Admin.NET/WCS.Application/PLC/PLCTaskAction.cs

@@ -385,7 +385,7 @@
                    
                    if (waitTask.TaskType == TaskTypeEnum.In )
                    {
                        //入库任务起始巷道就是起始工位
                        //入库任务起始巷道就是四向车取货工位
                        if (string.IsNullOrWhiteSpace(waitTask.StartRoadway) || string.IsNullOrWhiteSpace(waitTask.EndLocate))
                        {
                            continue;
@@ -397,6 +397,7 @@
                    }
                    else if (waitTask.TaskType == TaskTypeEnum.Out)
                    {
                        //出库任务目标巷道就是四向车放货工位
                        taskceng = int.Parse(waitTask.StartLocate.Substring(4, 2));
                        starLocate = waitTask.StartLocate;
                        endLocate = waitTask.EndRoadway;
@@ -497,7 +498,13 @@
                                }
                                var modCarPall = plcPosition.FirstOrDefault(s => s.Text == "托盘检测");
                                var (resultPall, valuePall) = modbusUtil.GetDBValue(modCarPall.PosType, modCarPall.PlcPos);
                                if (resultPall.IsSucceed && valuePall  == 1)  //1有托盘 2无托盘
                                //var modCarju = plcPosition.FirstOrDefault(s => s.Text == "举升位置");
                                //var (resultju, valueju) = modbusUtil.GetDBValue(modCarju.PosType, modCarju.PlcPos);
                                //if (resultPall.IsSucceed && valuePall == 1  && resultPall.IsSucceed && valuePall != 1)  //1顶货 2子通道  3主通道
                                //{
                                //    break; //暂缓分配 
                                //}
                                if (resultPall.IsSucceed && valuePall == 1)  //1有托盘 2无托盘
                                {
                                    break; //暂缓分配 
                                }

 Admin.NET/WCS.Application/Util/FourWayCarUtil.cs

@@ -167,6 +167,15 @@

    }

    /// <summary>
    /// 
    /// </summary>
    /// <param name="data">当前任务总路径</param>
    /// <param name="kXCarList">所有小车</param>
    /// <param name="assignCar">当前分配小车</param>
    /// <param name="waitTask">当前总任务</param>
    /// <param name="moveType">0去取货任务  1去放货</param>
    /// <returns></returns>
    public static bool AddCarTask(List<CarModel> data, List<CarInfo> kXCarList, CarInfo assignCar, WcsTask waitTask,int moveType)
    {
        #region 获取适合执行当前任务的小车 生成路径（需考虑小车阻阻挡）
@@ -329,7 +338,7 @@
            var lastPath = lastPathList[lastPathList.Length - 2];
            var lastPath2 = lastPath.Substring(0,6);

            //如果此此分配路径包含醉舞中最终节点路径，添加移走小车
            //如果此此分配路径包含任务中最终节点路径，添加移走小车
            if (path.Contains(lastPath2))
            {
                

 Admin.NET/WCS.Application/Util/HttpService.cs

@@ -417,7 +417,7 @@

        var result = await url.SetHeaders(dic).SetBody(mod, "application/json", Encoding.UTF8).PostAsAsync<ResponseAgvDto>();
        Log.Information("调用AGV小车接口继续执行任务" + result.ToJson());
        return null;
        return result;
    }

    /// <summary>