return

Projects/永冠OPP/WCS.Service/Works/RGV/RGVWorks.cs

@@ -106,13 +106,13 @@ namespace WCS.Service.Works.RGV
                     //取小车上的任务
                     DB.Do(db =>
                     {
-                        var taskids = new List<int>() { obj.Data2.TaskID_1, obj.Data2.TaskID_2 };
+                        List<int> taskids = new List<int>() { obj.Data2.TaskID_1, obj.Data2.TaskID_2 };
                         var tasks = db.Default.Set<WCS_TASK>().Where(p => taskids.Contains(p.ID));
                         if (tasks.GroupBy(p => p.TaskGroupKey).Count() > 1)
                             throw new WarnException("任务组ID不一致");
                         if (!tasks.GroupBy(p => p.TaskGroupKey).Any())
                             throw new WarnException("无任务组ID");
-                        var destStation = Device.Find(tasks.FirstOrDefault()!.ADDRNEXT).Create<StationDeviceGroup>();
+                        var destStation = Device.Find(tasks.FirstOrDefault().ADDRNEXT).Create<StationDeviceGroup>();
                         obj.Put(destStation, obj.Data2.TaskID_1, obj.Data2.TaskID_2);
                     });
                     return;
@@ -166,19 +166,6 @@ namespace WCS.Service.Works.RGV
                             });
                             return;
                         }
-
-                        if (obj.RGVList.Count != 6)//有小车进入维修站时启用该逻辑，避免在正常使用时影响效率
-                        {
-                            var station11 = obj.LocationList.Where(v => v.Entity.Is(DF.涂布RGV取货设备组)).Where(v => v.RGVGetTaskedDevice().Any())
-                                .Where(v => v.CurrentRGV() == null).MinBy(obj.Distance);
-
-                            //该站台到当前小车的范围中没有车
-                            if (obj.RGVList.Any(v => station11!.Position <= v.Position && obj.Position > v.Position))
-                            {
-                                obj.Move(station11);
-                                return;
-                            }
-                        }
                         else if (pickStation.Entity.CODE == "G9")
                         {
                             //九站台的小车需要额外检测一下11站台是否需要取货
@@ -197,39 +184,57 @@ namespace WCS.Service.Works.RGV
                         //自己是否阻挡了该小车
                         if (afterRgv.Data2.WorkMode == RGVMode.自动 && afterRgv.Data2.SystemStatus != RGVRunStatus.空闲 && obj.StopedByMe(afterRgv))
                         {
-                            switch (pickStation.Entity.CODE)
+                            if (pickStation.Entity.CODE == "G2")
                             {
-                                case "G2":
-                                    {
-                                        if (obj.RGVList.Count != 6) break;
-                                        //此站台因需要进行排队，因此是否需要赶车取决于是否拦住了两个小车的任务
-                                        var afterRgv1 = afterRgv.After();
-                                        //如果是空闲或者没有拦住他，就不执行赶车
-                                        if (afterRgv1.Data2.WorkMode == RGVMode.自动 && (afterRgv1.Data2.SystemStatus == RGVRunStatus.空闲 || !afterRgv.StopedByMe(afterRgv1))) return;
-                                        break;
-                                    }
-                                case "G3":
-                                    {
-                                        //为了减少空跑，需要被阻拦的小车后面的小车任务类型为移动并且位置值要大于618500小于被阻拦小车的位置值
-                                        var afterRgv1 = afterRgv.After();
-                                        if (afterRgv1.Data2.WorkMode == RGVMode.自动 && afterRgv.Data2.TaskType_1 != RGVTaskType.移动 && !(afterRgv1.Position < afterRgv.Position && afterRgv1.Position > 618500)) return;
-                                        break;
-                                    }
+                                //此站台因需要进行排队，因此是否需要赶车取决于是否拦住了两个小车的任务
+                                var afterRgv1 = afterRgv.After();
+                                //如果是空闲或者没有拦住他，就不执行赶车
+                                if (afterRgv1.Data2.WorkMode == RGVMode.自动 && (afterRgv1.Data2.SystemStatus == RGVRunStatus.空闲 || !afterRgv.StopedByMe(afterRgv1))) return;
+                            }
+                            else if (pickStation.Entity.CODE == "G3")
+                            {
+                                //为了减少空跑，需要被阻拦的小车后面的小车任务类型为移动并且位置值要大于618500小于被阻拦小车的位置值
+                                var afterRgv1 = afterRgv.After();
+                                if (afterRgv1.Data2.WorkMode == RGVMode.自动 && afterRgv.Data2.TaskType_1 != RGVTaskType.移动 && !(afterRgv1.Position < afterRgv.Position && afterRgv1.Position > 618500)) return;
                             }
                             //找到当前所在站台的下一个取货点
                             var beforeStation = Device.Where(v => v.Is(DF.涂布RGV取货设备组) && v.CODE != pickStation.Entity.CODE)
-                                .Select(v => v.Create<StationDeviceGroup>()).MinBy(v => pickStation.Distance(v));
+                                          .Select(v => v.Create<StationDeviceGroup>())
+                                          .OrderBy(v => pickStation.Distance(v))
+                                          .FirstOrDefault();
 
                             //写入移动任务
                             obj.Move(beforeStation);
                             return;
                         }
-
-                        if (pickStation.Entity.CODE == "G11")
+                        else if (pickStation.Entity.CODE == "G11")
                         {
                             obj.Move(Device.Find("G2").Create<StationDeviceGroup>());
                             return;
                         }
+                        else
+                        {
+                            //找到自己前面的 有货 没有小车 没有正在过来的小车 距离自己最近的 的站台
+                            var station = Device.Where(v => v.Is(DF.涂布RGV取货设备组))
+                                                    .Select(v => v.Create<StationDeviceGroup>())
+                                                    .Where(v => v.Position > obj.Position) //前面的
+                                                    .Where(v => v.CurrentRGV() == null)
+                                                    .Where(v => !v.RgvList.Any(c => c.Data2.SystemStatus != RGVRunStatus.空闲 && c.Data2.DestPosition_1 == v.Entity.CODE.GetShortCode()))
+                                                    .Where(v =>
+                                                    {
+                                                        // 筛选出有任务号和起始及目标地址的设备
+                                                        var b = pickStation.RGVGetTaskedDevice();
+                                                        //是否需要取货
+                                                        if (b != null && b.Count > 0) return true;
+                                                        else return false;
+                                                    })
+                                                    .OrderBy(v => obj.Distance(v)).FirstOrDefault();//取当前小车最近
+                            if (obj.Data2.TaskType_1 == RGVTaskType.移动 && obj.Distance(station) > 100000)         
+                            {
+                                obj.Move(station);
+                                return;
+                            }
+                        }
                     }
 
                     //是否在一个放货站台
@@ -273,7 +278,7 @@ namespace WCS.Service.Works.RGV
                     //取小车上的任务
                     DB.Do(db =>
                     {
-                        var taskids = new List<int>() { obj.Data2.TaskID_1, obj.Data2.TaskID_2 };
+                        List<int> taskids = new List<int>() { obj.Data2.TaskID_1, obj.Data2.TaskID_2 };
                         var tasks = db.Default.Set<WCS_TASK>().Where(p => taskids.Contains(p.ID));
                         if (tasks.GroupBy(p => p.TaskGroupKey).Count() > 1)
                             throw new WarnException("任务组ID不一致");