using Microsoft.EntityFrameworkCore;
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using System;
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using System.Linq;
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using System.Threading;
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using System.Threading.Tasks;
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using WIDESEA_Common;
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using WIDESEA_Common.LoctionEnum;
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using WIDESEA_Common.Tools;
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using WIDESEA_Core.EFDbContext;
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using WIDESEA_Entity.DomainModels;
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using WIDESEA_Entity.DomainModels.CacheTask.WIDESEA_Entity.DomainModels;
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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.SchedulerExecute.AGV
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{
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public partial class AGVSchedulerExecute
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{
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private static int _readUpdateAGVTaskSignalsotext1 = 0;
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public static void UpdateAgvTaskText(PLCClient plcClient)
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{
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//if (Interlocked.Exchange(ref _readUpdateAGVTaskSignalsotext1, 1) == 0)
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//{
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//}
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try
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{
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if (plcClient == null)
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{
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return;
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}
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VOLContext context = new VOLContext();
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Idt_task_numberRepository tasknumberRep = new dt_task_numberRepository(context);
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Idt_agvtaskRepository agvtaskRepository = new dt_agvtaskRepository(context);
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Idt_agvtask_htyRepository agvtask_HtyRepository = new dt_agvtask_htyRepository(context);
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Ibase_ware_locationRepository locationRepository = new base_ware_locationRepository(context);
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Ibill_group_stockRepository group_StockRepository = new bill_group_stockRepository(context);
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Ibase_pda_locationRepository pdaloctionRepository = new base_pda_locationRepository(context);
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Idt_containerRepository containerRepository = new dt_containerRepository(context);
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IVV_ContainerInfoRepository VV_ContainerInfoRepository = new VV_ContainerInfoRepository(context);
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Idt_materielinfoRepository materielinfoRepository = new dt_materielinfoRepository(context);
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Idt_stationinfoRepository stationinfoRepository = new dt_stationinfoRepository(context);
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dt_task_numberService tasknumber = new dt_task_numberService(tasknumberRep);
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int taskFbInteractive = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveR.ToString()));//0初始,1请求更新状态
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int taskFbInteractiveW = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));//0初始,1更新完成
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string taskIdtext = plcClient.ReadValue(TaskDBName.taskIDFb.ToString()).ToString();//任务ID
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//0初始状态 1 RCS更新了一条任务状态
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if (1 == taskFbInteractive && taskFbInteractiveW == 0)
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{
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string taskId = plcClient.ReadValue(TaskDBName.taskIDFb.ToString()).ToString();//任务ID
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if (taskId.Contains("\b"))
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{
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taskId = taskId.Remove(0, 1);
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}
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int taskState = int.Parse(plcClient.ReadValue(TaskDBName.taskStatusFb.ToString()).ToString());//1起点执行中,2起点已完成,3终点执行中,4终点已完成
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if (0 == taskState)//无含义
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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return;
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}
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WriteLog.GetLog().Write($"{plcClient.PLCName}任务号" + taskId + "任务状态" + taskState + "taskFbInteractive" + taskFbInteractive + "taskFbInteractiveW" + taskFbInteractiveW + $" {DateTime.Now}", "AGV更新任务状态");
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dt_agvtask agvTask = agvtaskRepository.Find(r => r.agv_tasknum == taskId).FirstOrDefault();
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if (agvTask == null)
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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return;
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}
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if (1 == taskState)//任务起点执行中
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{
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if (agvTask != null)
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{
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if (agvTask.agv_taskstate == AGVTaskStateEnum.Executing.ToString())
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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}
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#region 编写对应项目的业务逻辑
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//Task task = Task.Run(() =>
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//{
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//});
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if (null == agvTask)
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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WriteLog.GetLog().Write("起点执行失败未找到任务,ID:" + taskId + "," + DateTime.Now + "", "AGV更新任务状态");
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return;
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//throw new Exception("起点执行失败未找到任务,ID:" + taskId);
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}
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agvTask.agv_taskstate = AGVTaskStateEnum.Executing.ToString();
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if (agvTask.agv_realesstime == null)
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{
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agvTask.agv_realesstime = DateTime.Now;
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}
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int isOk = agvtaskRepository.Update(agvTask, true);
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if (isOk == 0)
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{
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agvTask.agv_taskstate = AGVTaskStateEnum.Abnormal.ToString();
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isOk = agvtaskRepository.Update(agvTask, true);
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}
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#endregion
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//WriteLog.GetLog().Write("车号上报,,任务号：" + agvTask.agv_tasknum + " 反馈时间：" + DateTime.Now + "", "AGV更新任务状态");
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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for (int i = 0; i < 5; i++)
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{
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Thread.Sleep(150);
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var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
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if (agvnumber != 1)
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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}
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else
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{
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break;
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}
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}
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}
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//else
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//{
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// WriteLog.GetLog().Write($"任务号:{taskId},AGV任务列表未找到此条任务 时间: {DateTime.Now}", "AGV任务反馈1");
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// WriteLog.GetLog().Write("起点执行失败未找到任务,ID:" + taskId + "," + DateTime.Now + "", "AGV更新任务状态");
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// plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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// for (int i = 0; i < 5; i++)
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// {
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// Thread.Sleep(150);
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// var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
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// if (agvnumber != 1)
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// {
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// plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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// }
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// else
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// {
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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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else if (2 == taskState)//任务起点已完成
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{
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if (agvTask != null)
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{
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if (agvTask.agv_taskstate == AGVTaskStateEnum.Complete.ToString())
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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}
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#region 编写对应项目的业务逻辑
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//Task.Run(() =>
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//{
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//});
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if (null == agvTask)
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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WriteLog.GetLog().Write("WCS写入AGV任务号,当前任务号不存在任务列表里，" + taskId + DateTime.Now + "任务起点完成状态确认1", "AGV更新任务状态");
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return;
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}
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agvTask.agv_taskstate = AGVTaskStateEnum.Complete.ToString();
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int isOk = agvtaskRepository.Update(agvTask, true);
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if (isOk == 0)
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{
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agvTask.agv_taskstate = AGVTaskStateEnum.Abnormal.ToString();
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isOk = agvtaskRepository.Update(agvTask, true);
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}
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if (agvTask.agv_remark.Contains("PDA库房叫料任务") || agvTask.agv_remark.Contains("PDA产线叫料任务"))
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{
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base_pda_location pda_Location = pdaloctionRepository.FindFirst(d => d.L_Code == agvTask.agv_fromaddress);
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if (pda_Location == null)
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{
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return;
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}
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dt_container container = containerRepository.FindFirst(d => d.container_sn == agvTask.agv_barcode && d.container_barcode == pda_Location.L_Code);
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if (container != null)
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{
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containerRepository.Delete(container, true);
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pda_Location.L_Task = 2;
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pda_Location.L_state = LoctionStateEnum.LocationState_Empty.ToString();
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pdaloctionRepository.Update(pda_Location, true);
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}
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}
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else if (agvTask.agv_remark.Contains("PDA回流任务"))
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{
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base_pda_location pda_Location = pdaloctionRepository.FindFirst(d => d.L_Code == agvTask.agv_fromaddress);
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if (pda_Location == null)
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{
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return;
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}
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pda_Location.L_Task = 2;
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pda_Location.L_state = LoctionStateEnum.LocationState_Empty.ToString();
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pdaloctionRepository.Update(pda_Location, true);
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}
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else if (agvTask.agv_remark.Contains("铝壳缓存架任务"))
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{
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dt_stationinfo dt_Stationinfo = stationinfoRepository.FindFirst(d => d.stationCode == agvTask.agv_fromaddress);
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if (dt_Stationinfo == null)
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{
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return;
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}
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dt_Stationinfo.task = false;
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int a = stationinfoRepository.Update(dt_Stationinfo, x => new { x.task }, true);
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if (a == 0)
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{
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WriteLog.GetLog().Write($"任务号：{agvTask.agv_tasknum},内容：终点地址：{dt_Stationinfo.stationCode},货位修改失败", $"货位修改失败");
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}
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}
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else if (agvTask.agv_remark.Contains("入壳上料任务"))
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{
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dt_stationinfo dt_Stationinfo = stationinfoRepository.FindFirst(d => d.stationCode == agvTask.agv_fromaddress);
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if (dt_Stationinfo == null)
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{
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return;
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}
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dt_Stationinfo.task = false;
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int a = stationinfoRepository.Update(dt_Stationinfo, x => new { x.task }, true);
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if (a == 0)
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{
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WriteLog.GetLog().Write($"任务号：{agvTask.agv_tasknum},内容：终点地址：{dt_Stationinfo.stationCode},货位修改失败", $"货位修改失败");
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}
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}
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#endregion
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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for (int i = 0; i < 5; i++)
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{
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Thread.Sleep(150);
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var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
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if (agvnumber != 1)
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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}
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else
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{
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break;
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}
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}
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}
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//else
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//{
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// WriteLog.GetLog().Write($"任务号:{taskId},AGV任务列表未找到此条任务 时间: {DateTime.Now}", "AGV任务反馈2");
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// WriteLog.GetLog().Write("WCS写入AGV任务号,当前任务号不存在任务列表里，" + taskId + DateTime.Now + "任务起点完成状态确认1", "AGV更新任务状态");
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// plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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// for (int i = 0; i < 5; i++)
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// {
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// Thread.Sleep(150);
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// var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
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// if (agvnumber != 1)
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// {
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// plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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// }
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// else
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// {
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// break;
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// }
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// }
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// WriteLog.GetLog().Write("WCS写入AGV任务号" + taskId + DateTime.Now + "任务起点完成状态确认1", "AGV更新任务状态");
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//}
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}
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else if (3 == taskState)//任务终点执行中
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{
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if (agvTask != null)
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{
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#region 编写对应项目的业务逻辑
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//Task.Run(() =>
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//{
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//});
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if (agvTask.agv_taskstate == AGVTaskStateEnum.Executing1.ToString())
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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WriteLog.GetLog().Write("WCS再次写入AGV任务号" + taskId + "," + DateTime.Now + "任务终点执行中状态确认1", "AGV更新任务状态");
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}
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else
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{
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agvTask.agv_taskstate = AGVTaskStateEnum.Executing1.ToString();
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int isOk = agvtaskRepository.Update(agvTask, true);
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if (isOk == 0)
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{
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agvTask.agv_taskstate = AGVTaskStateEnum.Abnormal.ToString();
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isOk = agvtaskRepository.Update(agvTask, true);
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}
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if (agvTask.agv_fromaddress.Contains("HCJ"))
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{
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base_ware_location location = locationRepository.FindFirst(x => x.upper_code == agvTask.agv_fromaddress);
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if (location != null)
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{
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if (!agvTask.agv_remark.Contains("切卷上料回空"))
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{
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location.geartype = "暂无";
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}
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location.update_time = DateTime.Now;
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location.logic_col = 0;
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location.task = 2;
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location.logic_row = "0";
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int a = locationRepository.Update(location, x => new { x.logic_col, x.task, x.logic_row, x.update_time, x.geartype }, true);
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if (a == 0)
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{
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WriteLog.GetLog().Write($"任务号：{agvTask.agv_tasknum},内容：终点地址：{location.upper_code},货位修改失败", $"货位修改失败");
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}
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}
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}
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}
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#endregion
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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for (int i = 0; i < 5; i++)
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{
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Thread.Sleep(150);
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var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
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if (agvnumber != 1)
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{
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plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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}
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else
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{
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break;
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}
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}
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}
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//else
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//{
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// WriteLog.GetLog().Write($"任务号:{taskId},AGV任务列表未找到此条任务 时间: {DateTime.Now}", "AGV任务反馈3");
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// WriteLog.GetLog().Write("WCS写入AGV任务号,当前任务号不存在任务列表里，" + taskId + "," + DateTime.Now + "任务终点完成状态确认1", "AGV更新任务状态");
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// plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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// for (int i = 0; i < 5; i++)
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// {
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// Thread.Sleep(150);
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// var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
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// if (agvnumber != 1)
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// {
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// plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
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// }
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// else
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// {
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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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else if (4 == taskState)//任务终点完成
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{
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if (agvTask != null)
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{
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#region 编写对应项目的业务逻辑
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//Task.Run(() =>
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//{
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//});
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agvTask.agv_taskstate = AGVTaskStateEnum.Complete1.ToString();
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int isOk = agvtaskRepository.Update(agvTask, true);
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if (isOk == 0)
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{
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agvTask.agv_taskstate = AGVTaskStateEnum.Abnormal.ToString();
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isOk = agvtaskRepository.Update(agvTask, true);
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}
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agvtask_HtyRepository.AddTaskHistory(agvTask, AGVTaskStateEnum.TaskState_Finished.ToString());
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agvtaskRepository.Delete(agvTask, true);
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base_ware_location location = locationRepository.FindFirst(x => x.upper_code == agvTask.agv_toaddress);
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if (agvTask.agv_remark.Contains("辊分下料任务"))
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{
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if (location != null)
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{
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if (location.upper_code.Contains("ZJ-GFHCJ10-"))
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{
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string locnum = location.upper_code.Remove(11);
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dt_agvtask Agvtask = agvtaskRepository.FindFirst(d => d.agv_tasknum != agvTask.agv_tasknum && d.agv_toaddress.Contains(locnum));
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if (Agvtask == null)
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{
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location.logic_col = 0;
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location.task = 2;
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int a = locationRepository.Update(location, d => new
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{
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d.logic_col,
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d.task,
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}, true);
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if (a == 0)
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{
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WriteLog.GetLog().Write($"任务号：{agvTask.agv_tasknum},内容：终点地址：{location.upper_code},货位修改失败", $"货位修改失败");
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}
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//freeDB.Update(_Location2).UpdateColumns(t => new { t.location_state, t.logic_col, t.task, t.update_time }).ExecuteAffrows();
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}
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}
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else
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{
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string locnum = location.upper_code.Remove(10);
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dt_agvtask Agvtask = agvtaskRepository.FindFirst(d => d.agv_tasknum != agvTask.agv_tasknum && d.agv_toaddress.Contains(locnum));
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if (Agvtask == null)
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{
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location.logic_col = 0;
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location.task = 2;
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int a = locationRepository.Update(location, d => new
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{
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d.logic_col,
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d.task,
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}, true);
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if (a == 0)
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{
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WriteLog.GetLog().Write($"任务号：{agvTask.agv_tasknum},内容：终点地址：{location.upper_code},货位修改失败", $"货位修改失败");
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}
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}
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}
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}
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else if (location == null)
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{
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string NUM = "";
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if (agvTask.agv_toaddress.Contains("ZJ-GFHCJ10-"))
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{
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NUM = agvTask.agv_toaddress.Remove(11) + "4";
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}
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else
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{
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NUM = agvTask.agv_toaddress.Remove(10) + "4";
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}
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string TNUM = "";
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if (agvTask.agv_toaddress.Contains("ZJ-GFHCJ10-"))
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{
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TNUM = agvTask.agv_toaddress.Remove(11);
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}
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else
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{
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TNUM = agvTask.agv_toaddress.Remove(10);
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}
|
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base_ware_location loc_gf = locationRepository.FindFirst(t => t.upper_code == NUM);
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if (loc_gf != null)
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{
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string locnum = TNUM;
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dt_agvtask Agvtask = agvtaskRepository.FindFirst(d => d.agv_tasknum != agvTask.agv_tasknum && d.agv_toaddress.Contains(locnum));
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if (Agvtask == null)
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{
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//WriteLog.GetLog().Write($"是否除了{Agvtask.agv_tasknum}，还有这个货架的任务，结果:{Agvtask}", $"辊分下料任务反馈");
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loc_gf.logic_col = 0;
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loc_gf.task = 2;
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int a = locationRepository.Update(loc_gf, d => new
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{
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d.logic_col,
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d.task,
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}, true);
|
if (a == 0)
|
{
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WriteLog.GetLog().Write($"任务号：{agvTask.agv_tasknum},内容：终点地址：{location.upper_code},货位修改失败", $"货位修改失败");
|
}
|
}
|
}
|
else
|
{
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WriteLog.GetLog().Write($"货位信息未找到；{NUM}的货位", $"辊分下料任务反馈");
|
WriteLog.GetLog().Write($"-----------------------------------", $"辊分下料任务反馈");
|
}
|
}
|
}
|
else if (location != null)
|
{
|
if (agvTask.agv_remark.Contains("辊分下料呼叫"))
|
{
|
location.logic_col = 1;
|
location.task = 2;
|
location.update_time = DateTime.Now;
|
|
int a = locationRepository.Update(location, d => new
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{
|
d.logic_col,
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d.task,
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d.update_time,
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}, true);
|
if (a == 0)
|
{
|
WriteLog.GetLog().Write($"任务号：{agvTask.agv_tasknum},内容：终点地址：{location.upper_code},货位修改失败", $"货位修改失败");
|
}
|
}
|
else if (agvTask.agv_toaddress.Contains("HCJ"))
|
{
|
if (location.upper_code.Contains("FJ-BCHCJ37") || location.upper_code.Contains("FJ-BCHCJ36") || location.upper_code.Contains("ZJ-BCHCJ35") || location.upper_code.Contains("ZJ-BCHCJ34"))
|
{
|
location.logic_row = "TSJXL-BCK";
|
location.logic_col = 1;
|
}
|
else if (location.upper_code.Contains("FJ-BCHCJ35") || location.upper_code.Contains("FJ-BCHCJ34") || location.upper_code.Contains("ZJ-BCHCJ33") || location.upper_code.Contains("ZJ-BCHCJ32"))
|
{
|
location.logic_row = "TBXL-BCK";
|
location.logic_col = 1;
|
}
|
else if (agvTask.agv_fromaddress.Contains("FJ-BCHCJ37") || agvTask.agv_fromaddress.Contains("ZJ-BCHCJ35"))
|
{
|
location.logic_row = "TSJXL-BCK";
|
location.logic_col = 0;
|
}
|
else if (agvTask.agv_fromaddress.Contains("FJ-BCHCJ35") || agvTask.agv_fromaddress.Contains("ZJ-BCHCJ33"))
|
{
|
location.logic_row = "TBXL-BCK";
|
location.logic_col = 0;
|
}
|
else
|
{
|
if (!agvTask.agv_remark.Contains("切卷上料呼叫"))
|
{
|
location.geartype = "暂无";
|
}
|
location.logic_row = "0";
|
location.logic_col = 0;
|
}
|
location.task = 2;
|
int a = locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task }, true);
|
if (a == 0)
|
{
|
WriteLog.GetLog().Write($"任务号：{agvTask.agv_tasknum},内容：终点地址：{location.upper_code},货位修改失败", $"货位修改失败");
|
}
|
|
}
|
}
|
else if (agvTask.agv_remark.Contains("PDA库房叫料任务"))
|
{
|
base_pda_location pda_Location = pdaloctionRepository.FindFirst(d => d.L_Code == agvTask.agv_toaddress);
|
if (pda_Location == null)
|
{
|
return;
|
}
|
//库房叫料等于库存转移
|
dt_container dt_Container = new dt_container()
|
{
|
container_id = Guid.NewGuid(),
|
container_sn = agvTask.agv_barcode,
|
container_barcode = pda_Location.L_Code,
|
container_materielid = agvTask.agv_materielid,
|
container_state = "FullBox",//满箱
|
container_creator = "WCS",
|
container_createtime = DateTime.Now
|
};
|
containerRepository.Add(dt_Container, true);
|
pda_Location.L_Task = 2;
|
pda_Location.L_state = LoctionStateEnum.LocationState_Stored.ToString();
|
pdaloctionRepository.Update(pda_Location, true);
|
|
|
}
|
else if (agvTask.agv_remark.Contains("PDA产线叫料任务"))
|
{ //产线叫料等于出库
|
base_pda_location pda_Location = pdaloctionRepository.FindFirst(d => d.L_Code == agvTask.agv_toaddress);
|
if (pda_Location == null)
|
{
|
return;
|
}
|
pda_Location.L_Task = 2;
|
pda_Location.L_state = LoctionStateEnum.LocationState_Stored.ToString();
|
pdaloctionRepository.Update(pda_Location, true);
|
}
|
else if (agvTask.agv_remark.Contains("PDA回流任务"))
|
{
|
base_pda_location pda_Location = pdaloctionRepository.FindFirst(d => d.L_Code == agvTask.agv_toaddress);
|
if (pda_Location == null)
|
{
|
return;
|
}
|
dt_container dt_Container = new dt_container()
|
{
|
container_id = Guid.NewGuid(),
|
container_sn = agvTask.agv_barcode,
|
container_barcode = pda_Location.L_Code,
|
container_materielid = "03",
|
container_state = "emptybox",//空箱
|
container_creator = "WCS",
|
container_createtime = DateTime.Now
|
};
|
containerRepository.Add(dt_Container, true);
|
pda_Location.L_Task = 2;
|
pda_Location.L_state = LoctionStateEnum.LocationState_Stored.ToString();
|
pdaloctionRepository.Update(pda_Location, d => new { d.L_state, d.L_Task }, true);
|
|
|
}
|
else if (agvTask.agv_remark.Contains("铝壳缓存架任务"))
|
{
|
dt_stationinfo dt_Stationinfo = stationinfoRepository.FindFirst(d => d.stationCode == agvTask.agv_toaddress);
|
if (dt_Stationinfo == null)
|
{
|
return;
|
}
|
dt_Stationinfo.task = false;
|
int a = stationinfoRepository.Update(dt_Stationinfo, x => new { x.task }, true);
|
if (a == 0)
|
{
|
WriteLog.GetLog().Write($"任务号：{agvTask.agv_tasknum},内容：终点地址：{dt_Stationinfo.stationCode},货位修改失败", $"货位修改失败");
|
}
|
|
}
|
else if (agvTask.agv_remark.Contains("入壳下料任务"))
|
{
|
dt_stationinfo dt_Stationinfo = stationinfoRepository.FindFirst(d => d.stationCode == agvTask.agv_toaddress);
|
if (dt_Stationinfo == null)
|
{
|
return;
|
}
|
dt_Stationinfo.task = false;
|
int a = stationinfoRepository.Update(dt_Stationinfo, x => new { x.task }, true);
|
if (a == 0)
|
{
|
WriteLog.GetLog().Write($"任务号：{agvTask.agv_tasknum},内容：终点地址：{dt_Stationinfo.stationCode},货位修改失败", $"货位修改失败");
|
}
|
}
|
#endregion
|
plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
|
for (int i = 0; i < 5; i++)
|
{
|
Thread.Sleep(150);
|
var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
|
if (agvnumber != 1)
|
{
|
plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
|
}
|
else
|
{
|
break;
|
}
|
}
|
}
|
//else
|
//{
|
// WriteLog.GetLog().Write($"任务号:{taskId},AGV任务列表未找到此条任务 时间: {DateTime.Now}", "AGV任务反馈4");
|
// WriteLog.GetLog().Write("WCS写入AGV任务号,当前任务号不存在任务列表里，" + taskId + "," + DateTime.Now + "任务终点完成状态确认1", "AGV更新任务状态");
|
// plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
|
// for (int i = 0; i < 5; i++)
|
// {
|
// Thread.Sleep(150);
|
// var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
|
// if (agvnumber != 1)
|
// {
|
// plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
|
// }
|
// else
|
// {
|
// break;
|
// }
|
// }
|
// WriteLog.GetLog().Write("WCS写入AGV任务号" + taskId + "," + DateTime.Now + "任务终点完成状态确认1", "AGV更新任务状态");
|
//}
|
}
|
else if (5 == taskState) //取消任务
|
{
|
#region 编写对应项目的业务逻辑
|
//Task.Run(() =>
|
//{
|
|
//});
|
if (null == agvTask)
|
{
|
WriteLog.GetLog().Write($"任务号:{taskId},AGV任务列表未找到此条任务 时间: {DateTime.Now}", "AGV任务反馈5");
|
WriteLog.GetLog().Write("没有当前任务号的任务,ID:" + taskId, "AGV更新任务状态");
|
plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
|
for (int i = 0; i < 5; i++)
|
{
|
Thread.Sleep(150);
|
var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
|
if (agvnumber != 1)
|
{
|
plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
|
}
|
else
|
{
|
break;
|
}
|
}
|
WriteLog.GetLog().Write("WCS写入AGV任务号" + taskId + "," + DateTime.Now + "任务终点完成状态确认1", "AGV更新任务状态");
|
return;
|
//throw new Exception("没有当前任务号的任务,ID:" + taskId);
|
}
|
|
WriteLog.GetLog().Write($"任务号:{agvTask.agv_tasknum},起点地址:{agvTask.agv_fromaddress},终点地址：{agvTask.agv_toaddress} 时间: {DateTime.Now}", "AGV任务反馈5");
|
if (agvTask.agv_toaddress.Contains("HCJ") && agvTask.agv_fromaddress.Contains("SB"))
|
{
|
if (agvTask.agv_remark.Contains("辊分下料任务"))
|
{
|
if (agvTask.agv_toaddress.Contains("ZJ-GFHCJ10-"))
|
{
|
string NUM = agvTask.agv_toaddress.Remove(11) + "4";
|
base_ware_location location = locationRepository.FindFirst(x => x.upper_code == NUM);
|
if (location != null)
|
{
|
string lotionCode = agvTask.agv_toaddress.Remove(11);
|
dt_agvtask Agvtask = agvtaskRepository.FindFirst(d => d.agv_tasknum != agvTask.agv_tasknum && d.agv_toaddress.Contains(lotionCode));
|
if (Agvtask == null)
|
{
|
location.logic_col = 0;
|
location.logic_row = "0";
|
location.task = 2;
|
locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task }, true);
|
}
|
}
|
}
|
else
|
{
|
string NUM = agvTask.agv_toaddress.Remove(10) + "4";
|
base_ware_location location = locationRepository.FindFirst(x => x.upper_code == NUM);
|
if (location != null)
|
{
|
string lotionCode = agvTask.agv_toaddress.Remove(10);
|
dt_agvtask Agvtask = agvtaskRepository.FindFirst(d => d.agv_tasknum != agvTask.agv_tasknum && d.agv_toaddress.Contains(lotionCode));
|
if (Agvtask == null)
|
{
|
location.logic_col = 0;
|
location.logic_row = "0";
|
location.task = 2;
|
locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task }, true);
|
}
|
}
|
}
|
|
}
|
else if (agvTask.agv_remark.Contains("入壳下料任务"))
|
{
|
dt_stationinfo dt_Stationinfo = stationinfoRepository.FindFirst(d => d.stationCode == agvTask.agv_toaddress);
|
if (dt_Stationinfo != null)
|
{
|
dt_Stationinfo.task = false;
|
int a = stationinfoRepository.Update(dt_Stationinfo, x => new { x.task }, true);
|
if (a == 0)
|
{
|
WriteLog.GetLog().Write($"任务号：{agvTask.agv_tasknum},内容：终点地址：{dt_Stationinfo.stationCode},货位修改失败", $"货位修改失败");
|
}
|
}
|
}
|
else
|
{
|
base_ware_location location = locationRepository.FindFirst(x => x.upper_code == agvTask.agv_toaddress);
|
if (location!=null)
|
{
|
location.logic_col = 0;
|
location.logic_row = "0";
|
location.task = 2;
|
locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task }, true);
|
}
|
}
|
}
|
else if (agvTask.agv_toaddress.Contains("SB") && agvTask.agv_fromaddress.Contains("HCJ"))
|
{
|
if (agvTask.agv_remark.Contains("入壳上料任务"))
|
{
|
dt_stationinfo dt_Stationinfo = stationinfoRepository.FindFirst(d => d.stationCode == agvTask.agv_fromaddress);
|
if (dt_Stationinfo != null)
|
{
|
dt_Stationinfo.task = false;
|
int a = stationinfoRepository.Update(dt_Stationinfo, x => new { x.task }, true);
|
if (a == 0)
|
{
|
WriteLog.GetLog().Write($"任务号：{agvTask.agv_tasknum},内容：终点地址：{dt_Stationinfo.stationCode},货位修改失败", $"货位修改失败");
|
}
|
}
|
}
|
else
|
{
|
base_ware_location location = locationRepository.FindFirst(x => x.upper_code == agvTask.agv_fromaddress);
|
if (location != null)
|
{
|
location.logic_col = 0;
|
location.logic_row = "0";
|
location.task = 2;
|
locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task }, true);
|
}
|
}
|
}
|
else if (agvTask.agv_toaddress.Contains("HCJ") && agvTask.agv_fromaddress.Contains("HCJ"))
|
{
|
if (agvTask.agv_remark.Contains("铝壳缓存架任务"))
|
{
|
dt_stationinfo dt_Stationinfobegin = dt_stationinfoRepository.Instance.FindFirst(d => d.stationCode == agvTask.agv_fromaddress);
|
dt_stationinfo dt_Stationinfoend = dt_stationinfoRepository.Instance.FindFirst(d => d.stationCode == agvTask.agv_toaddress);
|
|
dt_Stationinfobegin.task = false;
|
dt_Stationinfoend.task = false;
|
int a = dt_stationinfoRepository.Instance.Update(dt_Stationinfobegin, x => new { x.task }, true);
|
int b = dt_stationinfoRepository.Instance.Update(dt_Stationinfoend, x => new { x.task }, true);
|
|
}
|
else
|
{
|
base_ware_location location = locationRepository.FindFirst(x => x.upper_code == agvTask.agv_toaddress);
|
location.logic_col = 0;
|
location.logic_row = "0";
|
location.task = 2;
|
base_ware_location location1 = locationRepository.FindFirst(x => x.upper_code == agvTask.agv_fromaddress);
|
location1.logic_col = 0;
|
location1.logic_row = "0";
|
location1.task = 2;
|
if (!agvTask.agv_remark.Contains("切卷上料呼叫"))
|
{
|
location.geartype = "暂无";
|
locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task, x.geartype }, true);
|
var entry = locationRepository.DbContext.ChangeTracker.Entries<base_ware_location>().FirstOrDefault();
|
if (entry != null)
|
{
|
entry.State = EntityState.Detached;
|
}
|
int a = locationRepository.Update(location1, x => new { x.logic_col, x.logic_row, x.task }, true);
|
if (a != 1)
|
{
|
WriteLog.GetLog().Write($"任务号:{agvTask.agv_tasknum},起点地址:{agvTask.agv_fromaddress},修改失败：{a}，时间: {DateTime.Now}", "AGV任务反馈5");
|
}
|
}
|
else if (!agvTask.agv_remark.Contains("切卷上料回空"))
|
{
|
location1.geartype = "暂无";
|
locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task, x.geartype }, true);
|
var entry = locationRepository.DbContext.ChangeTracker.Entries<base_ware_location>().FirstOrDefault();
|
if (entry != null)
|
{
|
entry.State = EntityState.Detached;
|
}
|
int a = locationRepository.Update(location1, x => new { x.logic_col, x.logic_row, x.task, x.geartype }, true);
|
if (a != 1)
|
{
|
WriteLog.GetLog().Write($"任务号:{agvTask.agv_tasknum},起点地址:{agvTask.agv_fromaddress},修改失败：{a}，时间: {DateTime.Now}", "AGV任务反馈5");
|
}
|
}
|
else
|
{
|
locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task }, true);
|
var entry = locationRepository.DbContext.ChangeTracker.Entries<base_ware_location>().FirstOrDefault();
|
if (entry != null)
|
{
|
entry.State = EntityState.Detached;
|
}
|
int a = locationRepository.Update(location1, x => new { x.logic_col, x.logic_row, x.task }, true);
|
if (a != 1)
|
{
|
WriteLog.GetLog().Write($"任务号:{agvTask.agv_tasknum},起点地址:{agvTask.agv_fromaddress},修改失败：{a}，时间: {DateTime.Now}", "AGV任务反馈5");
|
}
|
}
|
}
|
|
|
}
|
else if (agvTask.agv_toaddress.Contains("HCG") && agvTask.agv_fromaddress.Contains("HCG"))
|
{
|
|
base_pda_location dt_Stationinfobegin = base_pda_locationRepository.Instance.FindFirst(d => d.L_Code == agvTask.agv_fromaddress);
|
base_pda_location dt_Stationinfoend = base_pda_locationRepository.Instance.FindFirst(d => d.L_Code == agvTask.agv_toaddress);
|
|
dt_Stationinfobegin.L_Task = 2;
|
dt_Stationinfoend.L_Task = 2;
|
int a = base_pda_locationRepository.Instance.Update(dt_Stationinfobegin, x => new { x.L_Task }, true);
|
int b = base_pda_locationRepository.Instance.Update(dt_Stationinfoend, x => new { x.L_Task }, true);
|
}
|
string Operate = "AGV取消";
|
agvtask_HtyRepository.AddTaskHistory(agvTask, Operate);
|
#endregion
|
plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
|
for (int i = 0; i < 5; i++)
|
{
|
Thread.Sleep(150);
|
var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
|
if (agvnumber != 1)
|
{
|
plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 1);
|
}
|
else
|
{
|
break;
|
}
|
}
|
WriteLog.GetLog().Write("WCS写入AGV任务号" + taskId + DateTime.Now + "任务异常状态确认1", "AGV更新任务状态");
|
agvtaskRepository.Delete(agvTask, true);
|
}
|
}
|
if (taskFbInteractive == 0 && taskFbInteractiveW == 1)
|
{
|
plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 0);
|
for (int i = 0; i < 5; i++)
|
{
|
Thread.Sleep(150);
|
var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskFbInteractiveW.ToString()));
|
if (agvnumber != 0)
|
{
|
plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 0);
|
}
|
else
|
{
|
break;
|
}
|
}
|
}
|
//else if (taskFbInteractive == 1 && taskFbInteractiveW == 1)
|
//{
|
// plcClient.WriteValue(TaskDBName.taskFbInteractiveW.ToString(), 0);
|
//}
|
}
|
catch (Exception ex)
|
{
|
WriteLog.GetLog().Write("WCS接收AGV任务反馈异常" + ex.Message.ToString() + DateTime.Now, "AGV更新任务状态");
|
}
|
//finally
|
//{
|
// Interlocked.Exchange(ref _readUpdateAGVTaskSignalsotext1, 0);
|
//}
|
|
}
|
}
|
}
|
