From 9c3ee278c31a79e2e36b635651cef0b2dd431260 Mon Sep 17 00:00:00 2001
From: huanghongfeng <huanghongfeng@hnkhzn.com>
Date: 星期一, 22 九月 2025 16:55:57 +0800
Subject: [PATCH] 1
---
代码管理/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SpeStackerCraneJob/SpeStackerCraneJob.cs | 502 +++++++++++++++++++++++++++----------------------------
1 files changed, 250 insertions(+), 252 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 9438dc7..4b08b05 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"
@@ -56,9 +56,6 @@
_agvStationService = agvStationService;
}
- public string ziche001 = "RGV104";
- public string ziche002 = "RGV107";
-
public Task Execute(IJobExecutionContext context)
{
@@ -70,17 +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);
+ _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��
+
@@ -110,280 +108,271 @@
return Task.CompletedTask;
}
- /// <summary>
- /// 鑾峰彇浠诲姟锛堟殏鏃舵柟娉昳f鍒ゆ柇锛�
- /// </summary>
- /// <param name="DeviceCode"></param>
- /// <param name="RGVCurrentlocation"></param>
- /// <returns></returns>
private Dt_Task? GetTask(string DeviceCode)
{
- Dt_Task task;
- task = _taskService.QueryStackerCraneTask(DeviceCode);
- if (task != null)
+ Dt_Task task = _taskService.QueryStackerCraneTask(DeviceCode);
+ if (task == null) return null;
+
+ return task.TaskType switch
{
- //鍒ゆ柇鍏ュ簱浠诲姟
- if(task.TaskType== (int)TaskInboundTypeEnum.Inbound)
- {
- if(task.TaskState== (int)TaskInStatusEnum.RGV_InNew)
- {
- return task;
- }else if(task.TaskState== (int)TaskInStatusEnum.RGV_InPickupFinish) //鍙栬揣瀹屾垚鍚庯紝杩涜鏀捐揣鐨勬祦绋�
- {
- //鍒ゆ柇璇CJ鏄惁鍙斁璐�
- bool Currebool = QueryCurrentAdder(task); //鍒ゆ柇HCJ鏄惁鍙互鏀捐揣
- if (Currebool)
- {
- return task;
- }
- else { return null; }
- }else if (task.TaskState == (int)TaskInStatusEnum.RGV_InReleaseFinish) //鏀捐揣瀹屾垚鍚庯紝杩涜瀛愯溅鍙栬揣娴佺▼
- {
- //榛樿瀛愯溅鍦ㄥ彇璐х殑鍦版柟
- return task;
- }
- else if (task.TaskState == (int)TaskInStatusEnum.RGV_InZicheFinish) //瀛愯溅鍙栬揣瀹屾垚鍚庯紝杩涜鏀捐揣娴佺▼
- {
- //鑾峰彇闇�瑕佹斁璐х殑绔欏彴
- AGVStation aGVStation = _agvStationService.GetAllStationByDeviceCode(int.Parse(task.CurrentAddress)); //鑾峰彇鍒拌繃閬撶珯鍙版斁璐т俊鎭�
- if (aGVStation.Station_Area == 1) //琛ㄧず鍦ㄥ娴�
- {
- bool muchebool=MotherCarMoves(task, aGVStation);
- if (muchebool)
- {
- return task;
- }else { return null; }
- }
- else if(aGVStation.Station_Area == 2) //琛ㄧず鍦ㄥ唴渚�
- {
- bool muchebool = MotherCarMovesinside(task, aGVStation);
- if (muchebool)
- {
- return task;
- }
- else { return null; }
- }else if (aGVStation.Station_Area == 3) //鏀惧湪杩囬亾HCJ
- {
- bool muchebool = HCJMotherCarMovesinside(task, aGVStation);
- if (muchebool)
- {
- return task;
- }
- else { return null; }
- }
- }else if (task.TaskState == (int)TaskInStatusEnum.RGV_InZicheReleaseFinish) //瀛愯溅鏀捐揣瀹屾垚
- {
- AGVStation aGVStation = _agvStationService.GetAllStationByDeviceCode(int.Parse(task.CurrentAddress));
- if(aGVStation.Station_Area == 1)
- {
- return task;
- /*RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(task, "1021");
- bool sendFlag = SendCommand2(standardCommands, ziche001);
- if (sendFlag)
- {
- //璁板綍涓嬪彂杩囨瘝杞︾Щ鍔ㄤ换鍔�
- _taskService.UpdateTaskStatusToNext(task);
- }*/
- }
- else if (aGVStation.Station_Area == 2)
- {
- RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(task, "1021"); //娉ㄦ剰锛氾細锛氾細璇ュ瓙杞﹂渶瑕佸緟瀹氬幓鍚�
- bool sendFlag = SendCommand2(standardCommands, ziche002);
- if (sendFlag)
- {
- //璁板綍涓嬪彂杩囨瘝杞︾Щ鍔ㄤ换鍔�
- _taskService.UpdateTaskStatusToNext(task);
- }
- }
-
- //杩涜绉诲姩瀛愯溅
-
- }
- else if(task.TaskState == (int)TaskInStatusEnum.RGV_InZichemoveFinish) //瀛愯溅绉诲姩瀹屾垚鍚庯紝杩涜
- {
- //鑾峰彇闇�瑕佹斁璐х殑绔欏彴
- AGVStation aGVStation = _agvStationService.GetAllStationByDeviceCode(int.Parse(task.CurrentAddress)); //鑾峰彇鍏ュ簱绔欏彴淇℃伅
- if (aGVStation.Station_Area == 1) //鍏ュ簱鍙ｅ尯鍩熺殑1琛ㄧず鍐欏叆鍥哄畾鐨�1鍙峰瓙杞�104
- {
- //鍒ゆ柇瀛愯溅鍦ㄥ摢涓綅缃�
- int zicheadder = GetZichelocation(task, ziche001);
- if(zicheadder!= int.Parse(aGVStation.ZicheMotherinlaw))
- {
- return task;
- }
- }
- else if(aGVStation.Station_Area == 2) //鍏ュ簱鍙ｅ尯鍩熺殑1琛ㄧず鍐欏叆鍥哄畾鐨�1鍙峰瓙杞�107
- {
- int zicheadder = GetZichelocation(task, ziche002);
- if (zicheadder != int.Parse(aGVStation.ZicheMotherinlaw))
- {
- return task;
- }
- }
- }
- }
- else if(task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
- {
- if (task.TaskState == (int)TaskOutStatusEnum.OutNew)
- {
- return task;
- }else if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutMothercarFinish)
- {
- return task;
- }
- else if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutZicheFinish)
- {
- return task;
- }else if(task.TaskState == (int)TaskOutStatusEnum.RGV_OutZicheReleaseFinish)
- {
- return task;
- }else if(task.TaskState == (int)TaskOutStatusEnum.RGV_OutPickupFinish && task.CurrentAddress != "")
- {
- return task;
- }
- }
- }
-
- return null;
+ (int)TaskInboundTypeEnum.Inbound => HandleInboundTask(task),
+ (int)TaskOutboundTypeEnum.Outbound => HandleOutboundTask(task),
+ _ => null
+ };
}
- //鍒ゆ柇澶栦晶姣嶈溅浣嶇疆
- private bool MotherCarMoves(Dt_Task _Task, AGVStation aGVStation)
+ private Dt_Task? HandleInboundTask(Dt_Task task)
{
- int mcadder = GetMothercarlocation(_Task, aGVStation.Motherinlaw);
- if(mcadder != 0)
+ return task.TaskState switch
{
- if (mcadder == int.Parse(_Task.CurrentAddress)) //鍒ゆ柇瀛愯溅瑕佸幓鐨勪綅缃紝姣嶈溅鏄惁鍦ㄨ浣嶇疆
- {
- return true;
- }
- else
- {
- //涓嬪彂姣嶈溅绉诲姩鍑烘潵鎺ヨ揣浠诲姟
- RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(_Task, _Task.CurrentAddress);
-
- bool sendFlag = SendCommand2(standardCommands, aGVStation.ChildPosiDeviceCode);
- if (sendFlag)
- {
- //璁板綍涓嬪彂杩囨瘝杞︾Щ鍔ㄤ换鍔�
- _taskService.UpdateTaskStatusToNext(_Task);
- }
- }
- }
-
- return false;
+ (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
+ };
}
- //鍒ゆ柇鍐呬晶姣嶈溅浣嶇疆
- private bool MotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation)
+ private Dt_Task? HandleOutboundTask(Dt_Task task)
{
- //鑾峰彇澶栦晶姣嶈溅浣嶇疆
- int mcadder = GetMothercarlocation(_Task, aGVStation.MotherCarDeviceCode);
- //鑾峰彇鍐呬晶姣嶈溅浣嶇疆
- int ncadder = GetMothercarlocation(_Task, _Task.CurrentAddress); //浼犲叆杩囬亾鐨勫湴鍧�
-
- if (mcadder != int.Parse(aGVStation.MotherCarDeviceCode) && ncadder == aGVStation.Station_code) //鍒ゆ柇澶栦晶姣嶈溅浣嶇疆
+ // 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 =
{
- return true;
- }
- else
- {
- if (mcadder == int.Parse(aGVStation.MotherCarDeviceCode)) //澶栦晶姣嶈溅闇�瑕佺Щ鍔�
- {
- //涓嬪彂姣嶈溅寰�閲岄潰璧扮殑浠诲姟
- AGVStation aGVSta = _agvStationService.GetMothercarCode(aGVStation.MotherCarDeviceCode); //鍫嗗灈鏈哄叆搴撳彛
+ (int)TaskOutStatusEnum.OutNew,
+ (int)TaskOutStatusEnum.RGV_OutMothercarFinish,
+ (int)TaskOutStatusEnum.RGV_OutZicheFinish,
+ (int)TaskOutStatusEnum.RGV_OutZicheReleaseFinish,
+ (int)TaskOutStatusEnum.RGV_OutPickupFinish
+ };
- RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(_Task, aGVSta.Station_code.ToString()); //涓嬪彂姣嶈溅绉诲姩鑷冲叆搴撶珯鍙颁綅
- bool sendFlag = SendCommand2(standardCommands, aGVSta.ChildPosiDeviceCode);
- if (sendFlag)
- {
- //璁板綍涓嬪彂杩囨瘝杞︾Щ鍔ㄤ换鍔�
- _taskService.UpdateTaskStatusToNext(_Task);
- }
- }
-
- if (ncadder != aGVStation.Station_code) //涓嬪彂姣嶈溅
- {
- RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(_Task, aGVStation.Station_code.ToString());
- bool sendFlag = SendCommand2(standardCommands, aGVStation.ChildPosiDeviceCode);
- if (sendFlag)
- {
- //璁板綍涓嬪彂杩囨瘝杞︾Щ鍔ㄤ换鍔�
- _taskService.UpdateTaskStatusToNext(_Task);
- }
- }
- }
- return false;
+ return validStates.Contains(task.TaskState) ? task : null;
}
- private bool HCJMotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation) //浼犺繘鏉ョ殑绔欏彴涓篐CJ
+
+ #region 鍏ュ簱鏂规硶
+ private Dt_Task? HandInneRouterSides(Dt_Task task)
{
- //鑾峰彇澶栦晶姣嶈溅浣嶇疆
- int mcadder = GetMothercarlocation(_Task, aGVStation.MotherCarDeviceCode);
- //鑾峰彇鍐呬晶姣嶈溅浣嶇疆
- int ncadder = GetMothercarlocation(_Task, aGVStation.MotherCardeputy);
+ // 楠岃瘉杈撳叆
+ if (task == null) throw new ArgumentNullException(nameof(task));
+ if (string.IsNullOrEmpty(task.CurrentAddress)) return null;
- if (mcadder != int.Parse(aGVStation.MotherCarDeviceCode) && ncadder != int.Parse(aGVStation.MotherCardeputy)) //鍒ゆ柇澶栦晶姣嶈溅浣嶇疆
+ // 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)
{
- return true;
+ 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;
}
- else
- {
- if (mcadder == int.Parse(aGVStation.MotherCarDeviceCode)) //澶栦晶姣嶈溅闇�瑕佺Щ鍔�
- {
- //涓嬪彂姣嶈溅寰�閲岄潰璧扮殑浠诲姟
- AGVStation aGVSta = _agvStationService.GetMothercarCode(aGVStation.MotherCarDeviceCode); //鍫嗗灈鏈哄叆搴撳彛
-
- RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(_Task, aGVSta.Station_code.ToString()); //涓嬪彂姣嶈溅绉诲姩鑷冲叆搴撶珯鍙颁綅
- bool sendFlag = SendCommand2(standardCommands, aGVSta.ChildPosiDeviceCode);
- if (sendFlag)
- {
- //璁板綍涓嬪彂杩囨瘝杞︾Щ鍔ㄤ换鍔�
- _taskService.UpdateTaskStatusToNext(_Task);
- }
- }
-
- if (ncadder == int.Parse(aGVStation.MotherCardeputy)) //涓嬪彂姣嶈溅
- {
- //涓嬪彂姣嶈溅寰�閲岄潰璧扮殑浠诲姟
- AGVStation aGVSta = _agvStationService.GetMothercarCode(aGVStation.MotherCardeputy); //鍫嗗灈鏈哄叆搴撳彛
-
- RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(_Task, aGVSta.Station_code.ToString()); //涓嬪彂姣嶈溅绉诲姩鑷冲叆搴撶珯鍙颁綅
- bool sendFlag = SendCommand2(standardCommands, aGVSta.ChildPosiDeviceCode);
- if (sendFlag)
- {
- //璁板綍涓嬪彂杩囨瘝杞︾Щ鍔ㄤ换鍔�
- _taskService.UpdateTaskStatusToNext(_Task);
- }
- }
- }
- return false;
}
-
+ private Dt_Task? HandleMedialCase(Dt_Task task, AGVStation currentStation, AGVStation zicheStation)
+ {
+ int motherCarAddress = GetMothercarlocation(task.TaskNum, currentStation.MotherCarDeviceCode);
+ if (motherCarAddress == 0) return null;
- public bool QueryCurrentAdder(Dt_Task task)
+ // 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
{
//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.CurrentAddress, "HCJ_GoodsStatus");
+ DeviceProDTO? deviceProDTO = GetDeviceProDTO(Commonstacker, task.NextAddress, "HCJ_GoodsStatus");
int HCJGStatus = GetLine(Commonstacker, deviceProDTO.DeviceProAddress);
if (HCJGStatus == 0) //涓烘棤璐�
{
- return true;
+ return task;
}
}
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}");
+ _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
+
+
+
+
+ //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)
+ {
+ int mcadder = GetMothercarlocation(_Task.TaskNum, aGVStation.Motherinlaw); //鑾峰彇鍒版瘝杞﹀渚т綅缃�
+ if (mcadder != 0)
+ {
+ if (mcadder == int.Parse(_Task.CurrentAddress))
+ {
+ return true;
+ }
+ RGVMovetask(_Task.CurrentAddress, aGVStation.ChildPosiDeviceCode, _Task.TaskId);
+ }
return false;
}
+
+ /// <summary>
+ /// 瀛愭瘝杞︾Щ鍔ㄤ换鍔�
+ /// </summary>
+ /// <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)
+ {
+ 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)
@@ -417,12 +406,12 @@
/// <param name="task"></param>
/// <param name="MotherCarDeviceCode">杩囬亾鍦板潃</param>
/// <returns></returns>
- public int GetMothercarlocation(Dt_Task task,string MotherCarDeviceCode)
+ 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);
+ 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");
@@ -432,7 +421,7 @@
catch (Exception ex)
{
//璁板綍寮傚父鎯呭喌
- _taskService.UpdateTaskExceptionMessage(task.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}");
+ _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;
}
}
@@ -474,10 +463,19 @@
public RgvCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
{
RgvCraneTaskCommand stackerCraneTaskCommand = new RgvCraneTaskCommand();
- stackerCraneTaskCommand.RGV_RGVTasklocation = short.Parse(task.CurrentAddress);
- stackerCraneTaskCommand.RGV_RGVtasktype = 2;
- stackerCraneTaskCommand.RGV_Rgvtaskid = 1; //rgv浠诲姟鍙�
- stackerCraneTaskCommand.RGV_Lanjiantaskid = 0; //鍏板墤浠诲姟id
+ short locaticurr = task.RGVTaskType 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),
+ _ => (short)0
+ };
+ stackerCraneTaskCommand.RGV_RGVTasklocation = locaticurr;
+ stackerCraneTaskCommand.RGV_RGVtasktype = (short)task.RGVTaskType;
+ stackerCraneTaskCommand.RGV_Rgvtaskid = (short)task.TaskNum;
+ stackerCraneTaskCommand.RGV_Lanjiantaskid = (short)task.TaskNum;
return stackerCraneTaskCommand;
}
@@ -488,10 +486,10 @@
/// <param name="task">浠诲姟瀹炰綋</param>
/// <returns></returns>
/// <exception cref="Exception"></exception>
- public RgvCraneTaskCommand? ConvertMotherCarTaskCommand([NotNull] Dt_Task task,string CurrentAddress)
+ public RgvCraneTaskCommand? ConvertMotherCarTaskCommand(string RGVAddress)
{
RgvCraneTaskCommand stackerCraneTaskCommand = new RgvCraneTaskCommand();
- stackerCraneTaskCommand.RGV_RGVTasklocation = short.Parse(CurrentAddress);
+ stackerCraneTaskCommand.RGV_RGVTasklocation = short.Parse(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
@@ -516,7 +514,7 @@
/// <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
@@ -538,7 +536,7 @@
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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