargo) //鍒ゆ柇姣嶈溅鏄惁鏈夎揣
{
- return true;
+ 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
+ }
+
+ }
}
- RGVMovetask(_Task.CurrentAddress, aGVStation.ChildPosiDeviceCode, _Task.TaskId);
}
- return false;
+ return null;
}
+
+ /// <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 Dt_Task? MotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation)
+ {
+
+ //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)
+ {
+ return _Task;
+ }
+ //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�
+ {
+ 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
+ }
+ }
+
+ //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>
+ /// 鍒ゆ柇鏀惧湪HCJ涓婇潰
+ /// </summary>
+ /// <param name="_Task"></param>
+ /// <param name="aGVStation"></param>
+ /// <returns></returns>
+ private Dt_Task? HCJMotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation)
+ {
+ //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);
+
+
+ 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�
+ {
+ 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)
+ {
+ 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 (mucheaddre2 != Muche2.Motherinlaw) //鍒ゆ柇姣嶈溅鏄惁鍦ㄨ繃閬撶偣锛�
+ {
+ Dt_Task muche2task = _taskService.MothermachinemovementTask2(Muche2.ChildPosiDeviceCode); //鑾峰彇鍒版瘝杞︾Щ鍔ㄤ换鍔�
+ if (muche2task == null)
+ {
+ 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
+ }
+ }
+ }
+ return null;
+ }
+ #endregion
+
+ #region 姣嶈溅绉诲姩浠诲姟
+ public Dt_Task? MotherVehicleMovement(AGVStation RGVTaskdevice)
+ {
+ 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(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) //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) //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, 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)
+ => 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()),
+
+ _ => 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�(宸插畬鎴�)
+
+ private Dt_Task? Mothertaskdistribution(AGVStation GdZiche)
+ {
+ // 鎻愬墠妫�鏌ユ棤鏁堢殑Area鍊�
+ 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 zichecurraddre = GetDeviceAddress.GetEquipmentlocation(ZicheinnerSide.ChildPosiDeviceCode); //鑾峰彇鍒板瓙杞﹀疄渚�
+
+ 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 => 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(宸插畬鎴�)
+ public Dt_Task? ChildPickupAddres(AGVStation GdZiche, int curraderr)
+ {
+ 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;
+ }
+ }
+
+ }
+ 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);
+
+ var mu2rgv = _agvStationService.GetMothervehicle(GdZiche.MotherCardeputy);
+ int mu2 = GetDeviceAddress.GetEquipmentlocation(mu2rgv.ChildPosiDeviceCode);
+
+ if (mu1 == mu1rgv.Motherinlaw && mu2 == mu2rgv.Motherinlaw)
+ {
+ return dtTasks;
+ }
+ }
+ else if (curraderr == GdZiche.WaitmomentOne)
+ {
+ return dtTasks;
+ }
+ }
+ }
+
+
+ }
+
+ }
+ return null;
+ }
+ #endregion
+
+ #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 (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(宸插畬鎴�)
+ public void Returnposition(string DeviceCode, int RGVCurrentlocation, int RgvCraneStatusValue)
+ {
+ AGVStation GdZiche = _agvStationService.Corridorequipment(DeviceCode);
+ if (GdZiche.Station_material == (int)RGVEquipment.Mothertrailer)
+ {
+ 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)
+ {
+ RGVMovetask(GdZiche.Motherinlaw, GdZiche.ChildPosiDeviceCode);
+ }
+ }
+ else if (GdZiche.Station_material == (int)RGVEquipment.Corridorcar)
+ {
+ if (RgvCraneStatusValue == (int)RgvEquipmentStatus.HasCargo) return;
+ if (GdZiche.Station_Area == 5)
+ {
+ 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 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 GdZiche = _agvStationService.Corridorequipment(DeviceCode);//鑾峰彇鍒拌绉诲姩鐨勫瓙杞�
+ if (GdZiche.Station_material == (int)RGVEquipment.Corridorcar)
+ {
+ 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
/// <summary>
/// 瀛愭瘝杞︾Щ鍔ㄤ换鍔�
@@ -298,162 +999,12 @@
/// <param name="RGVAdders">鐩爣鍦板潃</param>
/// <param name="ChildPosiDeviceCode">璁惧缂栧彿</param>
/// <returns></returns>
- private bool RGVMovetask(string RGVAdders, string ChildPosiDeviceCode, int taskid)
+ private bool RGVMovetask(int RGVAdders, string ChildPosiDeviceCode)
{
RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(RGVAdders);
bool sendFlag = SendCommand2(standardCommands, ChildPosiDeviceCode);
return sendFlag;
}
-
-
- /// <summary>
- /// 鍒ゆ柇鍐呬晶姣嶈溅浣嶇疆
- /// </summary>
- /// <param name="_Task"></param>
- /// <param name="aGVStation"></param>
- /// <returns></returns>
- private bool MotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation)
- {
- //鑾峰彇澶栦晶姣嶈溅浣嶇疆
- int mcadder = GetMothercarlocation(_Task.TaskNum, aGVStation.MotherCarDeviceCode);
- //鑾峰彇鍐呬晶姣嶈溅浣嶇疆
- int ncadder = GetMothercarlocation(_Task.TaskNum, _Task.NextAddress);
-
- if (mcadder != int.Parse(aGVStation.MotherCarDeviceCode) && ncadder == aGVStation.Station_code)
- {
- return true;
- }
- else
- {
- if (mcadder == int.Parse(aGVStation.MotherCarDeviceCode))
- {
- AGVStation aGVSta = _agvStationService.GetMothercarCode(aGVStation.MotherCarDeviceCode);
-
- RGVMovetask(aGVSta.ChildPosiDeviceCode, aGVSta.Station_code.ToString(), _Task.TaskId);
-
- }
-
- if (ncadder != aGVStation.Station_code)
- {
- RGVMovetask(aGVStation.ChildPosiDeviceCode, aGVStation.Station_code.ToString(), _Task.TaskId);
-
- }
- }
- return false;
- }
- private bool HCJMotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation)
- {
- //鑾峰彇澶栦晶姣嶈溅浣嶇疆
- int mcadder = GetMothercarlocation(_Task.TaskNum, aGVStation.MotherCarDeviceCode);
- //鑾峰彇鍐呬晶姣嶈溅浣嶇疆
- int ncadder = GetMothercarlocation(_Task.TaskNum, aGVStation.MotherCardeputy);
-
- if (mcadder != int.Parse(aGVStation.MotherCarDeviceCode) && ncadder != int.Parse(aGVStation.MotherCardeputy))
- {
- return true;
- }
- else
- {
- if (mcadder == int.Parse(aGVStation.MotherCarDeviceCode))
- {
- AGVStation aGVSta = _agvStationService.GetMothercarCode(aGVStation.MotherCarDeviceCode);
-
- RGVMovetask(aGVSta.ChildPosiDeviceCode, aGVSta.Station_code.ToString(), _Task.TaskId);
-
- }
-
- if (ncadder == int.Parse(aGVStation.MotherCardeputy))
- {
- AGVStation aGVSta = _agvStationService.GetMothercarCode(aGVStation.MotherCardeputy);
-
- RGVMovetask(aGVSta.ChildPosiDeviceCode, aGVSta.Station_code.ToString(), _Task.TaskId);
- }
- }
- return false;
- }
-
-
-
- //鍒ゆ柇鏄惁
- public bool GetMotherCarCurrentAdder(Dt_Task task)
- {
- try
- {
- IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "HCJ2000");
- CommonStackerCrane Commonstacker = (CommonStackerCrane)device;
- DeviceProDTO? deviceProDTO = GetDeviceProDTO(Commonstacker, task.CurrentAddress, "HCJ_GoodsStatus");
- int HCJGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
- if (HCJGStatus == 0) //涓烘棤璐�
- {
- return true;
- }
- }
- catch (Exception ex)
- {
- //璁板綍寮傚父鎯呭喌
- _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"鍒ゆ柇HCJ绔欏彴鏄惁鏈夎揣淇℃伅鍑洪敊锛屽嚭閿欎俊鎭細{ex.Message}");
- throw;
- }
-
- return false;
- }
-
-
-
- /// <summary>
- /// 浼犲叆杩囬亾鍦板潃锛岃幏鍙栨瘝杞︿綅缃�
- /// </summary>
- /// <param name="task"></param>
- /// <param name="MotherCarDeviceCode">杩囬亾鍦板潃</param>
- /// <returns></returns>
- public int GetMothercarlocation(int TaskNum, string MotherCarDeviceCode)
- {
- try
- {
- //鍒╃敤鍏ュ簱绔欏彴鍦板潃鑾峰彇姣嶈溅plc
- AGVStation aGVStation = _agvStationService.GetMothercarCode(MotherCarDeviceCode);
- IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == aGVStation.ChildPosiDeviceCode);
- CommonStackerCrane Commonstacker = (CommonStackerCrane)device;
- DeviceProDTO? deviceProDTO = GetDeviceProDTO(Commonstacker, aGVStation.ChildPosiDeviceCode, "RGVCurrentlocation");
- int HCJGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
- return HCJGStatus;
- }
- catch (Exception ex)
- {
- //璁板綍寮傚父鎯呭喌
- _taskService.UpdateTaskExceptionMessage(TaskNum, $"鍒ゆ柇姣嶈溅浣嶇疆淇℃伅鍑洪敊锛屽嚭閿欎俊鎭細{ex.Message}");
- throw;
- }
- }
-
-
- /// <summary>
- /// 浼犲叆杩囬亾鍦板潃锛岃幏鍙栧瓙杞﹁溅浣嶇疆
- /// </summary>
- /// <param name="task"></param>
- /// <param name="MotherCarDeviceCode">鍏ュ簱绔欏彴鍦板潃</param>
- /// <returns></returns>
- public int GetZichelocation(Dt_Task task, string ChildPosiDeviceCode)
- {
- try
- {
- 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;
- }
- catch (Exception ex)
- {
- //璁板綍寮傚父鎯呭喌
- _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"鍒ゆ柇瀛愯溅浣嶇疆淇℃伅鍑洪敊锛屽嚭閿欎俊鎭細{ex.Message}");
- throw;
- }
- }
-
-
-
-
/// <summary>
/// 浠诲姟瀹炰綋杞崲鎴愬懡浠odel
/// </summary>
@@ -463,20 +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
- => short.Parse(task.CurrentAddress),
- _ when task.RGVTaskType == (short)RGVTaskTypeEnum.Placing
- => 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;
}
@@ -486,66 +1054,34 @@
/// <param name="task">浠诲姟瀹炰綋</param>
/// <returns></returns>
/// <exception cref="Exception"></exception>
- public RgvCraneTaskCommand? ConvertMotherCarTaskCommand(string RGVAddress)
+ public RgvCraneTaskCommand? ConvertMotherCarTaskCommand(int RGVAddress)
{
RgvCraneTaskCommand stackerCraneTaskCommand = new RgvCraneTaskCommand();
- stackerCraneTaskCommand.RGV_RGVTasklocation = short.Parse(RGVAddress);
+ 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 void wcsWriteLog(string SCLLinStack, string Logtype, string Magessadd)
- {
- WriteLog.Write_Log("RGV", SCLLinStack + "鍙稲GV", Logtype, new { 淇℃伅 = Magessadd });
- }
-
-
-
- //===========================================================HCJ鍗忚璇诲啓鏌�=============================================================================
- /// <summary>
- /// 鏌ヨ鍏蜂綋鍦板潃
- /// </summary>
- /// <param name="Commonstacker"></param>
- /// <param name="SCAddress"></param>
- /// <param name="Interactivet"></param>
- /// <returns></returns>
- public DeviceProDTO? GetDeviceProDTO(CommonStackerCrane Commonstacker, string SCAddress, string Interactivet)
- {
- return Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == SCAddress && x.DeviceProParamName == Interactivet && x.DeviceProParamType == "ReadDeviceCommand");
- }
- /// <summary>
- /// 鏍瑰湴鍧�璇诲彇杈撻�佺嚎淇℃伅
- /// </summary>
- /// <param name="conveyorLine"></param>
- /// <param name="DeviceProDataBlock"></param>
- /// <returns></returns>
- public int GetLine(CommonStackerCrane Commonstacker, string DeviceProDataBlock)
- {
- return Commonstacker.Communicator.Read<short>(DeviceProDataBlock);
- }
- //===========================================================HCJ鍗忚璇诲啓鏌�===============================================================================
-
-
public bool SendCommand2(RgvCraneTaskCommand command, string DeviceCode)
{
try
{
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);
- CommonStackerCrane Commonstacker = (CommonStackerCrane)device;
+ SpeStackerCrane Commonstacker = (SpeStackerCrane)device;
- DeviceProDTO? deviceProDTO = GetDeviceProDTO(Commonstacker, DeviceCode, "RGV_Rgvtaskstutas");
- int MCGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
- if (Commonstacker.IsConnected)
+ DeviceProDTO? deviceProDTO = GetDeviceAddress.GetRGVDeviceProDTO(Commonstacker, DeviceCode, "RGV_Rgvtaskstutas");
+ int MCGStatus = GetDeviceAddress.RGVGetLine(Commonstacker, deviceProDTO.DeviceProAddress);
+
+
+ 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;
}
}
@@ -557,5 +1093,7 @@
return false;
}
}
+
+
}
}
--
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