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using Hanhe.iWCS.Business;
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using Hanhe.iWCS.Common;
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using Hanhe.iWCS.Interface;
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using Hanhe.iWCS.MData;
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using Hanhe.iWCS.Model;
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using Hanhe.iWCS.Model.AMS;
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using Microsoft.Owin.Hosting;
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using MongoDB.Bson;
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using MongoDB.Driver;
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using MongoDB.Driver.Builders;
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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.Threading.Tasks;
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using static Hanhe.iWCS.TaizhouGEMTwoProtocol.EnentListen;
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using static Hanhe.iWCS.TaizhouGEMTwoProtocol.MESHelper;
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using static Hanhe.iWCS.TaizhouGEMTwoProtocol.PLCControl;
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using static Hanhe.iWCS.TaizhouGEMTwoProtocol.ProcessHelper;
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namespace Hanhe.iWCS.TaizhouGEMTwoProtocol
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{
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/// <summary>
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/// 设备协议解析类
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/// </summary>
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public class ProtocolAnalysis : IProtocolAnalysis
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{
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private EquipmentCommandEQBLL CommandEQBLL = new EquipmentCommandEQBLL();
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private ICallTaskProcessing iCallTask = new ICallTaskProcessing();
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private Logger AMSLoggerAPI = new Logger();
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public void StringRequestInfo(string protocolMsg, string address, int port) {
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}
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public void StringRequestInfo(string protocolMsg, string address, int port, string sessionID) {
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//16进制接收
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protocolMsg = protocolMsg.Trim();//3f 00 11 20 30 40 50 60 70 80 90 A0 24 24
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if (protocolMsg != "") {
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}
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#region 握手反馈指令
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//UpdateHandshakeFeedbackCode(protocolMsg);
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PLCControl.Analysis(protocolMsg);
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#endregion
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}
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public void UpdateHandshakeFeedbackCode(string commandText) {
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var query = Query.And(Query.EQ("CommandText", commandText + "$$"), Query.EQ("Status", Constants.COMMANDEQ_STATUS_SENDED));
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EquipmentCommandEQ eq = MongoDBSingleton.Instance.FindOne<EquipmentCommandEQ>(query, typeof(EquipmentCommandEQ).Name);
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if (eq != null) {
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UpdateBuilder updateBuider = Update.Set("isHandshake", 1).Set("FeedbackCode", commandText);
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MongoDBSingleton.Instance.Update<EquipmentCommandEQ>(query, updateBuider, UpdateFlags.None);
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}
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}
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private static bool api = false;
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public ProtocolAnalysis() {
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if (!api) {
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Startup();
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api = true;
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}
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}
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public static void Startup() {
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Console.WriteLine("Startup ApiController");
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Task.Run(() => {
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var url = "http://+:8801";
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using (WebApp.Start<Startup>(url)) {
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Console.WriteLine("Running on {0}", url);
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Console.ReadLine();
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}
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});
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}
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public int workflowToDeviceDriver(TN_I_TASK_DTL_ACTION action) {
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int iResult = 0;
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CMMLog.Info($"任务处理:Action Code:{action.CN_N_ACTION_CODE},TaskNo:{action.CN_S_TASK_NO}");
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switch (action.CN_N_ACTION_CODE)
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{
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case 1012: AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "起点申请进入"); break;
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case 1312: AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "电梯安全对接"); break;
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case 1112: AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "滚筒车起点到位"); break;
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case 1212: AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "滚筒车取货完成通知PLC"); break;
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case 1013: AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "终点申请进入"); break;
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case 1113: AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "滚筒车终点到位"); break;
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case 1213: AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "滚筒车卸货完成通知PLC"); break;
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case 1313: AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "拍照扫码"); break;
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}
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if (action.CN_N_ACTION_CODE == 1027) {
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var mst = iCallTask.FindTask(action.CN_S_TASK_NO);
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if (mst != null ) {
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if (ProcessHelper.Intercept(mst)) iResult = 1027;//拦截更改 WCS 任务类型(将 WMS 任务类型更改为 WCS 任务类型，因为 WCS 需要根据任务类型进行对应任务流程处理)
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else
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{
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CMMLog.Info($"推送任务：任务号{mst.CN_S_TASK_NO},任务类型：{mst.CN_S_BUSS_TYPE}");
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bool IsSendTask = true;
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// 3楼缓存架入叠托 任务 取货完成才允许推送下一条
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if (mst.CN_S_BUSS_TYPE == "3楼缓存架入叠托")
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{
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var taskInfoList = MongoDBSingleton.Instance.Find<TN_I_TASK_MST>(Query.And(Query.NotIn("CN_S_STATUS", new List<MongoDB.Bson.BsonValue>() { "未执行", "待推送" }), Query.EQ("CN_S_END_BIT", mst.CN_S_END_BIT)), "TN_I_TASK_MST");
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if (taskInfoList.Count > 0)
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{
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// 遍历查询执行中的这些任务是否都已经取货完成，如果都取货完成，则可以推送此任务
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for (int i = 0; i < taskInfoList.Count; i++)
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{
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//2024-12-18 变更 叠包任务推送现下发的任务先推，WCS需要新加一个毫秒级推送判断
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if (taskInfoList[i].CN_T_CREATE < mst.CN_T_CREATE)
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{
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IsSendTask = false;
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break;
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}
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if (!ProcessHelper.CheckStartFreeTwo(taskInfoList[i].CN_S_START_BIT))
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{
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IsSendTask = false;
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Console.WriteLine($"3楼缓存架入叠托 任务拦截：该任务 ：{taskInfoList[i].CN_S_TASK_NO} 未取货完成，不允许推送当前任务：{mst.CN_S_TASK_NO}");
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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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mst = iCallTask.FindTask(action.CN_S_TASK_NO);
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if (IsSendTask) ProcessHelper.SendTask(mst);
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}
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}
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iResult = 1027;
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}
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#region 取消
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if (action.CN_N_ACTION_CODE == 7) {
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TN_I_TASK_MST mst = iCallTask.FindTask(action.CN_S_TASK_NO);
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string agvNo = action.CN_S_DEVICE_CODE;
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if (mst != null) {
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//请求前
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if (action.CN_N_ORDER == 0)
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{
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WorkFlowAction.TrackLog(action.CN_S_TASK_NO, 0, 7, "收到ams取消请求");
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}
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if (action.CN_N_ORDER == 1 || action.CN_N_ORDER == 0) {
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ProcessHelper.TaskCancel(mst);
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iCallTask.CancelTask(mst.CN_S_TASK_NO, "1");
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AMSHelper.SetStatus(action.CN_S_TASK_NO, 1, "7", "0", true);
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if (mst.CN_S_BUSS_TYPE != "电梯取货" && mst.CN_S_BUSS_TYPE != "电梯卸货" && mst.CN_S_BUSS_TYPE != "3楼包装取料")
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WMSHelper.ExecuteState(mst.CN_S_SOURCE_NO, action.CN_N_ACTION_CODE);
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iCallTask.DeleteTask(mst.CN_S_TASK_NO);
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}
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if (mst.CN_S_BUSS_TYPE == "电梯取货" || mst.CN_S_BUSS_TYPE == "电梯卸货" || mst.CN_S_BUSS_TYPE == "满托转运" || mst.CN_S_BUSS_TYPE == "空托出库")
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{
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ProcessHelper.ForceCancel(mst, action);
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MongoDBSingleton.Instance.Remove<TimeCuoInfoCom>(Query.EQ("timeStamp", mst.CN_S_BATCH_NO), "TimeCuoInfoCom", RemoveFlags.None);
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}
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if (mst.CN_S_BUSS_TYPE == "3楼包装补空") PLCControl.PickUpBlankComplete(mst.CN_S_END_BIT);
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}
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}
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#endregion
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#region 强制完成
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if (action.CN_N_ACTION_CODE == 1022) {
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TN_I_TASK_MST mst = iCallTask.FindTask(action.CN_S_TASK_NO);
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if (mst != null) {
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ProcessHelper.ForceComplete(mst, action);
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if (mst.CN_S_BUSS_TYPE == "3楼缓存架入叠托")
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{
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var plc = Settings.GetPlcInfo().Where(a => a.deviceType == "3").FirstOrDefault();
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if (plc != null)
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{
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var machine = MongoDBSingleton.Instance.FindOne<WMSInfo>(Query.EQ("trayCode", mst.CN_S_BATCH_NO), "WMSInfo");
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if (machine != null)
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{
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#region 写多个MODBUS数据
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if (Settings.cacheStackWrite == "0")
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{
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int[] num = DiePan(machine);
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CMMLog.Info($"send num:" + JsonConvert.SerializeObject(num));
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var wirteall01 = OITcpHelper.RegisterWriteOutPutMulti(new OITcpHelper.RegisterWriteOutPutModelMulti
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{
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addr = plc.writeAddr + 10,
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host = plc.ip,
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port = plc.port,
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data = num
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});
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}
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else WriteCacheStackingData(plc, mst, machine);
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#endregion
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MongoDBSingleton.Instance.Remove<WMSInfo>(Query.EQ("trayCode", mst.CN_S_BATCH_NO), "WMSInfo", RemoveFlags.Single);
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}
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}
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}
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MongoDBSingleton.Instance.Remove<Mongo_AGV_TASK_STATE>(Query.EQ("TaskNo", mst.CN_S_TASK_NO), RemoveFlags.Single);
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WorkFlowAction.TrackLog(mst.CN_S_TASK_NO, 1, 1022, "收到ams强制完成请求");
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AMSHelper.SetStatus(action.CN_S_TASK_NO, 1, "1022", "0", true);
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iCallTask.CancelTask(mst.CN_S_TASK_NO, "1");
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if (mst.CN_S_BUSS_TYPE != "电梯取货" && mst.CN_S_BUSS_TYPE != "电梯卸货" && mst.CN_S_BUSS_TYPE != "3楼包装取料")
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WMSHelper.ExecuteState(mst.CN_S_SOURCE_NO, action.CN_N_ACTION_CODE);
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//if (mst.CN_S_BUSS_TYPE == "电梯取货" && mst.CN_S_BUSS_TYPE == "电梯卸货")
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// MongoDBSingleton.Instance.ReomveAll<TimeCuoInfoCom>();
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if (mst.CN_S_BUSS_TYPE == "包装线补空") PLCControl.PickUpBlankCompleteTetracobalt(mst.CN_S_END_BIT);
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if (mst.CN_S_BUSS_TYPE == "3楼包装补空") PLCControl.PickUpBlankComplete(mst.CN_S_END_BIT);
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if (ERPService.SendERPTaskType.Contains(mst.CN_S_BUSS_TYPE) && ERPService.ERPSwitch01 == "1") ERPService.SendERPTaskInfo(mst);
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iCallTask.DeleteTask(mst.CN_S_TASK_NO);
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}
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}
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#endregion
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if (action.CN_N_ACTION_CODE == 13) {
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var task = iCallTask.FindTask(action.CN_S_TASK_NO);
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AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), "", "AGV调整任务优先级成功" + action.Ext1);
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}
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#region 任务状态委托(1-开始;3-开始取货;4-取货完成;5-开始卸货;6-卸货完成;2-完成)
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if (action.CN_N_ACTION_CODE == 1 || action.CN_N_ACTION_CODE == 3 || action.CN_N_ACTION_CODE == 2 || action.CN_N_ACTION_CODE == 4 || action.CN_N_ACTION_CODE == 5 || action.CN_N_ACTION_CODE == 6) {
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WorkFlowAction.TrackLog(action.CN_S_TASK_NO, 1, action.CN_N_ACTION_CODE, "");
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TN_I_TASK_MST mst = iCallTask.FindTask(action.CN_S_TASK_NO);
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if (mst != null) {
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if (!string.IsNullOrEmpty(action.CN_S_DEVICE_CODE))
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{
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// 因调用AMSAPI无法在开始取货时更新车号，因此此处直接连接AMS数据库进行更新
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MoboxHelper.UpdateEndBit(mst.CN_S_TASK_NO, action.CN_S_DEVICE_CODE);
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if (action.CN_N_ACTION_CODE != 1) MoboxHelper.UpdateTaskState(mst.CN_S_TASK_NO, action.CN_N_ACTION_CODE);
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}
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if (action.CN_N_ACTION_CODE == 1)
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{
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AMSHelper.SetStatus(action.CN_S_TASK_NO, 1, "1", action.CN_S_DEVICE_CODE, true);
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if (mst.CN_S_BUSS_TYPE != "电梯取货" && mst.CN_S_BUSS_TYPE != "电梯卸货" && mst.CN_S_BUSS_TYPE != "3楼包装取料")
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WMSHelper.ExecuteState(mst.CN_S_SOURCE_NO, action.CN_N_ACTION_CODE);
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}
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if (action.CN_N_ACTION_CODE == 4)
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{
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AMSHelper.SetStatus(action.CN_S_TASK_NO, 1, "4", action.CN_S_DEVICE_CODE, true);
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if (mst.CN_S_BUSS_TYPE == "3楼包装补空") PLCControl.PickUpBlankComplete(mst.CN_S_END_BIT);
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if (mst.CN_S_BUSS_TYPE.Contains("3楼包装取料")) PLCControl.CheckUpReqUnload(mst.CN_S_END_BIT, mst.CN_S_TASK_NO);
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if (mst.CN_S_BUSS_TYPE == "3楼缓存架入叠托") WMSHelper.ExecuteState(mst.CN_S_SOURCE_NO, action.CN_N_ACTION_CODE);
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if (mst.CN_S_BUSS_TYPE == "3楼缓存架入叠托") PLCControl.writeStackingMouth6(mst.CN_S_END_BIT, mst.CN_S_TASK_NO);
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if (mst.CN_S_BUSS_TYPE == "包装线补空") PLCControl.PickUpBlankCompleteTetracobalt(mst.CN_S_END_BIT, mst.CN_S_START_BIT);
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//四钴车间根据起点改变货位托盘类型绑定关系
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var trayInfo = MongoDBSingleton.Instance.FindOne<trayTypeTable>(Query.EQ("locCode", mst.CN_S_START_BIT), "trayTypeTable");
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if(trayInfo != null)
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{
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MongoDBSingleton.Instance.Update<trayTypeTable>(Query.EQ("locCode", mst.CN_S_START_BIT), Update.Set("locCode", mst.CN_S_END_BIT), UpdateFlags.None);
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}
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}
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if (action.CN_N_ACTION_CODE == 6)
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{
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AMSHelper.SetStatus(action.CN_S_TASK_NO, 1, "6", action.CN_S_DEVICE_CODE, true);
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if (mst.CN_S_BUSS_TYPE == "3楼包装补空")
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{
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//将数据记录到中间表
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var agvloc = Settings.GetDDSiteList().Where(a => a.ddLoc == mst.CN_S_END_BIT).First();
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if (agvloc != null)
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{
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var quantity = agvloc.quantity;
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CMMLog.Info($"3楼包装补空，终点{mst.CN_S_END_BIT}站点个数：{quantity}");
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var emptyInfo = MongoDBSingleton.Instance.FindOne<BZEmptyPoint>(Query.EQ("Bit", mst.CN_S_END_BIT), "BZEmptyPoint");
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if (emptyInfo != null)
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{
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MongoDBSingleton.Instance.Update<BZEmptyPoint>(Query.EQ("Bit", mst.CN_S_END_BIT), Update.Set("Quantity", quantity), UpdateFlags.None);
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}
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else
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{
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MongoDBSingleton.Instance.Insert(new BZEmptyPoint { Bit = mst.CN_S_END_BIT, Quantity = quantity });
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}
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}
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}
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if (mst.CN_S_BUSS_TYPE == "四钴成品出库" || mst.CN_S_BUSS_TYPE == "四钴辅材出库")
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{
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//3楼成品出库收到6之后，终点货位数量减1，（注：6信号会发多次）
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var slptInfo = MongoDBSingleton.Instance.FindOne<SLPTLoc>(Query.And(Query.EQ("locCode", mst.CN_S_END_BIT), Query.EQ("count", 0)), "SLPTLoc");
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if (slptInfo != null)
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{
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MongoDBSingleton.Instance.Update<SLPTLoc>(Query.EQ("locCode", mst.CN_S_END_BIT), Update.Set("taskNum", slptInfo.taskNum - 1).Set("count", slptInfo.count + 1), UpdateFlags.None);
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}
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//四钴成品出库卸货完成，删除货位托盘类型绑定表数据
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MongoDBSingleton.Instance.Remove<trayTypeTable>(Query.EQ("locCode", mst.CN_S_END_BIT), "trayTypeTable", RemoveFlags.None);
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}
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}
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if (action.CN_N_ACTION_CODE == 2) {
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AMSHelper.SetStatus(action.CN_S_TASK_NO, 1, "2", action.CN_S_DEVICE_CODE, true);
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CMMLog.Info($"完成任务处理：收到2信号之后特殊任务类型处理：任务号：{mst.CN_S_TASK_NO},任务类型：{mst.CN_S_BUSS_TYPE}");
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if (mst.CN_S_BUSS_TYPE == "电梯取货")
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{
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var ele = MongoDBSingleton.Instance.FindOne<ElevatorTask>(Query.EQ("taskNo", mst.CN_S_SOURCE_NO), "ElevatorTask");
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if (ele != null)
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{
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AMSHelper.SetStatus(ele.wmsTaskNo, 1, "2", action.CN_S_DEVICE_CODE, true);
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WMSHelper.ExecuteState(ele.wmsSourceNo, action.CN_N_ACTION_CODE);
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MongoDBSingleton.Instance.Remove<ElevatorTask>(Query.EQ("taskNo", mst.CN_S_SOURCE_NO), RemoveFlags.Single);
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}
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}
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if (mst.CN_S_BUSS_TYPE != "电梯取货" && mst.CN_S_BUSS_TYPE != "电梯卸货" && mst.CN_S_BUSS_TYPE != "3楼包装取料")
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WMSHelper.ExecuteState(mst.CN_S_SOURCE_NO, action.CN_N_ACTION_CODE);
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//if (mst.CN_S_BUSS_TYPE == "3楼包装补空") PLCControl.PickUpBlankComplete(mst.CN_S_END_BIT);
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if (mst.CN_S_BUSS_TYPE == "四钴成品出库" || mst.CN_S_BUSS_TYPE == "四钴辅材出库")
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{
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//3楼成品出库收到2信号之后 将中间表count数量清除
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var slptInfo = MongoDBSingleton.Instance.FindOne<SLPTLoc>(Query.EQ("locCode", mst.CN_S_END_BIT), "SLPTLoc");
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if (slptInfo != null)
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{
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MongoDBSingleton.Instance.Update<SLPTLoc>(Query.EQ("locCode", mst.CN_S_END_BIT), Update.Set("count", 0), UpdateFlags.None);
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}
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}
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if (ERPService.SendERPTaskType.Contains(mst.CN_S_BUSS_TYPE) && ERPService.ERPSwitch01 == "1") ERPService.SendERPTaskInfo(mst);
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iCallTask.DeleteTask(mst.CN_S_TASK_NO);
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}
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}
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}
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#endregion
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#region 小车状态写入通道 (1-开始;2-完成 4-取货完成 6-卸货完成)
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if (action.CN_N_ACTION_CODE == 1 || action.CN_N_ACTION_CODE == 2 || action.CN_N_ACTION_CODE == 4 || action.CN_N_ACTION_CODE == 6)
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{
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WorkFlowAction.TrackLog(action.CN_S_TASK_NO, 1, action.CN_N_ACTION_CODE, "");
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TN_I_TASK_MST mst = iCallTask.FindTask(action.CN_S_TASK_NO);
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CMMLog.Info($"小车状态写入通道处理开始");
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if (mst != null)
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{
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CMMLog.Info($"车号：{mst.CN_S_ForkliftNo}");
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var stateInfo = Settings.GetAGVStateList().Where(a => a.AgvNo == mst.CN_S_ForkliftNo && a.enable == 1).FirstOrDefault();
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if (stateInfo != null)
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{
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if (action.CN_N_ACTION_CODE == 1)
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{
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//开始，往通道写入1
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var writeRes = OITcpHelper.RegisterWriteOutPut(new OITcpHelper.RegisterWriteOutPutModel
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{
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host = stateInfo.ip,
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port = stateInfo.port,
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addr = stateInfo.writeAddr + 5,
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data = 1
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});
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CMMLog.Info($"在通道{stateInfo.writeAddr + 5}中写入1，ip：{stateInfo.ip}，端口：{stateInfo.port}");
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}
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if (action.CN_N_ACTION_CODE == 2)
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{
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//完成，往通道写入0
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var writeRes = OITcpHelper.RegisterWriteOutPut(new OITcpHelper.RegisterWriteOutPutModel
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{
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host = stateInfo.ip,
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port = stateInfo.port,
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addr = stateInfo.writeAddr + 5,
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data = 0
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});
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CMMLog.Info($"在通道{stateInfo.writeAddr + 5}中写入0，ip：{stateInfo.ip}，端口：{stateInfo.port}");
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}
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if (action.CN_N_ACTION_CODE == 4)
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{
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//取货完成，往通道写入1
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var writeRes = OITcpHelper.RegisterWriteOutPut(new OITcpHelper.RegisterWriteOutPutModel
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{
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host = stateInfo.ip,
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port = stateInfo.port,
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addr = stateInfo.writeAddr + 6,
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data = 1
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});
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CMMLog.Info($"在通道{stateInfo.writeAddr + 6}中写入1，ip：{stateInfo.ip}，端口：{stateInfo.port}");
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}
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if (action.CN_N_ACTION_CODE == 6)
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{
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//卸货完成，往通道写入0
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var writeRes = OITcpHelper.RegisterWriteOutPut(new OITcpHelper.RegisterWriteOutPutModel
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{
|
host = stateInfo.ip,
|
port = stateInfo.port,
|
addr = stateInfo.writeAddr + 6,
|
data = 0
|
});
|
CMMLog.Info($"在通道{stateInfo.writeAddr + 6}中写入1，ip：{stateInfo.ip}，端口：{stateInfo.port}");
|
}
|
}
|
else CMMLog.Info($"小车{mst.CN_S_ForkliftNo}信号未配置");
|
}
|
|
}
|
#endregion
|
|
#region 3楼设备任务
|
|
//起点安全对接 1012：安全请求进入 4：安全请求退出
|
if (action.CN_N_ACTION_CODE == 1012 || action.CN_N_ACTION_CODE == 4 || action.CN_N_ACTION_CODE == 1312)
|
{
|
CMMLog.Info($"起点安全对接:收到信号：{action.CN_N_ACTION_CODE},任务号：{action.CN_S_TASK_NO}，开始根据任务号查询主表中对应数据！");
|
var mst = iCallTask.FindTask(action.CN_S_TASK_NO);
|
if (mst != null)
|
{
|
CMMLog.Info($"起点安全对接：收到任务号：{mst.CN_S_TASK_NO},任务类型：{mst.CN_S_BUSS_TYPE},任务信号：{action.CN_N_ACTION_CODE}");
|
//3楼拆盘补空：拆盘机补空托盘 3楼包装补空：包装机补空托
|
if (mst.CN_S_BUSS_TYPE.Contains("3楼包装取料") || mst.CN_S_BUSS_TYPE == "3楼复称入缓存架" || mst.CN_S_BUSS_TYPE == "3楼复称入缓存架NG" || mst.CN_S_BUSS_TYPE == "3楼缓存架入叠托" || mst.CN_S_BUSS_TYPE == "3楼叠盘下线" || mst.CN_S_BUSS_TYPE == "3楼打包下线" || mst.CN_S_BUSS_TYPE == "四钴辅材入库")
|
{
|
CMMLog.Info($"起点安全对接：即将进入任务流程：{mst.CN_S_BUSS_TYPE},状态号为:{action.CN_N_ACTION_CODE}");
|
ProcessHelper.StartPickUpDoorSafe(mst, action.CN_N_ACTION_CODE);
|
}
|
else if (mst.CN_S_BUSS_TYPE == "电梯卸货" || mst.CN_S_BUSS_TYPE == "电梯取货" || mst.CN_S_BUSS_TYPE == "满托转运")
|
{
|
if(mst.CN_S_BUSS_TYPE == "电梯取货" && action.CN_N_ACTION_CODE != 1012)
|
{
|
ProcessHelper.OperateDoor(mst, action.CN_N_ACTION_CODE == 1312 ? 1012 : 4);
|
}
|
}
|
}
|
}
|
|
//滚筒车起点到位信号、取货完成信号 1112 1212 3、4 只对滚筒车对接
|
if (action.CN_N_ACTION_CODE == 1112 || action.CN_N_ACTION_CODE == 1212)
|
{
|
var mst = iCallTask.FindTask(action.CN_S_TASK_NO);
|
if (mst != null)
|
{
|
if (mst.CN_S_BUSS_TYPE.Contains("3楼包装取料"))
|
{
|
ProcessHelper.PickupAndUnload(mst, action.CN_N_ACTION_CODE);
|
}
|
}
|
}
|
|
if (action.CN_N_ACTION_CODE == 8)
|
{
|
var mst = iCallTask.FindTask(action.CN_S_TASK_NO);
|
if (mst != null)
|
{
|
var plc = Settings.GetPlcInfo().Where(a => a.location == mst.CN_S_START_BIT).FirstOrDefault();
|
|
if (mst.CN_S_BUSS_TYPE == "3楼缓存架入叠托")
|
{
|
CMMLog.Debug($"3楼缓存架入叠托NG：TaskNo:{action.CN_S_TASK_NO},叠包NG写入值4。");
|
PLCControl.CacheStackingMouth8(plc);
|
}
|
}
|
}
|
|
//终点安全对接 1013：安全请求进入 6：安全请求退出
|
if (action.CN_N_ACTION_CODE == 1013 || action.CN_N_ACTION_CODE == 6 || action.CN_N_ACTION_CODE == 1312)
|
{
|
CMMLog.Info($"终点安全对接:收到信号：{action.CN_N_ACTION_CODE},任务号：{action.CN_S_TASK_NO}，开始根据任务号查询主表中对应数据！");
|
TN_I_TASK_MST mst = iCallTask.FindTask(action.CN_S_TASK_NO);
|
if (mst != null)
|
{
|
CMMLog.Info($"终点安全对接：收到任务号：{mst.CN_S_TASK_NO},任务类型：{mst.CN_S_BUSS_TYPE},任务信号：{action.CN_N_ACTION_CODE}");
|
//3楼拆盘补空：拆盘机补空托盘 3楼包装补空：包装机补空托
|
if (mst.CN_S_BUSS_TYPE.Contains("3楼包装取料") || mst.CN_S_BUSS_TYPE == "3楼复称入缓存架" || mst.CN_S_BUSS_TYPE == "3楼缓存架入叠托" || mst.CN_S_BUSS_TYPE == "3楼拆盘补空" || mst.CN_S_BUSS_TYPE == "电梯取货" || mst.CN_S_BUSS_TYPE == "包装线补空" || mst.CN_S_BUSS_TYPE == "四钴成品出库" || mst.CN_S_BUSS_TYPE == "四钴辅材出库")
|
{
|
ProcessHelper.EndPickUpDoorSafe(mst, action.CN_N_ACTION_CODE);
|
}
|
if (mst.CN_S_BUSS_TYPE == "电梯取货" || mst.CN_S_BUSS_TYPE == "电梯卸货" || mst.CN_S_BUSS_TYPE == "满托转运")
|
{
|
//二段电梯任务终点交互
|
if (mst.CN_S_BUSS_TYPE == "电梯取货" && action.CN_N_ACTION_CODE != 1312)
|
{
|
//电梯取货任务 终点不需要进行安全交互
|
}
|
else if (mst.CN_S_BUSS_TYPE == "电梯卸货")
|
{
|
//小车到达等待点之后发送信号，判断哪部电梯可以使用，然后创建电梯生成任务
|
//异常情况需要打印：1.两部电梯都不可以使用，2.两部电梯都可以使用，默认使用第一台电梯设备
|
CMMLog.Info($"终点安全对接:电梯卸货:收到信号{action.CN_N_ACTION_CODE}");
|
if (action.CN_N_ACTION_CODE == 1312 || action.CN_N_ACTION_CODE == 6)
|
{
|
var taskBit = MongoDBSingleton.Instance.FindOne<ElevatorTask>(Query.EQ("taskNo", mst.CN_S_SOURCE_NO), "ElevatorTask");
|
CMMLog.Info($"终点安全对接:电梯卸货:taskno:{mst.CN_S_TASK_NO}，occupy:{taskBit.occupy}");
|
if (taskBit.occupy == "")
|
{
|
string eleBit = PLCControl.ElevatorTaskBit(taskBit.startFloor);
|
CMMLog.Info("终点安全对接:电梯卸货:获取电梯点位elebit" + eleBit);
|
if (eleBit == "0")
|
{
|
CMMLog.Info("终点安全对接:电梯卸货:当前无电梯可以使用！");
|
Console.WriteLine("终点安全对接:电梯卸货:当前无电梯可以使用！");
|
}
|
else
|
{
|
//改终点为开启的电梯
|
//TSHelper.GoToAGV(mst.CN_S_TASK_NO, 1, StockInstance.Instance.GetAGVCodeForBitCode(eleBit));
|
|
//TSHelper.GoToAGV(mst.CN_S_TASK_NO, 2, StockInstance.Instance.GetAGVCodeForBitCode(eleBit));
|
//AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "修改终点");
|
var taskInfo = MongoDBSingleton.Instance.FindOne<ElevatorTask>(Query.EQ("taskNo", mst.CN_S_SOURCE_NO), "ElevatorTask");
|
//赋值 二段电梯点位
|
MongoDBSingleton.Instance.Update<TN_I_TASK_MST>(Query.EQ("_id", mst._id), Update.Set("Ext3",eleBit), UpdateFlags.None);
|
string endBit02 = PLCControl.ElevatorTaskBit02(eleBit);
|
MongoDBSingleton.Instance.Update<ElevatorTask>(Query.EQ("taskNo", taskInfo.taskNo), Update.Set("taskNo", taskInfo.wmsTaskNo + "_1").Set("endBit02", endBit02).Set("occupy", eleBit).Set("endBit",eleBit), UpdateFlags.None);
|
CMMLog.Info("终点安全对接:电梯卸货:elebit:" + eleBit);
|
//写入当前楼层--呼叫电梯
|
PLCControl.ElevatorTaskFloor(taskInfo.startFloor, eleBit);
|
}
|
}
|
else
|
{
|
CMMLog.Info("终点安全对接:电梯卸货:电梯occupy占用字段不为空，进入电梯开门关门服务！");
|
ProcessHelper.OperateDoor(mst, action.CN_N_ACTION_CODE);
|
}
|
}
|
}
|
}
|
}
|
}
|
|
//滚筒车终点到位信号、卸货完成信号 1113 1213 5、6 只对滚筒车对接
|
if (action.CN_N_ACTION_CODE == 1113 || action.CN_N_ACTION_CODE == 1213)
|
{
|
var mst = iCallTask.FindTask(action.CN_S_TASK_NO);
|
if (mst != null)
|
{
|
//3楼拆盘补空：拆盘机补空托盘 3楼包装补空：包装机补空托
|
if (mst.CN_S_BUSS_TYPE.Contains("3楼包装取料")) ProcessHelper.DiscRemoverEmptySupport(mst, action.CN_N_ACTION_CODE);
|
}
|
}
|
|
//缓存架入叠托，小车扫码
|
if(action.CN_N_ACTION_CODE == 1313)
|
{
|
TN_I_TASK_MST mst = iCallTask.FindTask(action.CN_S_TASK_NO);
|
var plc = Settings.GetPlcInfo().Where(a => a.location == mst.CN_S_END_BIT).FirstOrDefault();
|
if(plc != null)
|
{
|
PLCControl.CacheStackingMouth1313(plc.deviceType, mst.CN_S_TASK_NO);
|
//AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "小车扫码");
|
}
|
}
|
|
|
#region 电动门A门交管信号(1023-开门 1025-关门) B门交管信号(1013-开门 6--关门)
|
if (action.CN_N_ACTION_CODE == 1023)
|
{
|
CMMLog.Info($"收到信号{action.CN_N_ACTION_CODE},门号：{action.Ext2}");
|
//电动门开门
|
var doorInfo = Settings.GetPlcInfo().Where(a => a.Extend == action.Ext2 && a.enable == 1).FirstOrDefault();
|
if (doorInfo != null)
|
{
|
//电动门开门步骤：
|
//1、在通道【40101】中写入1，发送开门信号
|
//2、读取通道【40001】中的值，如果为1，表示开门到位，通知小车进去
|
var writeRes = OITcpHelper.RegisterWriteOutPut(new OITcpHelper.RegisterWriteOutPutModel
|
{
|
host = doorInfo.ip,
|
port = doorInfo.port,
|
addr = doorInfo.writeAddr,
|
data = 1
|
});
|
CMMLog.Info($"发送开门信号，在通道{doorInfo.writeAddr}中写入1，ip：{doorInfo.ip}，端口：{doorInfo.port}");
|
|
var result = OITcpHelper.RegisterReadOutPut(new OITcpHelper.RegisterReadOutPutModel
|
{
|
dataNum = 1,
|
addr = doorInfo.readAddr,
|
host = doorInfo.ip,
|
port = doorInfo.port
|
});
|
|
if (result != null && result.errCode == 0)
|
{
|
CMMLog.Info($"电动门开门流程：读取电动门通道号为：{doorInfo.readAddr}里面的值为{result.result[0]}");
|
//Console.WriteLine($"电动门开门流程：读取电动门通道号为：{doorInfo.readAddr}里面的值为{result.result[0]},{doorInfo.readAddr + 1}里面的值为{result.result[1]}");
|
if (result.result[0] == 2)
|
{
|
//推送小车进去
|
CMMLog.Info($"电动门已经打开，门号：{action.Ext2}");
|
|
writeRes = OITcpHelper.RegisterWriteOutPut(new OITcpHelper.RegisterWriteOutPutModel
|
{
|
host = doorInfo.ip,
|
port = doorInfo.port,
|
addr = doorInfo.writeAddr,
|
data = 2
|
});
|
CMMLog.Info($"在通道{doorInfo.writeAddr}中写入2，ip：{doorInfo.ip}，端口：{doorInfo.port}");
|
|
TSHelper.Traffic(action.Ext2);
|
}
|
}
|
else CMMLog.Info($"电动门开门流程：未读取到包装机通道{doorInfo.readAddr}里面的数据！！！result:{JsonConvert.SerializeObject(result)}");
|
}
|
else CMMLog.Info($"门号为【{action.Ext2}】的门未在配置文件配置或者未启用");
|
}
|
else if (action.CN_N_ACTION_CODE == 1025)
|
{
|
//电动门关门
|
var doorInfo = Settings.GetPlcInfo().Where(a => a.Extend == action.Ext2 && a.enable == 1).FirstOrDefault();
|
if (doorInfo != null)
|
{
|
//电动门关门步骤
|
//1、小车通过电动门后，在通道【40101】中写入2
|
var writeRes = OITcpHelper.RegisterWriteOutPut(new OITcpHelper.RegisterWriteOutPutModel
|
{
|
host = doorInfo.ip,
|
port = doorInfo.port,
|
addr = doorInfo.writeAddr,
|
data = 3
|
});
|
CMMLog.Info($"电动门关门流程，在通道{doorInfo.writeAddr}中写入2，ip：{doorInfo.ip}，端口：{doorInfo.port}");
|
}
|
else CMMLog.Info($"门号为【{action.Ext2}】的门未在配置文件配置或者未启用");
|
}
|
#endregion
|
|
#endregion
|
|
return iResult;
|
}
|
|
#region AGV车体状态信息
|
public void HangChaAGVEvent(HangChaAGV _hangChaAGV) {
|
}
|
public void HangChaAGVEvent(List<HangChaAGV> agvs) {
|
|
}
|
|
#endregion
|
|
/// <summary>
|
/// 周转托盘位
|
/// </summary>
|
public class BZEmptyPoint
|
{
|
public ObjectId _id { get; set; }
|
/// <summary>
|
/// 空托缓存点
|
/// </summary>
|
public string Bit { get; set; }
|
/// <summary>
|
/// 托盘数量
|
/// </summary>
|
public int Quantity { get; set; }
|
}
|
|
}
|
}
|
