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.Reflection.Metadata;
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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.LogEnum;
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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>() { "60101", "60102", "60103", "60104", "60105", "60106", "60107" };
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/// <summary>
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/// 入库托盘申请站台
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/// </summary>
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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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// 压装台缓存位字典
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public static Dictionary<string, string> PlatformDict = new Dictionary<string, string>
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{
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["70101"] = "80101",
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["70103"] = "80103",
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["70104"] = "80104",
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["70106"] = "80106"
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};
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// 出库区域校准缓存架校准
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public static void OutboundAreaJZ(IDt_TaskWCSinfoRepository taskWCSinfoRepository, IDt_TaskRGVinfoRepository taskRGVinfoRepository, PLCClient client)
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{
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// 出库区的出库任务 到缓存架子了 就要把任务号和托盘号写入到对应层的缓存架
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List<Dt_TaskWCSinfo> executingTasks = taskWCSinfoRepository.Find(r => (
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r.wcstask_state == TaskState.TaskState_Box_Out_RGV_Finished.ToString() ||
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r.wcstask_state == TaskState.TaskState_Empty_Out_RGV_Finished.ToString())
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&& endStationNo.Contains(r.wcstask_endPoint)).ToList();
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foreach (var item in executingTasks)
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{
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bool LoadSleep = bool.Parse(client.ReadValue(CLineInfoDBName.R_Line_LoadSleep.ToString(), item.wcstask_startPoint.ToString()).ToString());
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int ReadNumber = int.Parse(client.ReadValue(CLineInfoDBName.R_Line_TaskNumber.ToString(), item.wcstask_startPoint.ToString()).ToString());
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int ReadBarcode = int.Parse(client.ReadValue(CLineInfoDBName.R_Line_Barcode.ToString(), item.wcstask_startPoint.ToString()).ToString());
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if (LoadSleep && (ReadNumber == 0 || ReadBarcode == 0))
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{
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//写入托盘条码
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bool writeTaskNumber = client.WriteValue(CLineInfoDBName.W_Line_TaskNumber.ToString(), item.wcstask_startPoint, item.wcstask_taskNumber);
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bool writeBarcode = client.WriteValue(CLineInfoDBName.W_Line_Barcode.ToString(), item.wcstask_startPoint, item.wcstask_barcode);
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}
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}
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foreach (var item in OutboundStationLayerNo)
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{
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bool LoadSleep = bool.Parse(client.ReadValue(CLineInfoDBName.R_Line_LoadSleep.ToString(), item.ToString()).ToString());
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int ReadNumber = int.Parse(client.ReadValue(CLineInfoDBName.R_Line_TaskNumber.ToString(), item.ToString()).ToString());
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int ReadBarcode = int.Parse(client.ReadValue(CLineInfoDBName.R_Line_Barcode.ToString(), item.ToString()).ToString());
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Dt_TaskWCSinfo dt_TaskWCSinfo = taskWCSinfoRepository.Find(r =>
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r.wcstask_type == TaskType.TaskType_Empty_Pallet_Inbound.ToString()
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&& r.wcstask_state == TaskState.TaskState_Assigned.ToString()
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&& r.wcstask_startPoint == 90101.ToString()
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&& r.wcstask_endPoint == item
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&& r.wcstask_barcode == ReadBarcode.ToString()
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&& r.wcstask_taskNumber == ReadNumber
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).FirstOrDefault();
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if (LoadSleep && dt_TaskWCSinfo != null)
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{
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// 证明货物已经到了缓存架 但任务状态没有改变 还是新建状态 就要改为 TaskState.TaskState_Empty_In_PLC_Finished.ToString()
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dt_TaskWCSinfo.wcstask_state = TaskState.TaskState_Empty_In_PLC_Finished.ToString();
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taskWCSinfoRepository.Update(dt_TaskWCSinfo, true);
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string str = $"出库区域 空托盘回库 托盘都到缓存架子 但任务状态没变 {DateTime.Now}【{dt_TaskWCSinfo.wcstask_state}】，托盘号:{dt_TaskWCSinfo.wcstask_barcode},任务号：{dt_TaskWCSinfo.wcstask_taskNumber}";
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LogRecord.WriteLog(LogEnum.Errer, str.ToString());
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}
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}
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// 这里要写一个 有一些托盘已经出到外面去了 但状态还是提升机运行中 导致后面的发不出去
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Dt_TaskWCSinfo OutTask = taskWCSinfoRepository.Find(r =>
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r.wcstask_state == TaskState.TaskState_HoisterExecuting.ToString()
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&& endStationNo.Contains(r.wcstask_endPoint)
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).FirstOrDefault();
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if (OutTask != null)
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{
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double secondsPassend = (DateTime.Now - OutTask.wcstask_dispatcherTime.Value).TotalSeconds;
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if (secondsPassend > 38) // 如果大于38秒 还没用提升机完成 就要手动
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{
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string state = TaskState.TaskState_Box_Out_Line_Executing.ToString();
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if (OutTask.wcstask_type == TaskType.TaskType_Empty_Pallet_Outbound.ToString())
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{
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state = TaskState.TaskState_Empty_Out_Line_Executing.ToString();
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}
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OutTask.wcstask_state = state;
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OutTask.wcstask_dispatcherTime = DateTime.Now;
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taskWCSinfoRepository.Update(OutTask, true);
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string str = $"出库区 出库 提升机已经内的托盘已经出去 但状态还是提升机执行中... {DateTime.Now}，托盘号:{OutTask.wcstask_barcode},任务号：{OutTask.wcstask_taskNumber}";
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LogRecord.WriteLog(LogEnum.Errer, str.ToString());
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}
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}
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}
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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); //压装出库口任务完成
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//生成可下发的RGV任务，至缓存口
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List<Dt_TaskWCSinfo> executingTask = taskWCSinfoRepository.Find(r => r.wcstask_state != TaskState.TaskState_Assigned.ToString()
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&& endStationNo.Contains(r.wcstask_endPoint));
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// 这里要写一个逻辑，就是我获取的任务，只有对应的站台为空，我才能下发，这样改的话，空托盘入库也要改
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if (executingTask.Count < 8) //小于8，则可生成去这边的任务
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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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//查找是否有该托盘条码任务，如果没有则进行添加RGV任务
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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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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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//缓存口(缓存架)至输送线
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OutboundCZ_PLC(taskWCSinfoRepository, taskRGVinfoRepository, client);
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//空托入库申请(生成了空托入库任务)
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InboundRequestAction(taskWCSinfoRepository, taskRGVinfoRepository, client);
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//空托到缓存口(缓存架)
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ReInboundKTP(taskWCSinfoRepository, client);
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//空托入库口，生成RGV任务,进行入库
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RGV_InboundKTP(taskWCSinfoRepository, taskRGVinfoRepository, client);
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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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&& endStationNo.Contains(r.wcstask_endPoint)).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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//判断压装台是否有货 也就是判断80101那边
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bool yzflag = bool.Parse(client.ReadValue(CLineInfoDBName.R_Line_LoadSleep.ToString(), PlatformDict[wcsTask.wcstask_endPoint]).ToString());
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bool yznoflag = bool.Parse(client.ReadValue(CLineInfoDBName.R_Line_NoLoadSleep.ToString(), PlatformDict[wcsTask.wcstask_endPoint]).ToString());
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if (yzflag || !yznoflag)
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continue;
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//判断缓存架是否有货
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bool flag = bool.Parse(client.ReadValue(CLineInfoDBName.R_Line_LoadSleep.ToString(), wcsTask.wcstask_startPoint).ToString());
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bool noflag = bool.Parse(client.ReadValue(CLineInfoDBName.R_Line_NoLoadSleep.ToString(), wcsTask.wcstask_startPoint).ToString());
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if (flag || !noflag)
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continue;
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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 =>
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//(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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// 肖佼 将上面修改成下面
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Dt_TaskWCSinfo executingTask = taskWCSinfoRepository.FindFirst(r =>
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(r.wcstask_startPoint == wcsTask.wcstask_startPoint)
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&& (r.wcstask_state == TaskState.TaskState_RGV_Received.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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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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// 只用一个字典：Key=托盘号，Value=Tuple<锁对象, 最后使用时间>
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// Tuple<object, DateTime>：Item1=锁对象，Item2=最后使用时间
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private static readonly Dictionary<string, Tuple<object, DateTime>> BarcodeLockDict = new Dictionary<string, Tuple<object, DateTime>>();
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private static readonly object GlobalLock = new object(); // 保护字典的全局锁
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private const int ExpireMinutes = 1; // 过期时间：1分钟
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/// <summary>
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/// 获取托盘号专属锁（单字典+1分钟过期+懒清理）
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/// </summary>
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private static object GetBarcodeLock(string barcode)
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{
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lock (GlobalLock) // 全局锁保护字典操作
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{
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// ========== 第一步：懒清理（每次获取锁时，清理超过1分钟的闲置托盘号） ==========
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var expiredBarcodes = BarcodeLockDict
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.Where(kv => (DateTime.Now - kv.Value.Item2).TotalMinutes > ExpireMinutes)
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.Select(kv => kv.Key)
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.ToList();
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foreach (var expiredBarcode in expiredBarcodes)
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{
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BarcodeLockDict.Remove(expiredBarcode);
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}
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// ========== 第二步：处理当前托盘号的锁和时间 ==========
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if (!BarcodeLockDict.ContainsKey(barcode))
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{
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// 无该托盘号：新增锁对象+当前时间
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BarcodeLockDict[barcode] = Tuple.Create(new object(), DateTime.Now);
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}
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// 返回当前托盘号的锁对象
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return BarcodeLockDict[barcode].Item1;
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}
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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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int R_Line_PLCDispatch = int.Parse(client.ReadValue(CLineInfoDBName.W_Line_PLCDispatch.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 (R_Line_PLCDispatch == 1 && load)
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{
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string barcode = client.ReadValue(CLineInfoDBName.R_Line_Barcode.ToString(), ReInboundRequestStationNo).ToString();
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if (!string.IsNullOrEmpty(barcode) && !"0".Equals(barcode))
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{
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if (int.Parse(barcode) < 800000 || int.Parse(barcode) > 890000)
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{
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return;
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}
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object barcodeLock = GetBarcodeLock(barcode);
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lock (barcodeLock)
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{
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Dt_TaskWCSinfo IsTask = taskWCSinfoRepository.FindFirst(x => x.wcstask_barcode == barcode
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&& (x.wcstask_type == TaskType.TaskType_Empty_Pallet_Outbound.ToString() || x.wcstask_type == TaskType.TaskType_Box_Pallet_Outbound.ToString())
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&& (x.wcstask_state == TaskState.TaskState_Box_Out_Line_Executing.ToString() || x.wcstask_state == TaskState.TaskState_Empty_Out_Line_Executing.ToString())
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&& (endStationNo.Contains(x.wcstask_endPoint)));
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if (IsTask != null)
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{
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// 这里要加一个判断，如果拿回来的空托盘是800001，但是我有一条这个托盘的任务是800001还没有到指定的压装台，所以我要完成这个任务
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// 在此完成该空托出库任务
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WebResponseContent content = taskWCSinfoRepository.DbContextBeginTransaction(() =>
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{
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//上报WMS任务完成
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content = WMSApi.TellWmsTaskFinished(IsTask.wcstask_barcode,IsTask.wcstask_backUp_2);
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if (content.Status)
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{
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//移动任务到历史表
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Dt_TaskWCSinfo_HtyRepository taskWCSinfo_HtyRepository = new Dt_TaskWCSinfo_HtyRepository(taskWCSinfoRepository.DbContext);
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IsTask.wcstask_state = TaskState.TaskState_Finished.ToString();
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CommonFunction.AddWcsTaskToHistory(IsTask, taskWCSinfoRepository, taskWCSinfo_HtyRepository);
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}
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else
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throw new Exception($"{DateTime.Now}上报WMS任务完成出错，原因：【{content.Message}】");
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return content;
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});
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string str = string.Empty;
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if (content.Status)
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str = $" {DateTime.Now}上报WMS出库完成成功,【手动干扰出库没有到达指定压装台点位，手动拿回90101】【TaskState_ConveyorLineExecuting】，托盘号:{IsTask.wcstask_barcode},任务号：{IsTask.wcstask_taskNumber}";
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else
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str = $" {DateTime.Now}上报WMS出库完成失败【手动干扰出库没有到达指定压装台点位，手动拿回90101】【TaskState_ConveyorLineExecuting】，托盘号:{IsTask.wcstask_barcode},任务号：{IsTask.wcstask_taskNumber}";
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WriteLog.Info(IsTask.wcstask_endPoint).Write(str, IsTask.wcstask_endPoint);
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LogRecord.WriteLog(LogEnum.Errer, str.ToString());
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}
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Dt_TaskWCSinfo wcsInfo = taskWCSinfoRepository.FindFirst(r => r.wcstask_barcode == barcode);
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if (null == wcsInfo)
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{
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//获取车轴出库
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List<Dt_TaskWCSinfo> executingTask = taskWCSinfoRepository.Find(r => (r.wcstask_type.Equals(TaskType.TaskType_Box_Pallet_Outbound.ToString()) ||
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r.wcstask_type.Equals(TaskType.TaskType_Empty_Pallet_Outbound.ToString())) && endStationNo.Contains(r.wcstask_endPoint));
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//获取有多少条出库的任务
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int LineExecucount = executingTask.Count(x => x.wcstask_state == TaskState.TaskState_Box_Out_Line_Executing.ToString()
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|| x.wcstask_state == TaskState.TaskState_Empty_Out_Line_Executing.ToString());
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if (LineExecucount >= 8)
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{
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//判断是否有对应层的出库任务，
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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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//taskWCSinfoRepository.Add(wcsInfo, true);
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//client.WriteValue(CLineInfoDBName.W_Line_PLCDispatch.ToString(), ReInboundRequestStationNo, 2);
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try
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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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taskWCSinfoRepository.Add(wcsInfo, true);
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}
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catch (Exception)
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{
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string str = $"这里可能是出现了并发的情况托盘码 在添加的时候拦截的【{wcsInfo.wcstask_barcode}】" +
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$"任务号【{wcsInfo.wcstask_taskNumber}】,任务状态：【{wcsInfo.wcstask_state}】";
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LogRecord.WriteLog(LogEnum.Errer, str.ToString());
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//throw;
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}
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}
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else
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{
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if (content.Message.Contains("当前托盘号已存在库里"))
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{
|
client.WriteValue(CLineInfoDBName.W_Line_PLCDispatch.ToString(), ReInboundRequestStationNo, 4);
|
}
|
throw new Exception("入库申请失败:" + content.Message);
|
}
|
}
|
else
|
{
|
//判断有多少条在缓存架的
|
int RGV_Finishedcount = executingTask.Count(x =>
|
x.wcstask_state != TaskState.TaskState_Box_Out_Line_Executing.ToString()
|
&& x.wcstask_state != TaskState.TaskState_Empty_Out_Line_Executing.ToString()
|
&& x.wcstask_state != TaskState.TaskState_Assigned.ToString());
|
|
if (RGV_Finishedcount == 0)
|
{
|
// 核心：获取当前托盘号的专属锁，同一托盘号串行处理
|
//申请入库任务
|
WebResponseContent content = WMSApi.PostInboundRequstToWMS(barcode);
|
if (content.Status)
|
{
|
try
|
{
|
WmsTaskInfo wmsTask = JsonConvert.DeserializeObject<WmsTaskInfo>(content.Data.ToString());
|
wcsInfo = CommonFunction.AddWCSEmptyInboundTask(wmsTask, taskWCSinfoRepository);
|
taskWCSinfoRepository.Add(wcsInfo, true);
|
}
|
catch (Exception)
|
{
|
string str = $"这里可能是出现了并发的情况托盘码，在添加的时候拦截的【{wcsInfo.wcstask_barcode}】" +
|
$"任务号【{wcsInfo.wcstask_taskNumber}】,任务状态：【{wcsInfo.wcstask_state}】";
|
LogRecord.WriteLog(LogEnum.Errer, str.ToString());
|
//throw;
|
}
|
}
|
else
|
{
|
if (content.Message.Contains("当前托盘号已存在库里"))
|
{
|
client.WriteValue(CLineInfoDBName.W_Line_PLCDispatch.ToString(), ReInboundRequestStationNo, 4);
|
}
|
else if (content.Message.Contains("暂无货位可分配"))
|
{
|
|
}
|
else
|
{
|
throw new Exception("入库申请失败:" + content.Message);
|
}
|
|
}
|
}
|
}
|
}
|
else
|
{
|
string str = $"这里可能是出现了并发的情况托盘码 在查询的时候拦截的【{wcsInfo.wcstask_barcode}】" +
|
$"任务号【{wcsInfo.wcstask_taskNumber}】,任务状态：【{wcsInfo.wcstask_state}】";
|
LogRecord.WriteLog(LogEnum.Errer, str.ToString());
|
}
|
}
|
}
|
else
|
{
|
throw new Exception("入库申请失败:读取到的空托盘条码为空，读取内容：" + barcode);
|
}
|
}
|
}
|
catch (Exception ex)
|
{
|
client.WriteValue(CLineInfoDBName.W_Line_PLCDispatch.ToString(), ReInboundRequestStationNo, 3);
|
Console.Out.WriteLine(DateTime.Now + ex.Message);
|
}
|
}
|
}
|
}
|
