From 6ba24a49c009cca01d9c02b9dae692a53b8be116 Mon Sep 17 00:00:00 2001
From: huanghongfeng <huanghongfeng@hnkhzn.com>
Date: 星期三, 24 九月 2025 13:58:30 +0800
Subject: [PATCH] 入库
---
代码管理/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SpeStackerCraneJob/SpeStackerCraneJob.cs | 582 +++++++++++++++++++++++++++++++++------------------------
1 files changed, 336 insertions(+), 246 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 8f5137d..b702e2e 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.Eventing.Reader;
using System.Linq;
using System.Reflection.Metadata;
+using System.Runtime.CompilerServices;
using System.Text;
using System.Threading.Tasks;
using WIDESEA_Common.Log;
@@ -67,19 +68,17 @@
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);
+ _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);
@@ -94,6 +93,43 @@
_taskService.UpdateTaskStatusToNext(task);
}
}
+ else
+ {
+ 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(speStackerCrane.DeviceCode);
+ if(GdZiche.Station_Area == 1)
+ {
+ switch (getStackerObject.RGVCurrentlocation)
+ {
+ 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: return null;
+ }
+ }
+ else
+ {
+ switch (getStackerObject.RGVCurrentlocation)
+ {
+ 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
+ OutNMotherCar(GdZiche.MotherCarDeviceCode);
+ break;
+ default: return null;
+ }
+ }
+ }
+
}
}
@@ -124,11 +160,11 @@
{
return task.TaskState switch
{
- (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_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_InZicheReleaseFinish => task,
(int)TaskInStatusEnum.RGV_InZichemoveFinish => HandleZicheMoveFinish(task),
_ => null
};
@@ -150,6 +186,8 @@
}
#region 鍏ュ簱鏂规硶
+
+ #region 鍏ュ簱鍙ｅ彇璐у畬鎴愬悗锛岃繘琛屾斁璐э紙HCJ,寮傚父鍑哄簱鍙ｏ級
private Dt_Task? HandlePickupFinish(Dt_Task task)
{
try
@@ -157,8 +195,8 @@
//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);
+ DeviceProDTO? deviceProDTO = GetDeviceAddress.GetDeviceProDTO(Commonstacker, task.NextAddress, "HCJ_GoodsStatus");
+ int HCJGStatus = GetDeviceAddress.GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
if (HCJGStatus == 0) //涓烘棤璐�
{
return task;
@@ -174,68 +212,306 @@
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));
+ #endregion
- //鍒�3鍖哄煙杩涜鏀捐揣
- return aGVStation.Station_Area switch
+ #region 鍏ュ簱鍙ｆ斁璐у畬鎴愬悗锛岃繘琛屽彇璐у唴瀹�
+ private Dt_Task? HandInneRouterSides(Dt_Task task)
+ {
+ // 鏍规嵁璁惧鍚嶇О锛岃幏鍙栧埌璁惧鐩稿叧鏁版嵁
+ AGVStation currentStation = _agvStationService.Corridorequipment(task.Roadway);
+
+ // 鑾峰彇瀛愯溅浣嶇疆
+ int zicheAddress = GetDeviceAddress.GetEquipmentlocation(currentStation.ChildPosiDeviceCode);
+ if (currentStation.Station_Area == 1)
{
- 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
- };
+ // 鏍规嵁瀛愯溅浣嶇疆澶勭悊涓嶅悓鎯呭喌
+ switch (zicheAddress)
+ {
+ case int Whcjaddress when Whcjaddress == int.Parse(task.CurrentAddress):
+ return task;
+ case int Waddress when Waddress == currentStation.MotherCarDeviceCode:
+ return task;
+ case int Naddress when Naddress == currentStation.MotherCardeputy:
+ return HandleMedialCase(task, currentStation.MotherCarDeviceCode);
+ case int HCJaddress when HCJaddress == currentStation.HCJStorageaddress:
+ return HandleMedialCase2(task, currentStation);
+ default: return null;
+ }
+ }
+ else
+ {
+ //鍙朒CJ浣嶇殑鏂欏垽鏂�
+ switch (zicheAddress)
+ {
+ case int Whcjaddress when Whcjaddress == int.Parse(task.CurrentAddress):
+ return task;
+ case int Waddress when Waddress == currentStation.MotherCarDeviceCode:
+ return task;
+ case int Naddress when Naddress == currentStation.MotherCardeputy:
+ return HandleMedialCase(task, currentStation.MotherCarDeviceCode);
+ default: return null;
+ }
+ }
}
- private Dt_Task? CheckMotherCarMove(Dt_Task task, AGVStation station, Func<Dt_Task, AGVStation, bool> moveFunc)
+ /// <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)
{
- return moveFunc(task, station) ? task : null;
+ AGVStation Muche = _agvStationService.GetMothervehicle(currentStation);
+ int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
+ if (motherCarAddress == Muche.Motherinlaw) return task;
+ RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
+ return null;
}
-
- private Dt_Task? HandleZicheReleaseFinish(Dt_Task task)
+ /// <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 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э紝闇�瑕佸垽鏂瓙杞﹀綋鍓嶄綅瀛愶紝锛堝悗缁紭鍖栵級
- }
+ 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 鍙栬揣瀹屾垚鍚庯紝杩涜鏀捐揣鎿嶄綔
+ private Dt_Task? HandleZicheFinish(Dt_Task task)
+ {
+ // 鏍规嵁璁惧鍚嶇О锛岃幏鍙栧埌璁惧鐩稿叧鏁版嵁
+ AGVStation GdaoRgvStation = _agvStationService.Corridorequipment(task.Roadway);
+ int nexaddres = int.Parse(task.NextAddress);
+ switch (nexaddres)
+ {
+ case int Whcjaddress when Whcjaddress == GdaoRgvStation.MotherCarDeviceCode: //鏀捐揣鐐瑰湪绗竴涓繃閬撶偣
+ return MotherCarMoves(task, GdaoRgvStation);
+ case int Waddress when Waddress == GdaoRgvStation.MotherCardeputy: //鏀捐揣鐐瑰湪绗簩涓繃閬撶偣
+ return MotherCarMovesinside(task, GdaoRgvStation);
+ case int HCJaddress when HCJaddress == GdaoRgvStation.HCJStorageaddress: //鏀捐揣鐐瑰湪HCJ涓�
+ return HCJMotherCarMovesinside(task, GdaoRgvStation);
+ 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 Dt_Task? MotherCarMoves(Dt_Task _Task, AGVStation aGVStation)
+ {
+ AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.ZicheMotherinlaw);
+ int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
+ if (motherCarAddress == Muche.ZicheMotherinlaw) return _Task;
+ RGVMovetask(Muche.ZicheMotherinlaw, aGVStation.ChildPosiDeviceCode);
+ 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)
+ {
+ 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.ZicheMotherinlaw)
+ {
+ RGVMovetask(Muche2.ZicheMotherinlaw, Muche2.ChildPosiDeviceCode);
+ }
+ if (motherCarAddress == Muche.Motherinlaw && motherCarAddress2 == Muche2.ZicheMotherinlaw) return _Task;
+ // 姣嶈溅宸插湪姝ｇ‘浣嶇疆
+ return null;
+ }
+ 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
+
+ int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
+ int motherCarAddress2 = GetDeviceAddress.GetEquipmentlocation(Muche2.ChildPosiDeviceCode);
+ int ZiCarAddress3 = GetDeviceAddress.GetEquipmentlocation(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)
+ {
+ RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
+ }
+ if (motherCarAddress2 != Muche2.Motherinlaw)
+ {
+ RGVMovetask(Muche2.Motherinlaw, Muche2.ChildPosiDeviceCode);
+ }
+ if(ZiCarAddress3== Ziche3.HCJStorageaddress)
+ {
+ //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
+ {
+ //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.GetEquipmentlocation(MucheN.ChildPosiDeviceCode); //鑾峰彇鍒版瘝杞﹀綋鍓嶄綅缃�
+ if(MucheN.ZicheMotherinlaw== motNCarAddress)
+ {
+ RGVMovetask(Ziche3.MotherCarDeviceCode, Ziche3.ChildPosiDeviceCode);
+ }
+ else
+ {
+ RGVMovetask(MucheN.ZicheMotherinlaw, MucheN.ChildPosiDeviceCode);
+ }
+ }
+ else if (_Task.TargetAddress == "4") //鍏ュ簱鑷�4鍙峰爢鍨涙満
+ {
+ //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.GetEquipmentlocation(MucheN.ChildPosiDeviceCode); //鑾峰彇鍒版瘝杞﹀綋鍓嶄綅缃�
+ if (MucheN.Motherinlaw != motNCarAddress)
+ {
+ RGVMovetask(MucheN.Motherinlaw, MucheN.ChildPosiDeviceCode);
+ }
+ AGVStation MucheN2 = _agvStationService.GetMothervehicle(Ziche3.MotherCardeputy); //澶栦晶姣嶈溅
+ int motNCarAddress2 = GetDeviceAddress.GetEquipmentlocation(MucheN2.ChildPosiDeviceCode); //鑾峰彇鍒版瘝杞﹀綋鍓嶄綅缃�
+ if (MucheN2.ZicheMotherinlaw != motNCarAddress2)
+ {
+ RGVMovetask(MucheN2.ZicheMotherinlaw, MucheN2.ChildPosiDeviceCode);
+ }
+
+ if(MucheN.Motherinlaw == motNCarAddress && MucheN2.ZicheMotherinlaw == motNCarAddress2)
+ {
+ RGVMovetask(Ziche3.MotherCardeputy, Ziche3.ChildPosiDeviceCode);
+ }
+ }
+ }
+
+ 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 姣嶈溅绉诲姩鑷冲叆搴撳彛
private Dt_Task? HandleZicheMoveFinish(Dt_Task task)
{
- AGVStation aGVStation = _agvStationService.GetAllStationByDeviceCode(int.Parse(task.CurrentAddress));
- int zicheAddress = GetZichelocation(task, task.CurrentAddress);
+ int curradder = int.Parse(task.CurrentAddress);
+ AGVStation GdZiche = _agvStationService.GetMotheaisle(curradder);
+ int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(GdZiche.ChildPosiDeviceCode);
+ if (motherCarAddress != curradder) return task;
+ RGVMovetask(GdZiche.Motherinlaw, GdZiche.ChildPosiDeviceCode);
+ return null;
+ }
+ #endregion
- //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
+
+
+ #region 鍑哄簱鏂规硶
+
+ #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)
+ {
+ AGVStation Muche = _agvStationService.GetMothervehicle(MotherCarDeviceCode); //澶栦晶姣嶈溅
+ int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
+ if (motherCarAddress != Muche.Motherinlaw)
+ {
+ 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);
+ }
}
#endregion
-
-
- //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)
+ #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)
{
- int mcadder = GetMothercarlocation(_Task.TaskNum, aGVStation.Motherinlaw); //鑾峰彇鍒版瘝杞﹀渚т綅缃�
- if(mcadder != 0)
+ AGVStation Ziche3 = _agvStationService.GetZicheDeep(aGVStation.HCJStorageaddress); //鍐呬晶瀛愯溅
+ int ZiCarAddress3 = GetDeviceAddress.GetEquipmentlocation(Ziche3.ChildPosiDeviceCode);
+ if (ZiCarAddress3 == Ziche3.HCJStorageaddress)
{
- if (mcadder == int.Parse(_Task.CurrentAddress))
- {
- return true;
- }
- RGVMovetask(_Task.CurrentAddress, aGVStation.ChildPosiDeviceCode,_Task.TaskId);
+
}
- return false;
+ else
+ {
+ //RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
+ }
}
+ private void OutinnerSideMotherCar(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);
+ }
+ }
+ #endregion
+
+
+ #endregion
+
+
/// <summary>
/// 瀛愭瘝杞︾Щ鍔ㄤ换鍔�
@@ -243,164 +519,12 @@
/// <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);
- _taskExecuteDetailService.AddTaskExecuteDetail(taskid, $"绯荤粺鑷姩娴佺▼锛屾墽琛屾瘝杞︾Щ鍔ㄤ换鍔★紝姣嶈溅缂栧彿锛歿ChildPosiDeviceCode}锛岀Щ鍔ㄥ湴鍧�锛歿RGVAdders}锛屾槸鍚︿笅鍙戞垚鍔燂細{sendFlag}");
-
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>
@@ -413,16 +537,16 @@
short locaticurr = task.RGVTaskType switch
{
_ when task.RGVTaskType == (short)RGVTaskTypeEnum.PickingUp ||
- task.RGVTaskType == (short)RGVTaskTypeEnum.TravelingOnly
+ (task.RGVTaskType == (short)RGVTaskTypeEnum.TravelingOnly && task.TaskType != (int)TaskInStatusEnum.RGV_InZichemoveFinish)
=> short.Parse(task.CurrentAddress),
- _ when task.RGVTaskType == (short)RGVTaskTypeEnum.Placing
+ _ when task.RGVTaskType == (short)RGVTaskTypeEnum.Placing || (task.RGVTaskType == (short)RGVTaskTypeEnum.TravelingOnly && task.TaskType== (int)TaskInStatusEnum.RGV_InZichemoveFinish)
=> short.Parse(task.NextAddress),
_ => (short)0
};
stackerCraneTaskCommand.RGV_RGVTasklocation = locaticurr;
stackerCraneTaskCommand.RGV_RGVtasktype = (short)task.RGVTaskType;
- stackerCraneTaskCommand.RGV_Rgvtaskid = (short)task.TaskNum;
- stackerCraneTaskCommand.RGV_Lanjiantaskid = (short)task.TaskNum;
+ stackerCraneTaskCommand.RGV_Rgvtaskid = (short)task.TaskNum;
+ stackerCraneTaskCommand.RGV_Lanjiantaskid = (short)task.TaskNum;
return stackerCraneTaskCommand;
}
@@ -433,49 +557,15 @@
/// <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
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
@@ -483,8 +573,8 @@
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);
CommonStackerCrane Commonstacker = (CommonStackerCrane)device;
- DeviceProDTO? deviceProDTO = GetDeviceProDTO(Commonstacker, DeviceCode, "RGV_Rgvtaskstutas");
- int MCGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
+ DeviceProDTO? deviceProDTO = GetDeviceAddress.GetDeviceProDTO(Commonstacker, DeviceCode, "RGV_Rgvtaskstutas");
+ int MCGStatus = GetDeviceAddress.GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
if (Commonstacker.IsConnected)
{
if (MCGStatus == (int)RgvJobCraneStatus.Ready)
--
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