From 23cdbe08ee002d12c6d2a9034cc265fea0270a88 Mon Sep 17 00:00:00 2001
From: huanghongfeng <huanghongfeng@hnkhzn.com>
Date: 星期四, 18 九月 2025 17:11:44 +0800
Subject: [PATCH] 更新
---
代码管理/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SpeStackerCraneJob/SpeStackerCraneJob.cs | 83 ++++++++++++++++++++++++++++++++++-------
1 files changed, 69 insertions(+), 14 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 11b6056..1e98b9a 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"
@@ -67,17 +67,18 @@
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.StaclerkJobJobStatusValue == RgvJobCraneStatus.Completed && getStackerObject.CurrentRgvtaskid != 0)
{
_taskService.UpdateTaskStatus(getStackerObject.CurrentRgvtaskid);
}
-
+
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��
+
@@ -126,7 +127,7 @@
{
(int)TaskInStatusEnum.RGV_InNew => task,
(int)TaskInStatusEnum.RGV_InPickupFinish => HandlePickupFinish(task),
- (int)TaskInStatusEnum.RGV_InReleaseFinish => task, //闇�瑕佸垽鏂瓙杞︽槸鍐呬晶鍖鸿繕鏄渚у彇璐э紙寰呭畬鎴愶級
+ (int)TaskInStatusEnum.RGV_InReleaseFinish => HandInneRouterSides(task),
(int)TaskInStatusEnum.RGV_InZicheFinish => HandleZicheFinish(task),
(int)TaskInStatusEnum.RGV_InZicheReleaseFinish => HandleZicheReleaseFinish(task),
(int)TaskInStatusEnum.RGV_InZichemoveFinish => HandleZicheMoveFinish(task),
@@ -150,6 +151,60 @@
}
#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;
+ }
+ }
+
+ 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))
+ {
+ 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
+ }
+
+ // 姣嶈溅宸插湪姝ｇ‘浣嶇疆
+ return task;
+ }
+
private Dt_Task? HandlePickupFinish(Dt_Task task)
{
try
@@ -203,7 +258,7 @@
}
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э紝闇�瑕佸垽鏂瓙杞﹀綋鍓嶄綅瀛愶紝锛堝悗缁紭鍖栵級
+ 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;
@@ -226,13 +281,13 @@
private bool 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)
+ if (mcadder != 0)
{
if (mcadder == int.Parse(_Task.CurrentAddress))
{
return true;
}
- RGVMovetask(_Task.CurrentAddress, aGVStation.ChildPosiDeviceCode,_Task.TaskId);
+ RGVMovetask(_Task.CurrentAddress, aGVStation.ChildPosiDeviceCode, _Task.TaskId);
}
return false;
}
@@ -243,7 +298,7 @@
/// <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(string RGVAdders, string ChildPosiDeviceCode, int taskid)
{
RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(RGVAdders);
bool sendFlag = SendCommand2(standardCommands, ChildPosiDeviceCode);
@@ -288,14 +343,14 @@
}
return false;
}
- private bool HCJMotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation)
+ 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);
+ int ncadder = GetMothercarlocation(_Task.TaskNum, aGVStation.MotherCardeputy);
- if (mcadder != int.Parse(aGVStation.MotherCarDeviceCode) && ncadder != int.Parse(aGVStation.MotherCardeputy))
+ if (mcadder != int.Parse(aGVStation.MotherCarDeviceCode) && ncadder != int.Parse(aGVStation.MotherCardeputy))
{
return true;
}
@@ -319,7 +374,7 @@
return false;
}
-
+
//鍒ゆ柇鏄惁
public bool GetMotherCarCurrentAdder(Dt_Task task)
@@ -358,7 +413,7 @@
try
{
//鍒╃敤鍏ュ簱绔欏彴鍦板潃鑾峰彇姣嶈溅plc
- AGVStation aGVStation =_agvStationService.GetMothercarCode(MotherCarDeviceCode);
+ 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");
@@ -461,7 +516,7 @@
/// <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");
+ 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
@@ -483,7 +538,7 @@
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);
CommonStackerCrane Commonstacker = (CommonStackerCrane)device;
- DeviceProDTO? deviceProDTO = GetDeviceProDTO(Commonstacker, DeviceCode, "RGV_Rgvtaskstutas");
+ DeviceProDTO? deviceProDTO = GetDeviceProDTO(Commonstacker, DeviceCode, "RGV_Rgvtaskstutas");
int MCGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
if (Commonstacker.IsConnected)
{
--
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