using HslCommunication;
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using Newtonsoft.Json;
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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;
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using WIDESEA_Common;
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using WIDESEA_Common.CutomerModel;
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using WIDESEA_Common.TaskEnum;
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using WIDESEA_Common.Tools;
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using WIDESEA_Core.Utilities;
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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_WCS.WCSClient;
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namespace WIDESEA_WCS.Jobs.ConveyorLine.OutboundArea
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{
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public partial class OutboundAreaDispatch
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{
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/// <summary>
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/// 出库的层
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/// </summary>
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private static List<string> OutboundStationLayerNo = new List<string>() { "90100", "90200", "90300", "90400", "90500", "90600", "90700", "90800" };
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//入库托盘申请站台
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private static string ReInboundRequestStationNo = "90101";
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//出库站台交互
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//private static string OutboundStationNo = "90201";
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//提升机编号
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private static string hoisterResultNo = "90100";
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/// <summary>
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/// 出库区调度
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/// </summary>
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/// <param name="taskWCSinfoRepository"></param>
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/// <param name="client"></param>
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public static string currentModel = "Inbound";
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static int flag = 0;
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public static void OutboundAreaDispathAction(IDt_TaskWCSinfoRepository taskWCSinfoRepository, IDt_TaskRGVinfoRepository taskRGVinfoRepository, PLCClient client)
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{
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try
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{
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//出库完成
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OutboundCompleteAction(taskWCSinfoRepository, client);
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//读取提升机是否正常
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//滚筒线状态
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string hoisterResult = client.ReadValue(CLineInfoDBName.R_Line_DeviceNormal.ToString(), hoisterResultNo).ToString();
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//提升机状态
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string result = client.Read("DB506.36.0", "bool").ToString();
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if (!bool.Parse(hoisterResult) || !bool.Parse(result))
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return;
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//入库申请
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InboundRequestAction(taskWCSinfoRepository, taskRGVinfoRepository, client);
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//增加补丁.增加车存储中有问题.再写
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int logicValue = int.Parse(client.ReadValue(CLineInfoDBName.R_Line_Logic.ToString(), "OutboundArea").ToString());
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if (logicValue == 4)
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{
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string rfidResult = client.ReadValue(CLineInfoDBName.W_Line_Barcode.ToString(), "OutboundArea").ToString();
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if (!string.IsNullOrEmpty(rfidResult) && !"0".Equals(rfidResult))
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{
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Dt_TaskWCSinfo wcsInfo = taskWCSinfoRepository.FindFirst(r => r.wcstask_barcode == rfidResult
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&& (r.wcstask_state == TaskState.TaskState_Empty_Out_Line_Executing.ToString()
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|| r.wcstask_state == TaskState.TaskState_Box_Out_Line_Executing.ToString()));
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if (null != wcsInfo)
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{
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//提升机层
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string hoisterLayer = client.ReadValue(CLineInfoDBName.R_Line_Layer.ToString(), hoisterResultNo).ToString();
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string[] locationArray = wcsInfo.wcstask_startLocation.Split('-');
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if (int.Parse(locationArray[0]).ToString() == hoisterLayer)
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{
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Dt_TaskRGVinfo rgvTask = taskRGVinfoRepository.FindFirst(r => r.rgvtask_barCode == wcsInfo.wcstask_barcode);
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if (null == rgvTask)
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{
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flag++;//避免刚完成重复写
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if (flag == 10)
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{
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WriteRGVState(client, false);
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WriteRGVState(client, true);
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flag = 0;
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return;
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}
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}
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}
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}
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}
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}
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else
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flag = 0;
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List<Dt_TaskWCSinfo> executingTask = taskWCSinfoRepository.Find(r => (r.wcstask_state == TaskState.TaskState_RGV_Received.ToString()
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|| r.wcstask_state == TaskState.TaskState_HoisterExecuting.ToString())
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&& (OutboundStationLayerNo.Contains(r.wcstask_startPoint) || OutboundStationLayerNo.Contains(r.wcstask_endPoint)));
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if (executingTask.Count < 3)
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{
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//直接将任务添加到AGV任务
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Dt_TaskWCSinfo outboundTask = GetOutboundTask(taskWCSinfoRepository, client);
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if (null != outboundTask)
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{
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Dt_TaskRGVinfo rgvInfo = taskRGVinfoRepository.FindFirst(r => r.rgvtask_barCode == outboundTask.wcstask_barcode
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&& r.rgvtask_wcsTaskNumber == outboundTask.wcstask_taskNumber);
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if (null == rgvInfo)
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{
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string rgvTaskType = RGVTaskType.RgvTaskType_Inbound.ToString();
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//空托盘回库
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if (outboundTask.wcstask_type.Equals(TaskType.TaskType_Empty_Pallet_Inbound.ToString()))
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rgvTaskType = RGVTaskType.RgvTaskType_Inbound.ToString();
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//轴承出库
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else if (outboundTask.wcstask_type.Equals(TaskType.TaskType_Box_Pallet_Outbound.ToString())
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|| outboundTask.wcstask_type.Equals(TaskType.TaskType_Empty_Pallet_Outbound.ToString()))
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rgvTaskType = RGVTaskType.RgvTaskType_Outbound.ToString();
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rgvInfo = GetRGVTask(taskRGVinfoRepository, outboundTask, rgvTaskType);
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taskRGVinfoRepository.Add(rgvInfo, true);
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outboundTask.wcstask_state = TaskState.TaskState_RGV_Received.ToString();
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taskWCSinfoRepository.Update(outboundTask, x => x.wcstask_state, true);
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}
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}
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}
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//提升机运行的任务
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Dt_TaskWCSinfo hisTask = taskWCSinfoRepository.FindFirst(r => r.wcstask_state == TaskState.TaskState_HoisterExecuting.ToString()
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&& (OutboundStationLayerNo.Contains(r.wcstask_startPoint) || OutboundStationLayerNo.Contains(r.wcstask_endPoint)));
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if (null != hisTask)
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{
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//提升机层
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string hoisterLayer = client.ReadValue(CLineInfoDBName.R_Line_Layer.ToString(), hoisterResultNo).ToString();
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string[] locationArray = null;
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//空托盘回库
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if (hisTask.wcstask_type.Equals(TaskType.TaskType_Empty_Pallet_Inbound.ToString()))
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{
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locationArray = hisTask.wcstask_endLocation.Split('-');
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//RGV上报取货完成直接执行下一个
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Dt_TaskRGVinfo rgvTask = taskRGVinfoRepository.FindFirst(r => r.rgvtask_wcsTaskNumber == hisTask.wcstask_taskNumber);
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if (null != rgvTask && "2" == rgvTask.rgvtask_backup_2)
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{
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if (rgvTask.rgvtask_taskType.Contains(RGVTaskType.RgvTaskType_Inbound.ToString()))
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{
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Dt_TaskWCSinfo inboundTask = taskWCSinfoRepository.FindFirst(r => OutboundStationLayerNo.Contains(r.wcstask_endPoint) && r.wcstask_type ==
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TaskType.TaskType_Empty_Pallet_Inbound.ToString() && r.wcstask_state == TaskState.TaskState_RGV_Received.ToString());
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if (null != inboundTask)
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ReInboundRequestStationAction(taskWCSinfoRepository, client, inboundTask);
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else
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OutboundRequestAction(taskWCSinfoRepository, client);
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return;
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}
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}
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string hoisterTaskNumber = client.ReadValue(CLineInfoDBName.R_Line_TaskNumber.ToString(), hoisterResultNo).ToString();
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string hoisterBarcode = client.ReadValue(CLineInfoDBName.R_Line_Barcode.ToString(), hoisterResultNo).ToString();
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//避免提升机还没取就停止了
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if (string.IsNullOrEmpty(hoisterTaskNumber) || string.IsNullOrEmpty(hoisterBarcode))
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return;
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}
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//轴承出库
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else if (hisTask.wcstask_type.Equals(TaskType.TaskType_Box_Pallet_Outbound.ToString())
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|| hisTask.wcstask_type.Equals(TaskType.TaskType_Empty_Pallet_Outbound.ToString()))
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locationArray = hisTask.wcstask_startLocation.Split('-');
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//说明提升机到达了目标层
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if (int.Parse(locationArray[0]).ToString() == hoisterLayer)
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WriteRGVState(client, false);// 写入RGV开始执行
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}
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else
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{
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Dt_TaskWCSinfo inboundTask = taskWCSinfoRepository.FindFirst(r => OutboundStationLayerNo.Contains(r.wcstask_endPoint) && r.wcstask_type ==
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TaskType.TaskType_Empty_Pallet_Inbound.ToString() && r.wcstask_state == TaskState.TaskState_RGV_Received.ToString());
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if (null != inboundTask)
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ReInboundRequestStationAction(taskWCSinfoRepository, client, inboundTask);
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else
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OutboundRequestAction(taskWCSinfoRepository, client);
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}
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}
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catch (Exception ex)
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{
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WriteLog.Info("OutboundArea").Write($"{ DateTime.Now }出库区域调度失败:{ex.Message}", "OutboundArea");
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}
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}
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public static bool WriteRGVState(PLCClient client, bool value)
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{
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client.WriteValue(CLineInfoDBName.W_System_RGVState.ToString(), value);
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string rel = string.Empty;
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for (int i = 0; i < 50; i++)
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{
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rel = client.ReadValue(CLineInfoDBName.W_System_RGVState.ToString()).ToString();
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if (value == bool.Parse(rel))
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break;
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else
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{
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client.WriteValue(CLineInfoDBName.W_System_RGVState.ToString(), value);
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Thread.Sleep(88);
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}
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}
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rel = client.ReadValue(CLineInfoDBName.W_System_RGVState.ToString()).ToString();
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if (value != bool.Parse(rel))
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Console.Out.WriteLine($"{DateTime.Now}写入车存储中{value}失败.");
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return bool.Parse(rel);
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}
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/// <summary>
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/// 查询是否有可出的出库任务
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/// </summary>
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/// <param name="taskWCSinfoRepository"></param>
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/// <param name="client"></param>
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/// <returns></returns>
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public static Dt_TaskWCSinfo GetOutboundTask(IDt_TaskWCSinfoRepository taskWCSinfoRepository, PLCClient client)
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{
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Dt_TaskWCSinfo wcsInfo = null;
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List<Dt_TaskWCSinfo> listTask = taskWCSinfoRepository.Find(r => r.wcstask_state == TaskState.TaskState_Assigned.ToString() &&
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(r.wcstask_type == TaskType.TaskType_Box_Pallet_Outbound.ToString() || r.wcstask_type == TaskType.TaskType_Empty_Pallet_Outbound.ToString())
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&& OutboundStationLayerNo.Contains(r.wcstask_startPoint)).OrderBy(r => r.wcstask_createTime).ToList();//
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foreach (var item in listTask.GroupBy(r => r.wcstask_endPoint))
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{
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Dt_TaskWCSinfo wcsTask = item.OrderBy(r => r.wcstask_createTime).FirstOrDefault();
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if (null != wcsTask)
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{
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//同一层有执行中的任务不添加
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Dt_TaskWCSinfo executingTask = taskWCSinfoRepository.FindFirst(r => (r.wcstask_startPoint == wcsTask.wcstask_startPoint || r.wcstask_endPoint == wcsTask.wcstask_endPoint)
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&& (r.wcstask_state == TaskState.TaskState_RGV_Received.ToString() || r.wcstask_state == TaskState.TaskState_HoisterExecuting.ToString()));
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if (null != executingTask)
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continue;
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List<Dt_TaskWCSinfo> listTarget = taskWCSinfoRepository.Find(r => r.wcstask_endPoint == wcsTask.wcstask_endPoint &&
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r.wcstask_state != TaskState.TaskState_Assigned.ToString());
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string barcode = client.ReadValue(CLineInfoDBName.R_Line_Barcode.ToString(), wcsTask.wcstask_endPoint).ToString();
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if (string.IsNullOrEmpty(barcode) || "0".Equals(barcode))
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{
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if (null != listTarget && listTarget.Count > 1)
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continue;
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else
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{
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wcsInfo = wcsTask;
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break;
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}
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}
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else
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{
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if (null != listTarget && listTarget.Count > 0)
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continue;
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else
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{
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wcsInfo = wcsTask;
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break;
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}
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}
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}
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}
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//foreach (var item in listTask)
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//{
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// //同一层有执行中的任务不添加
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// Dt_TaskWCSinfo executingTask = taskWCSinfoRepository.FindFirst(r => (r.wcstask_startPoint == item.wcstask_startPoint || r.wcstask_endPoint == item.wcstask_endPoint)
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// && (r.wcstask_state == TaskState.TaskState_RGV_Received.ToString() || r.wcstask_state == TaskState.TaskState_HoisterExecuting.ToString()));
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// if (null != executingTask)
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// continue;
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// //同一目标位置的不能同时出
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// // Dt_TaskWCSinfo endTask = taskWCSinfoRepository.FindFirst(r => r.wcstask_endPoint == item.wcstask_endPoint &&
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// //(r.wcstask_state == TaskState.TaskState_RGV_Received.ToString() || r.wcstask_state == TaskState.TaskState_HoisterExecuting.ToString()));
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// // if (null != endTask)
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// // continue;
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// List<Dt_TaskWCSinfo> listTarget = taskWCSinfoRepository.Find(r => r.wcstask_endPoint == item.wcstask_endPoint &&
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// r.wcstask_state != TaskState.TaskState_Assigned.ToString());
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// string barcode = client.ReadValue(CLineInfoDBName.R_Line_Barcode.ToString(), item.wcstask_endPoint).ToString();
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// if (string.IsNullOrEmpty(barcode) || "0".Equals(barcode))
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// {
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// if (null != listTarget && listTarget.Count > 1)
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// continue;
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// else
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// {
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// wcsInfo = item;
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// break;
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// }
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// }
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// else
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// {
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// if (null != listTarget && listTarget.Count > 0)
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// continue;
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// else
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// {
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// wcsInfo = item;
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// break;
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// }
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// }
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//}
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return wcsInfo;
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}
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public static Dt_TaskRGVinfo GetRGVTask(IDt_TaskRGVinfoRepository taskRGVinfoRepository, Dt_TaskWCSinfo wcsTask, string rgvTaskType)
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{
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Dt_TaskRGVinfo rgvInfo = new Dt_TaskRGVinfo();
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rgvInfo.rgvtask_taskId = GetTaskNumber.GetRgvTaskNumber(taskRGVinfoRepository).ToString();
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rgvInfo.rgvtask_taskType = rgvTaskType;
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rgvInfo.rgvtask_taskStatus = RGVTaskState.RgvTaskState_Wait_Send.ToString();
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rgvInfo.rgvtask_priorityCode = wcsTask.wcstask_grade.ToString();
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rgvInfo.rgvtask_startNode = wcsTask.wcstask_startLocation;
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rgvInfo.rgvtask_endNode = wcsTask.wcstask_endLocation;
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rgvInfo.rgvtask_wcsTaskNumber = wcsTask.wcstask_taskNumber;
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rgvInfo.rgvtask_barCode = wcsTask.wcstask_barcode;
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rgvInfo.rgvtask_creator = wcsTask.wcstask_creator;
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rgvInfo.rgvtask_msgTime = DateTime.Now;
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rgvInfo.rgvtask_areaCode = "OutboundArea";
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return rgvInfo;
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}
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public static void InboundRequestAction(IDt_TaskWCSinfoRepository taskWCSinfoRepository, IDt_TaskRGVinfoRepository taskRGVinfoRepository, PLCClient client)
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{
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try
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{
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string barcode = client.ReadValue(CLineInfoDBName.R_Line_Barcode.ToString(), ReInboundRequestStationNo).ToString();
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bool load = bool.Parse(client.ReadValue(CLineInfoDBName.R_Line_LoadSleep.ToString(), ReInboundRequestStationNo).ToString());
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if (!string.IsNullOrEmpty(barcode) && !"0".Equals(barcode) && load)
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{
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Dt_TaskWCSinfo wcsInfo = taskWCSinfoRepository.FindFirst(r => r.wcstask_barcode == barcode && r.wcstask_type == TaskType.TaskType_Empty_Pallet_Inbound.ToString());
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if (null == wcsInfo)
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{
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//有出库任务,不能下发
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Dt_TaskRGVinfo executingRgvTask = taskRGVinfoRepository.FindFirst(r => r.rgvtask_areaCode == "OutboundArea"
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&& OutboundStationLayerNo.Contains(r.rgvtask_endNode));
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if (null != executingRgvTask)
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return;
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//当前存在未完成的任务 入库
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wcsInfo = taskWCSinfoRepository.FindFirst(r => OutboundStationLayerNo.Contains(r.wcstask_endPoint));
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if (null != wcsInfo)
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{
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Dt_TaskRGVinfo rgvTask = taskRGVinfoRepository.FindFirst(r => r.rgvtask_wcsTaskNumber == wcsInfo.wcstask_taskNumber);
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if (null != rgvTask)
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{
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//取货完成
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if ("2" != rgvTask.rgvtask_backup_2)
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return;
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}
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else
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return;
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}
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//申请入库任务
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WebResponseContent content = WMSApi.PostInboundRequstToWMS(barcode);
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if (content.Status)
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{
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WmsTaskInfo wmsTask = JsonConvert.DeserializeObject<WmsTaskInfo>(content.Data.ToString());
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wcsInfo = CommonFunction.AddWCSEmptyInboundTask(wmsTask, taskWCSinfoRepository);
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string rgvTaskType = string.Empty;
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if (wcsInfo.wcstask_type.Equals(TaskType.TaskType_Empty_Pallet_Inbound.ToString()))
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rgvTaskType = RGVTaskType.RgvTaskType_Inbound.ToString();
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//轴承出库
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else if (wcsInfo.wcstask_type.Equals(TaskType.TaskType_Box_Pallet_Outbound.ToString())
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|| wcsInfo.wcstask_type.Equals(TaskType.TaskType_Empty_Pallet_Outbound.ToString()))
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rgvTaskType = RGVTaskType.RgvTaskType_Outbound.ToString();
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taskWCSinfoRepository.DbContextBeginTransaction(() =>
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{
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Dt_TaskRGVinfo rgvInfo = GetRGVTask(taskRGVinfoRepository, wcsInfo, rgvTaskType);
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taskRGVinfoRepository.Add(rgvInfo, true);
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wcsInfo.wcstask_state = TaskState.TaskState_RGV_Received.ToString();
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taskWCSinfoRepository.Add(wcsInfo, true);
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return content.OK();
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});
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}
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else
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throw new Exception("入库申请失败:" + content.Message);
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}
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}
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}
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catch (Exception ex)
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{
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Console.Out.WriteLine(DateTime.Now + ex.Message);
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}
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}
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}
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}
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