using HslCommunication;
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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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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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Dt_TaskWCSinfo executingTask = taskWCSinfoRepository.FindFirst(r => r.wcstask_state == TaskState.TaskState_RGV_Received.ToString()
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&& (OutboundStationLayerNo.Contains(r.wcstask_startPoint) || OutboundStationLayerNo.Contains(r.wcstask_endPoint)));
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//有执行中的任务就不调度
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if (null != executingTask)
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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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string rgvTaskType = string.Empty;
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//空托盘回库
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if (executingTask.wcstask_type.Equals(TaskType.TaskType_Empty_Pallet_Inbound.ToString()))
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{
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locationArray = executingTask.wcstask_endLocation.Split('-');
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rgvTaskType = RGVTaskType.RgvTaskType_Inbound.ToString();
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}
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//轴承出库
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else if (executingTask.wcstask_type.Equals(TaskType.TaskType_Box_Pallet_Outbound.ToString())
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|| executingTask.wcstask_type.Equals(TaskType.TaskType_Empty_Pallet_Outbound.ToString()))
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{
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locationArray = executingTask.wcstask_startLocation.Split('-');
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rgvTaskType = RGVTaskType.RgvTaskType_Outbound.ToString();
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}
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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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{
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// 写入RGV开始执行
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WriteRGVState(client, false);
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}
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return;
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}
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//client.WriteValue(CLineInfoDBName.W_System_RGVState.ToString(), 1);
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//return;
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//提升机没有执行
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Dt_TaskWCSinfo currentTask = taskWCSinfoRepository.FindFirst(r => r.wcstask_state == TaskState.TaskState_HoisterExecuting.ToString());
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if (null == currentTask)
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{
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// //是否有入库申请的托盘号
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// string barcode = client.ReadValue(CLineInfoDBName.R_Line_Barcode.ToString(), ReInboundRequestStationNo).ToString();
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// //负载待机
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// bool load = bool.Parse(client.ReadValue(CLineInfoDBName.R_Line_LoadSleep.ToString(), ReInboundRequestStationNo).ToString());
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// if (currentModel == "Inbound")
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// {
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// Dt_TaskWCSinfo wcsTask = taskWCSinfoRepository.FindFirst(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));
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// if (null != wcsTask)
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// OutboundRequestAction(taskWCSinfoRepository, client);
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// else if (!string.IsNullOrEmpty(barcode) && !"0".Equals(barcode) && load)
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// ReInboundRequestStationAction(taskWCSinfoRepository, client, barcode);
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// }
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// else
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// {
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// if (!string.IsNullOrEmpty(barcode) && !"0".Equals(barcode) && load)
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// ReInboundRequestStationAction(taskWCSinfoRepository, client, barcode);
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// else
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// OutboundRequestAction(taskWCSinfoRepository, client);
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// }
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Dt_TaskWCSinfo outboundTask = GetOutboundTask(taskWCSinfoRepository, client);
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if (null != outboundTask)
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OutboundRequestAction(taskWCSinfoRepository, client, outboundTask);
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else
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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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ReInboundRequestStationAction(taskWCSinfoRepository, client, barcode);
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}
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//if (!string.IsNullOrEmpty(barcode) && !"0".Equals(barcode) && load)
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// ReInboundRequestStationAction(taskWCSinfoRepository, client, barcode);
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//else
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// OutboundRequestAction(taskWCSinfoRepository, client);
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}
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else
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{
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//入库读提升机
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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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if (!"0".Equals(hoisterTaskNumber) || !"0".Equals(hoisterBarcode))
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{
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AddAGVTask(taskWCSinfoRepository, taskRGVinfoRepository, client, hoisterTaskNumber, hoisterBarcode);
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}
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else
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{
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string lineCode = "OutboundArea";
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//出库读出库线
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hoisterTaskNumber = client.ReadValue(CLineInfoDBName.W_Line_TaskNumber.ToString(), lineCode).ToString();
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hoisterBarcode = client.ReadValue(CLineInfoDBName.W_Line_Barcode.ToString(), lineCode).ToString();
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if (!string.IsNullOrEmpty(hoisterTaskNumber) || !"0".Equals(hoisterBarcode))
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{
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int outlogicValue = int.Parse(client.ReadValue(CLineInfoDBName.R_Line_Logic.ToString(), lineCode).ToString());
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if (outlogicValue != 4)
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return;
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AddAGVTask(taskWCSinfoRepository, taskRGVinfoRepository, client, hoisterTaskNumber, hoisterBarcode);
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}
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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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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 void AddAGVTask(IDt_TaskWCSinfoRepository taskWCSinfoRepository, IDt_TaskRGVinfoRepository taskRGVinfoRepository, PLCClient client
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, string hoisterTaskNumber, string hoisterBarcode)
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{
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Dt_TaskWCSinfo wcsTask = taskWCSinfoRepository.FindFirst(r => r.wcstask_barcode == hoisterBarcode &&
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r.wcstask_taskNumber == int.Parse(hoisterTaskNumber));
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if (null != wcsTask && wcsTask.wcstask_state == TaskState.TaskState_HoisterExecuting.ToString())
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{
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Dt_TaskRGVinfo rgvInfo = taskRGVinfoRepository.FindFirst(r => r.rgvtask_barCode == hoisterBarcode
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&& r.rgvtask_wcsTaskNumber == int.Parse(hoisterTaskNumber));
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if (null != rgvInfo)
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return;
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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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string rgvTaskType = string.Empty;
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//空托盘回库
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if (wcsTask.wcstask_type.Equals(TaskType.TaskType_Empty_Pallet_Inbound.ToString()))
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{
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locationArray = wcsTask.wcstask_endLocation.Split('-');
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rgvTaskType = RGVTaskType.RgvTaskType_Inbound.ToString();
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}
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//轴承出库
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else if (wcsTask.wcstask_type.Equals(TaskType.TaskType_Box_Pallet_Outbound.ToString())
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|| wcsTask.wcstask_type.Equals(TaskType.TaskType_Empty_Pallet_Outbound.ToString()))
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{
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locationArray = wcsTask.wcstask_startLocation.Split('-');
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rgvTaskType = RGVTaskType.RgvTaskType_Outbound.ToString();
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}
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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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//{
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// // 写入RGV开始执行
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// if (WriteRGVState(client, false))
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// return;
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rgvInfo = GetRGVTask(taskRGVinfoRepository, wcsTask, rgvTaskType);
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taskRGVinfoRepository.Add(rgvInfo, true);
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wcsTask.wcstask_state = TaskState.TaskState_RGV_Received.ToString();
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taskWCSinfoRepository.Update(wcsTask, x => x.wcstask_state, true);
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if (rgvTaskType == RGVTaskType.RgvTaskType_Outbound.ToString())
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currentModel = "Outbound";
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else
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currentModel = "Inbound";
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// }
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}
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else
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throw new Exception($"当前提升机有数据但未找到符合条件的任务,托盘号:{hoisterBarcode},任务号:{hoisterTaskNumber}");
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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 < 5; 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(66);
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}
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}
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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)
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{
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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))
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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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}
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}
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