From 83f3c63f1cae6224320a8d19251e3bc0404da096 Mon Sep 17 00:00:00 2001
From: huanghongfeng <huanghongfeng@hnkhzn.com>
Date: 星期五, 26 九月 2025 14:54:44 +0800
Subject: [PATCH] 出入库
---
代码管理/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SpeStackerCraneJob/SpeStackerCraneJob.cs | 432 ++++++++++++++++++++++++++++++++---------------------
1 files changed, 259 insertions(+), 173 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 b702e2e..bad479b 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;
@@ -81,7 +82,7 @@
//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);
+ Dt_Task task = GetTask(speStackerCrane.DeviceCode,getStackerObject);
if (task != null)
{
//璋冨彇鍐欏叆RGV灏忚溅浠诲姟
@@ -95,46 +96,17 @@
}
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)
+ if(speStackerCrane.DeviceCode=="RGV101" || speStackerCrane.DeviceCode == "RGV101")
{
- 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;
- }
+ //褰撴病浠诲姟鐨勬椂鍊欙紝鍒欒繘琛岀Щ鍔�
+ Returnposition(speStackerCrane.DeviceCode, getStackerObject.RGVCurrentlocation);
}
- 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;
- }
- }
+
}
}
}
-
-
}
catch (Exception ex)
{
@@ -143,117 +115,91 @@
return Task.CompletedTask;
}
- private Dt_Task? GetTask(string DeviceCode)
+ private Dt_Task? GetTask(string DeviceCode, GetStackerObject getStackerObject)
{
- Dt_Task task = _taskService.QueryStackerCraneTask(DeviceCode);
- if (task == null) return null;
-
- return task.TaskType switch
+ // 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)TaskInboundTypeEnum.Inbound => HandleInboundTask(task),
- (int)TaskOutboundTypeEnum.Outbound => HandleOutboundTask(task),
+ (int)RGVTasktype.Inbound => HandleInboundTask(RGVTaskdevice, getStackerObject),
+ (int)RGVTasktype.Outbound => OutboundEquipmentTask(RGVTaskdevice, getStackerObject),
_ => 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 => 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
-
- #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)
+ private Dt_Task? HandleInboundTask(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
{
- try
+ if(RGVTaskdevice.Station_material== (int)RGVEquipment.InRGVForklift && getStackerObject.RgvCraneStatusValue== RgvEquipmentStatus.NoCargo)
{
- //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 = GetDeviceAddress.GetDeviceProDTO(Commonstacker, task.NextAddress, "HCJ_GoodsStatus");
- int HCJGStatus = GetDeviceAddress.GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
- if (HCJGStatus == 0) //涓烘棤璐�
- {
- return task;
- }
+ return _taskService.GetInkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode, 1);
}
- catch (Exception ex)
+ else if (RGVTaskdevice.Station_material == (int)RGVEquipment.InRGVForklift && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.HasCargo)
{
- //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 _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; }
- return null;
}
- #endregion
- #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)
+ #region 杩囬亾瀛愯溅杩涜鍙栬揣
+ public Dt_Task? ZichePickUpAisle(AGVStation RGVTaskdevice, 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 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)
+ //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())
{
- // 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;
- }
+ return dt_Task;
}
else
{
- //鍙朒CJ浣嶇殑鏂欏垽鏂�
- switch (zicheAddress)
+ //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)
{
- 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;
+ // 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;
+ }
+ }
+
}
}
-
/// <summary>
/// 鍒ゆ柇澶栦晶姣嶈溅鏄惁鍦ㄥ叆鍙ｅ彛
/// </summary>
@@ -296,22 +242,22 @@
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)
+ #region 杩囬亾瀛愯溅杩涜鏀捐揣
+ public Dt_Task? GoodsPlacedCorridor(AGVStation RGVTaskdevice, 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 GdaoRgvStation = _agvStationService.Corridorequipment(task.Roadway);
+ Dt_Task task = _taskService.GetInzicheTask(RGVTaskdevice.ChildPosiDeviceCode, 2);
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);
+ case int Whcjaddress when Whcjaddress == RGVTaskdevice.MotherCarDeviceCode: //鏀捐揣鐐瑰湪绗竴涓繃閬撶偣
+ return MotherCarMoves(task, RGVTaskdevice);
+ case int Waddress when Waddress == RGVTaskdevice.MotherCardeputy: //鏀捐揣鐐瑰湪绗簩涓繃閬撶偣
+ return MotherCarMovesinside(task, RGVTaskdevice);
+ case int HCJaddress when HCJaddress == RGVTaskdevice.HCJStorageaddress: //鏀捐揣鐐瑰湪HCJ涓�
+ return HCJMotherCarMovesinside(task, RGVTaskdevice);
default: return null;
}
}
@@ -321,9 +267,11 @@
private Dt_Task? MotherCarMoves(Dt_Task _Task, AGVStation aGVStation)
{
AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.ZicheMotherinlaw);
- int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
+
+ int motherCarAddress = GetDeviceAddress.GetEquipmentInMuche(Muche.ChildPosiDeviceCode);
if (motherCarAddress == Muche.ZicheMotherinlaw) return _Task;
- RGVMovetask(Muche.ZicheMotherinlaw, aGVStation.ChildPosiDeviceCode);
+ if(motherCarAddress!=0) RGVMovetask(Muche.ZicheMotherinlaw, aGVStation.ChildPosiDeviceCode);
+
return null;
}
@@ -338,14 +286,14 @@
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);
+ 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)
+ if (motherCarAddress != Muche.Motherinlaw && motherCarAddress != 0)
{
RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
}
- if (motherCarAddress2 != Muche2.ZicheMotherinlaw)
+ if (motherCarAddress2 != Muche2.ZicheMotherinlaw && motherCarAddress2 != 0)
{
RGVMovetask(Muche2.ZicheMotherinlaw, Muche2.ChildPosiDeviceCode);
}
@@ -353,59 +301,67 @@
// 姣嶈溅宸插湪姝ｇ‘浣嶇疆
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)
{
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);
+ 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)
+ if (motherCarAddress != Muche.Motherinlaw && motherCarAddress != 0)
{
RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
}
- if (motherCarAddress2 != Muche2.Motherinlaw)
+ if (motherCarAddress2 != Muche2.Motherinlaw && motherCarAddress2 != 0)
{
RGVMovetask(Muche2.Motherinlaw, Muche2.ChildPosiDeviceCode);
}
- if(ZiCarAddress3== Ziche3.HCJStorageaddress)
+ 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
{
//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)
+ int motNCarAddress = GetDeviceAddress.GetEquipmentInMuche(MucheN.ChildPosiDeviceCode); //鑾峰彇鍒版瘝杞﹀綋鍓嶄綅缃�
+ if (motNCarAddress!=0)
{
- RGVMovetask(Ziche3.MotherCarDeviceCode, Ziche3.ChildPosiDeviceCode);
- }
- else
- {
- RGVMovetask(MucheN.ZicheMotherinlaw, MucheN.ChildPosiDeviceCode);
+ 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)
+ int motNCarAddress = GetDeviceAddress.GetEquipmentInMuche(MucheN.ChildPosiDeviceCode); //鑾峰彇鍒版瘝杞﹀綋鍓嶄綅缃�
+ if (MucheN.Motherinlaw != motNCarAddress && motNCarAddress!=0)
{
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)
+ 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)
+ if (MucheN.Motherinlaw == motNCarAddress && MucheN2.ZicheMotherinlaw == motNCarAddress2)
{
RGVMovetask(Ziche3.MotherCardeputy, Ziche3.ChildPosiDeviceCode);
}
@@ -418,13 +374,22 @@
}
#endregion
- #region 姣嶈溅绉诲姩鑷冲叆搴撳彛
- private Dt_Task? HandleZicheMoveFinish(Dt_Task task)
+ #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.GetEquipmentlocation(GdZiche.ChildPosiDeviceCode);
- if (motherCarAddress != curradder) return task;
+ int motherCarAddress = GetDeviceAddress.GetEquipmentInformation(GdZiche.ChildPosiDeviceCode);
+ if (motherCarAddress != curradder && motherCarAddress!=0) return task;
RGVMovetask(GdZiche.Motherinlaw, GdZiche.ChildPosiDeviceCode);
return null;
}
@@ -432,8 +397,134 @@
#endregion
-
#region 鍑哄簱鏂规硶
+ public Dt_Task? OutboundEquipmentTask(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
+ {
+ return (RGVTaskdevice.Station_material, getStackerObject.RgvCraneStatusValue) switch
+ {
+ ((int)RGVEquipment.Mothertrailer, RgvEquipmentStatus.HasCargo)
+ => Mothertaskdistribution(RGVTaskdevice),
+
+ ((int)RGVEquipment.Corridorcar, RgvEquipmentStatus.NoCargo)
+ => ChildPickupAddres(RGVTaskdevice),
+
+ ((int)RGVEquipment.Corridorcar, RgvEquipmentStatus.HasCargo)
+ => Findshippingtask(RGVTaskdevice),
+
+ ((int)RGVEquipment.OutRGVForklift, RgvEquipmentStatus.NoCargo)
+ => _taskService.GetOutkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode,
+ RGVTaskdevice.HCJStorageaddress.ToString(), 1),
+
+ ((int)RGVEquipment.OutRGVForklift, RgvEquipmentStatus.HasCargo)
+ => _taskService.GetOutkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode,
+ RGVTaskdevice.HCJStorageaddress.ToString(), 2),
+
+ _ => 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�
+
+ 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;
+
+ AGVStation ZicheinnerSide = _agvStationService.GetMotheaisle(GdZiche.ZicheMotherinlaw);
+ int ZiCarAddress3 = GetDeviceAddress.GetEquipmentInformation(ZicheinnerSide.ChildPosiDeviceCode);
+
+ // 浣跨敤switch璇彞鎻愰珮鍙鎬�
+ 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),
+
+ _ => null
+ };
+ }
+ #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)
+ {
+ if (GdZiche.Station_Area == 5)
+ return _taskService.ChildVehicleMission(GdZiche);
+
+ var task = _taskService.ChildVehicleMission(GdZiche);
+
+ // 蹇�熻繑鍥炴潯浠舵鏌�
+ if (task.CurrentAddress != GdZiche.HCJStorageaddress.ToString())
+ return task;
+
+ var innerStation = _agvStationService.GetZicheDeep(GdZiche.HCJStorageaddress);
+ if (GetDeviceAddress.GetEquipmentInformation(innerStation.ChildPosiDeviceCode) != innerStation.HCJStorageaddress)
+ return task;
+
+ 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)
+ {
+ Dt_Task task = _taskService.GetFinhuoTask(GdZiche.ChildPosiDeviceCode);
+ if (GetDeviceAddress.HCJIsstock(task.NextAddress)) return task;
+ 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)
+ {
+ 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)
+ {
+ switch (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: break;
+ }
+ }
+ else
+ {
+ switch (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
+ OutinnerSideMotherCar(GdZiche);
+ break;
+ default: break;
+ }
+ }
+ }
#region 澶栦晶灏忚溅鍥炲綊鍒拌捣濮嬬偣浣�
/// <summary>
@@ -469,7 +560,6 @@
}
#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
@@ -479,38 +569,32 @@
/// <returns></returns>
private void OutinnerSideNMotherCar(AGVStation aGVStation)
{
- AGVStation Ziche3 = _agvStationService.GetZicheDeep(aGVStation.HCJStorageaddress); //鍐呬晶瀛愯溅
+ 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(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
+ RGVMovetask(aGVStation.HCJStorageaddress, aGVStation.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);
- }
+ OutinnerSideNMotherCar(aGVStation);
+
}
#endregion
-
#endregion
-
/// <summary>
@@ -571,10 +655,12 @@
try
{
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);
- CommonStackerCrane Commonstacker = (CommonStackerCrane)device;
+ SpeStackerCrane Commonstacker = (SpeStackerCrane)device;
- DeviceProDTO? deviceProDTO = GetDeviceAddress.GetDeviceProDTO(Commonstacker, DeviceCode, "RGV_Rgvtaskstutas");
- int MCGStatus = GetDeviceAddress.GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
+ DeviceProDTO? deviceProDTO = GetDeviceAddress.GetRGVDeviceProDTO(Commonstacker, DeviceCode, "RGV_Rgvtaskstutas");
+ int MCGStatus = GetDeviceAddress.RGVGetLine(Commonstacker, deviceProDTO.DeviceProAddress);
+
+
if (Commonstacker.IsConnected)
{
if (MCGStatus == (int)RgvJobCraneStatus.Ready)
--
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