using HslCommunication;
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using Quartz;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using WIDESEA_Common;
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using WIDESEA_Common.TaskEnum;
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using WIDESEA_Core.EFDbContext;
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using WIDESEA_Core.Utilities;
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using WIDESEA_Entity.CustomModels.RGVModel;
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using WIDESEA_Entity.DomainModels;
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using WIDESEA_Services;
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using WIDESEA_Services.IRepositories;
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using WIDESEA_Services.Repositories;
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using WIDESEA_Services.Services;
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using WIDESEA_Services.Services.APIInvoke.RGV;
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using WIDESEA_WCS.Jobs;
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using WIDESEA_Common.Tools;
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using WIDESEA_WCS.WCSClient;
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using static WIDESEA_Entity.CustomModels.RGVModel.RgvSendTaskModel;
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using static WIDESEA_Entity.CustomModels.RGVModel.RgvDeviceStatusModel;
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using WIDESEA_Core.Services;
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using WIDESEA_Core.Enums;
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namespace WIDESEA_WCS
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{
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[DisallowConcurrentExecution]
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public partial class RgvDispatchJob : JobBase, IJob
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{
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/// <summary>
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/// RGV(有轨小车)调度
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/// </summary>
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/// <param name="context"></param>
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/// <returns></returns>
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public Task Execute(IJobExecutionContext context)
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{
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return Task.Run(() =>
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{
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var executeLog = ExecuteJob(context, () => Run(context));
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});
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}
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public static bool TempHK = false; // 是否空托盘回库优先
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public static int HKNumber = 0; // 空托盘回库的数量 如果已经回了四个了 那就不能限制出库的了
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string[] endStationNo = new string[] { "70101", "70103", "70104", "70106" };
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public string Run(IJobExecutionContext context)
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{
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using (VOLContext dbCcontext = new VOLContext())
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{
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WebResponseContent content = new WebResponseContent();
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IDt_TaskRGVinfoRepository taskRGVinfoRepository = new Dt_TaskRGVinfoRepository(dbCcontext);
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IDt_TaskWCSinfoRepository taskWCSinfoRepository = new Dt_TaskWCSinfoRepository(dbCcontext);
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//查看PLC连接的情况
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PLCClient client = WCSService.Clients.Find(r => r.PLCName == "LineDevice");
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if (!client.IsConnected)
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{
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// Console.WriteLine("RGV无法调度，线体PLC与WCS系统断开了连接");
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return "RGV无法调度，线体PLC与WCS系统断开了连接";
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}
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//发送任务之前，看是否有小车可用
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content = RGVAPIInvokeGetRgvInfo.GetRgvInfo();
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if (!content.Status)
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return $"获取小车状态出错，原因：{content.Message}";
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RgvDeviceStatusModel rgvData = (RgvDeviceStatusModel)content.Data;
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int carCount = 0;
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List<int> currentLayer = new List<int>();
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foreach (var item in rgvData.data)
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{
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if (item.rgvId == "1")
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{
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client.WriteValue(CLineInfoDBName.RGV01.ToString(), item.status);
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}
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if (item.rgvId == "2")
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{
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client.WriteValue(CLineInfoDBName.RGV02.ToString(), item.status);
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}
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if (item.rgvId == "3")
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{
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client.WriteValue(CLineInfoDBName.RGV03.ToString(), item.status);
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}
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//0离线 1正常 2故障
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if (item.status != 1)
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carCount++;
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else
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currentLayer.Add(item.layer);
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}
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if (carCount == 3)
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{
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Console.WriteLine($"当前无小车可用，无法下发任务");
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return $"当前无小车可用，无法下发任务";
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}
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//找等待下发的任务
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List<Dt_TaskRGVinfo> rgvTaskList = taskRGVinfoRepository.Find(x => x.rgvtask_taskStatus == RGVTaskState.RgvTaskState_Wait_Send.ToString()).OrderBy(r => r.rgvtask_msgTime).ToList();
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if (null != rgvTaskList && rgvTaskList.Count > 0)
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{
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//暂时注释
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int modelValue = int.Parse(client.ReadValue(CLineInfoDBName.R_System_Inline_Run_Model.ToString(), "System").ToString());
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//1=手动 2=单机 3=联机
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if (modelValue != 3)
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rgvTaskList = rgvTaskList.Where(r => r.rgvtask_areaCode != "InboundArea").ToList();
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modelValue = int.Parse(client.ReadValue(CLineInfoDBName.R_System_Inline_Run_Model.ToString(), "OutSystem").ToString());
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if (modelValue != 3)
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rgvTaskList = rgvTaskList.Where(r => r.rgvtask_areaCode != "OutboundArea").ToList();
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if (null != rgvTaskList)
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{
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List<Dt_TaskRGVinfo> listTask = new List<Dt_TaskRGVinfo>();
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//优先出库区
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List<Dt_TaskRGVinfo> outboundArea = rgvTaskList.FindAll(r => r.rgvtask_areaCode != "InboundArea");
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if (outboundArea.Count > 0)
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listTask.AddRange(outboundArea);
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List<Dt_TaskRGVinfo> inboundArea = rgvTaskList.FindAll(r => r.rgvtask_areaCode != "OutboundArea");
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if (inboundArea.Count > 0)
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{
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int layer = 0;
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List<Dt_TaskRGVinfo> layerTask = new List<Dt_TaskRGVinfo>();
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List<Dt_TaskRGVinfo> ortherTask = new List<Dt_TaskRGVinfo>();
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foreach (var item in inboundArea)
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{
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if (item.rgvtask_taskType.Equals(RGVTaskType.RgvTaskType_Inbound.ToString()))
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layer = int.Parse(item.rgvtask_startNode.Split('-')[0]);
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else if (item.rgvtask_taskType.Equals(RGVTaskType.RgvTaskType_Outbound.ToString()))
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layer = int.Parse(item.rgvtask_endNode.Split('-')[0]);
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if (currentLayer.Contains(layer))
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layerTask.Add(item);
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else
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ortherTask.Add(item);
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}
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if (layerTask.Count > 0)
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listTask.AddRange(layerTask);
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if (ortherTask.Count > 0)
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listTask.AddRange(ortherTask);
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}
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rgvTaskList = listTask;
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}
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foreach (var rgvTask in rgvTaskList)
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{
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//找到RGV任务对应的WCS任务，看是否有会冲突的任务发生，如果有？先不下发：下发
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//比如有一个入库任务正在执行，目的站台为：050301，那么走050301的出库测量任务RGV段的则不能下发，避免冲突
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Dt_TaskWCSinfo wcsInfo = taskWCSinfoRepository.FindFirst(x => x.wcstask_taskNumber == rgvTask.rgvtask_wcsTaskNumber);
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if (null == wcsInfo)
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{
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//手动任务
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if (rgvTask.rgvtask_wcsTaskNumber == 0 && rgvTask.rgvtask_taskId == "0")
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{
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SendRGVTaskAction(rgvTask, wcsInfo, taskRGVinfoRepository, taskWCSinfoRepository);
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}
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continue;
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}
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// 这里加一个判断，比如我有两个任务去70101 我任务A先下发 理应先到70101 但可能任务A受rgv换层的影响 任务B 先到出库区的缓存架 导致B先过去到了70101那边
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// 这里要判断 如果我任务B的RGV任务要下发的时候，判断前面是否有任务，如果有，判断这个任务是否已到达缓存架或者是任务出库输送线执行中才能下发
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if (endStationNo.Contains(wcsInfo.wcstask_endPoint)) // 证明是去压装台的
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{
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Dt_TaskWCSinfo WcsTask = taskWCSinfoRepository.FindFirst(x =>
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x.wcstask_endPoint == wcsInfo.wcstask_endPoint
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&& x.wcstask_taskNumber != wcsInfo.wcstask_taskNumber
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&& x.wcstask_type == TaskType.TaskType_Box_Pallet_Outbound.ToString()
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&& x.wcstask_state != TaskState.TaskState_Assigned.ToString()
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&& x.wcstask_state != TaskState.TaskState_Box_Out_Line_Executing.ToString()
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&& x.wcstask_state != TaskState.TaskState_HoisterExecuting.ToString()
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);
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if (WcsTask != null)
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{
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continue;
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}
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}
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//再做一个保护，查看对应的放货站台上是有有货，即读取站台是否处于负载待机的状态，如果是，说明有东西
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if (wcsInfo.wcstask_type == TaskType.TaskType_Box_Pallet_Measure_Out.ToString() ||
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wcsInfo.wcstask_type == TaskType.TaskType_Empty_Pallet_Outbound.ToString() ||
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wcsInfo.wcstask_type == TaskType.TaskType_Box_Pallet_Outbound.ToString() ||
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wcsInfo.wcstask_type == TaskType.TaskType_CheckOutbound.ToString() ||
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//移库需要跨层
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(wcsInfo.wcstask_type == TaskType.TaskType_MoveOutbound.ToString() && wcsInfo.wcstask_startPoint != wcsInfo.wcstask_endPoint)
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)
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{
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//穿梭车放货站台
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string targetStation = wcsInfo.wcstask_endLocation;
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//判断有到当前放货位置的就不执行
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Dt_TaskWCSinfo executingTask = taskWCSinfoRepository.FindFirst(r =>
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r.wcstask_endPoint == targetStation
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&& r.wcstask_id != wcsInfo.wcstask_id
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&& r.wcstask_state != TaskState.TaskState_Assigned.ToString());
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if (null != executingTask) // 这个判断主要是判断空托盘回库的 如果空托盘回库到60101 那出库到60101的就不能下发
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{
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continue;
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}
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// 这里获取一个空托盘回库的，如果我的空托已经在外面排队很长了 那我就不能下发库的任务了
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// 这里要读取一个信号
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int Return_Quantity = int.Parse(client.ReadValue(CLineInfoDBName.Return_Quantity.ToString()).ToString());
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if (Return_Quantity >= 8) // 只要空托盘在路上的数量 >= 8 那么回空托盘的优先级就要提高了
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{
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TempHK = true;
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}
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if (HKNumber == 4)
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{
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TempHK = false;
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HKNumber = 0;
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}
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if (TempHK)
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{
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if ((wcsInfo.wcstask_type == TaskType.TaskType_Box_Pallet_Outbound.ToString() || wcsInfo.wcstask_type == TaskType.TaskType_Empty_Pallet_Outbound.ToString())
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&& wcsInfo.wcstask_state == TaskState.TaskState_Assigned.ToString()
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&& endStationNo.Contains(wcsInfo.wcstask_endPoint))
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{
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continue;
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}
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}
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// 如果四个站台同时有负载，那我就要把我的TempHK 给设置为True 当设置为True了 我就会进入一个条件
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//if (rgvTask.rgvtask_areaCode.Equals("OutboundArea"))
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//{
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// //当前层有任务就不执行
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// Dt_TaskRGVinfo rgvcurrentTask = taskRGVinfoRepository.FindFirst(r => (r.rgvtask_startNode == rgvTask.rgvtask_startNode ||
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// rgvTask.rgvtask_endNode == r.rgvtask_endNode || rgvTask.rgvtask_startNode == r.rgvtask_endNode ||
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// rgvTask.rgvtask_endNode == r.rgvtask_startNode) && r.rgvtask_taskStatus != RGVTaskState.RgvTaskState_Wait_Send.ToString());
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// if (null != rgvcurrentTask)
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// continue;
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//}
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if (rgvTask.rgvtask_areaCode.Equals("InboundArea") && !rgvTask.rgvtask_taskType.Equals(RGVTaskType.RgvTaskType_Inbound.ToString()))
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{
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//读取负载待机,有货
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bool flag = bool.Parse(client.ReadValue(CLineInfoDBName.R_Line_LoadSleep.ToString(), rgvTask.rgvtask_endNode).ToString());
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bool noflag = bool.Parse(client.ReadValue(CLineInfoDBName.R_Line_NoLoadSleep.ToString(), rgvTask.rgvtask_endNode).ToString());
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if (flag || !noflag)
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continue;
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else
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{
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Dt_TaskRGVinfo currentTask = taskRGVinfoRepository.FindFirst(r => r.rgvtask_endNode == rgvTask.rgvtask_endNode
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&& r.rgvtask_taskStatus != RGVTaskState.RgvTaskState_Wait_Send.ToString());
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if (null != currentTask)
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continue;
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}
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}
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//此处查看当前正在进行的测量任务条数，需要控制数量，线体缓存数量有限，测量需要时间，暂定2个
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if (wcsInfo.wcstask_type == TaskType.TaskType_Box_Pallet_Measure_Out.ToString())
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{
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List<Dt_TaskWCSinfo> measureList = taskWCSinfoRepository.Find(x =>
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x.wcstask_state != TaskState.TaskState_Assigned.ToString() && (x.wcstask_endPoint == "10301" || x.wcstask_startPoint == "10301"));
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if (measureList.Count > 1)//tx 0921 2->1
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{
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//说明测量任务达到上限值，需要等待
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Console.WriteLine("当前执行的测量任务已达到上限，其它测量任务需等待");
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continue;
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}
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}
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}
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SendRGVTaskAction(rgvTask, wcsInfo, taskRGVinfoRepository, taskWCSinfoRepository);
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}
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}
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}
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return "";
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}
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}
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}
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