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.Tasks;
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using HH.WCS.Mobox3.DSZSH.api;
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using HH.WCS.Mobox3.DSZSH.device;
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using HH.WCS.Mobox3.DSZSH.models;
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using HH.WCS.Mobox3.DSZSH.process;
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using HH.WCS.Mobox3.DSZSH.util;
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using HH.WCS.Mobox3.DSZSH.wms;
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using Newtonsoft.Json;
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using static HH.WCS.Mobox3.DSZSH.api.ApiModel;
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namespace HH.WCS.Mobox3.DSZSH.core {
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public class WCSCore {
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public static ReturnResult OperateAgvTaskStatus(AgvTaskState model) {
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var result = new ReturnResult();
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try {
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if (model.state > 0) {
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// AGV 执行任务的逻辑处理
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if (!AgvTaskProcessOk(model)) {
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// 执行不OK，说明没有找到任务
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result.ResultCode = 1;
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result.ResultMsg = $"根据Model.No未找到对应的任务，{model.task_no}";
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LogHelper.Info(result.ResultMsg, "API");
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return result;
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}
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}
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result.ResultCode = 0;
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result.ResultMsg = "success";
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LogHelper.Info(result.ResultMsg, "API");
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return result;
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}
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catch (Exception ex) {
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result.ResultCode = -1;
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result.ResultMsg = $"发生了异常：{ex.Message}";
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LogHelper.Info(result.ResultMsg, "Error");
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return result;
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}
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}
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/// <summary>
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/// 执行 AGV 任务，查询不到任务返回 <see langword="false"/>
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/// </summary>
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/// <param name="model"></param>
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/// <returns></returns>
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private static bool AgvTaskProcessOk(AgvTaskState model) {
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var TN_Task = WCSHelper.GetTask(model.task_no); // 根据当前model编号查询任务
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if (TN_Task == null) { return false; }
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if (model.state > 7) {
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//安全请求等
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TaskProcess.OperateReq(model.task_no, model.state, model.forklift_no, model.ext_data);
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return true;
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}
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// AGV 任务 134562(7) 状态处理
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switch (model.state) {
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case 1: // 执行
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WCSHelper.Begin(TN_Task, model.forklift_no); // 已推送的任务的状态改成执行
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break;
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case 3: // 开始取货
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WCSHelper.UpdateStatus(TN_Task, "开始取货"); // 任务状态改成开始取货
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break;
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case 4: // 取货完成
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WCSHelper.UpdateStatus(TN_Task, "取货完成"); // 任务状态改成取货完成
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TaskProcess.OperateStatus(TN_Task, 4); // 起点容器货位解绑,解锁起点
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if (TN_Task.S_TYPE == TaskName.C成品胶出库) {
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var nextOutboundTask = Task.Run(() => {
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UpdateOutboundTaskState(3);
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});
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var pickUpReturnErpTask = Task.Run(() => {
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PickUpReturnErp(TN_Task);
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});
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}
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break;
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case 5: // 开始卸货
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WCSHelper.UpdateStatus(TN_Task, "开始卸货"); // 任务状态改成开始卸货
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break;
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case 6: // 卸货完成
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WCSHelper.UpdateStatus(TN_Task, "卸货完成"); // 任务状态改成卸货完成
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TaskProcess.OperateStatus(TN_Task, 6); // 终点容器货位绑定,解锁终点
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break;
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case 2: // 完成
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WCSHelper.End(TN_Task); // 任务状态改成结束
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//if (TN_Task.S_TYPE == TaskName.抽检_出库) {
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// var checkCompleteTask = Task.Run(() => {
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// UpdateCheckTaskState(3);
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// });
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//}
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var recordTask = Task.Run(() => {
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RecordTaskTable(TN_Task);
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});
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break;
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case 7: // 异常
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TaskProcess.OperateStatus(TN_Task, 7); // 异常处理
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WCSHelper.Fail(TN_Task); // 任务状态改成错误
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break;
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}
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// 将AGV执行状态，加入TN_Task_Action表中
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WCSHelper.AddActionRecord(model.task_no, model.state, model.forklift_no, model.ext_data);
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//调用第三方接口（如果有）TaskProcess.ReportStatus，添加任务动作关系表
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return true;
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}
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private static void RecordTaskTable(TN_Task task) {
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var db = new SqlHelper<object>().GetInstance();
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var info = "";
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try {
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var cgDetail = new TN_CG_Detail(); // 如果没有信息，默认就是空值，可以直接填入，不需要判断
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//var emptyTask = false; // 空托/空箱任务
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if (task.S_TYPE != TaskName.H好运箱_空箱上线 && task.S_TYPE != TaskName.H好运箱_空箱入库 &&
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task.S_TYPE != TaskName.T托盘_空托上线 && task.S_TYPE != TaskName.T托盘_空托入库) {
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// 非空托/空箱任务（空托/空箱任务无法在CGDetail查到物料信息）
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//emptyTask= true;
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cgDetail = db.Queryable<TN_CG_Detail>()
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.Where(d => d.S_CNTR_CODE == task.S_CNTR_CODE)
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.First();
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if (cgDetail == null) {
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info = $"任务{task.S_CODE}完成，记录出入库存在问题：无法在容器货品明细表中找到托盘{task.S_CNTR_CODE}对应的物料";
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LogHelper.Info(info);
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//return;
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cgDetail = new TN_CG_Detail() ;
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cgDetail.S_ITEM_CODE = "异常";
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}
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}
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var isInbound = false; // 入库类型的任务（包括移库类任务）
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var inboundTasks = new List<string> {
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TaskName.H好运箱_满箱下线入库, TaskName.H好运箱_空箱入库, TaskName.T托盘_满托下线入库, TaskName.T托盘_空托入库,
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TaskName.C抽检_合格回库, TaskName.C抽检_不合格移库, TaskName.Y移库
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};
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if (inboundTasks.Contains(task.S_TYPE)) {
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isInbound= true;
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}
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var record = new TN_Record_Table {
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S_ITEM_CODE = cgDetail.S_ITEM_CODE,
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S_BATCH_NO = cgDetail.S_BATCH_NO,
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S_ITEM_NAME = cgDetail.S_ITEM_NAME,
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S_LOC_CODE = isInbound ? task.S_END_LOC : task.S_START_LOC, // 入库记录终点货位，出库记录起点货位
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S_CNTR_CODE = task.S_CNTR_CODE,
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S_ITEM_SPEC = cgDetail.S_ITEM_SPEC,
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S_NET_WEIGHT = cgDetail.S_NET_WEIGHT,
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S_QUALITY_GRADE = cgDetail.S_QUALITY_GRADE,
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S_STANDARD = cgDetail.S_STANDARD,
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S_TASK_NO = task.S_CODE,
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T_RECORD_TIME = DateTime.Now,
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S_TYPE = task.S_TYPE,
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S_BS_CODE = task.S_BS_NO, // ERP单号，默认为空
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N_QTY = cgDetail.N_ITEM_NUM,
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S_NO = task.S_OP_CODE, // 出库/抽检/移库单
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};
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// 数据库操作
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if (db.Insertable<TN_Record_Table>(record).ExecuteCommand() <= 0) {
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info = "插入出入库记录表失败：" + JsonConvert.SerializeObject(record);
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LogHelper.Info(info);
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return;
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}
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info = "插入出入库记录表成功";
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LogHelper.Info(info);
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}
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catch (Exception ex) {
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LogHelper.InfoEx(ex);
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}
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}
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/// <summary>
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/// AGV产线安全交互逻辑实现
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/// </summary>
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/// <param name="model"></param>
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/// <returns></returns>
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public static ReturnResult SafetyInteraction(SafetyInteractionInfo model) {
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var db = new SqlHelper<object>().GetInstance();
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var info = "";
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try {
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ModbusHelper.Relink();
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//var loc = db.Queryable<TN_Location>()
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// .Where(l => l.S_AGV_SITE == model.station_name && Settings.AreaMap[AreaName.包装区].Contains(l.S_AREA_CODE))
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// .First();
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if (!Settings.AgvSite_ProdLineCodeMap.TryGetValue(model.station_name, out int prodIndex)) {
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info = $"AGV 站点{model.station_name}不是合法的产线接驳位站点";
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LogHelper.Info(info);
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return NewReturnResult(1, info);
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}
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var prodLineInfo = Settings.ProductionLines[prodIndex];
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var prodLineDevice = new ProductionLineDevice(prodLineInfo);
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if (!prodLineDevice.LoadDeviceStateOk()) {
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info = "与产线设备通讯失败";
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LogHelper.Info(info);
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return NewReturnResult(2, info);
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}
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//var tn_task = db.Queryable<TN_Task>().First(a => a.S_CODE == model.task_no);
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//if (tn_task == null) {
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// LogHelper.Info($"任务号 '{model.task_no}' 不存在");
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//}
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//if (prodLineDevice.SystemState == 1) {
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// if (prodLineDevice.FullOffline == 1 && tn_task.S_TYPE == TaskName.托盘_满托下线入库) {
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// prodLineDevice.AgvPicking = 1;
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// }
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// if (prodLineDevice.AllowAgvPlacePallet == 1 && tn_task.S_TYPE == TaskName.托盘_空托上线) {
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// prodLineDevice.AgvPlacingPallet = 1;
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// }
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//}
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if (prodLineDevice.SystemState != 1) {
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info = $"当前产线无法与AGV联动：状态{prodLineDevice.SystemState}";
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LogHelper.Info(info);
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return NewReturnResult(3, info);
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}
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if (model.apply_code == "5") { // 请求取货
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if (prodLineDevice.FullOffline != 1) {
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info = $"当前输送线满料下线信号不为1，无法取货";
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LogHelper.Info(info);
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return NewReturnResult(4, info);
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}
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if (!prodLineDevice.SetAgvPicking(1)) {
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info = $"向输送线写入允许取货信号失败";
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LogHelper.Info(info);
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return NewReturnResult(5, info);
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}
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info = $"向输送线写入允许取货信号成功";
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LogHelper.Info(info);
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return NewReturnResult(0, info);
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}
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else if (model.apply_code == "1") { // 请求卸货
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if (prodLineDevice.AllowAgvPlacePallet != 1) {
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info = $"当前输送线允许放托盘信号不为1，无法放货";
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LogHelper.Info(info);
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return NewReturnResult(6, info);
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}
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if (!prodLineDevice.SetAgvPlacingPallet(1)) {
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info = $"向输送线写入允许放货信号失败";
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LogHelper.Info(info);
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return NewReturnResult(7, info);
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}
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info = $"向输送线写入允许放货信号成功";
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LogHelper.Info(info);
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return NewReturnResult(0, info);
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}
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else {
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info = $"当前AGV请求码不为 5取货 或 1卸货";
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LogHelper.Info(info);
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return NewReturnResult(8, info);
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}
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}
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catch (Exception ex) {
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info = $"发生了异常：{ex.Message}";
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LogHelper.InfoEx(ex);
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return NewReturnResult(1, info);
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}
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}
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public static void UpdateOutboundTaskState(int spotStateCode) {
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var taskName = TaskName.C成品胶出库;
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var db = new SqlHelper<object>().GetInstance();
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var detail = db.Queryable<TN_Outbound_Detail>()
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.First(d => d.N_B_STATE == 2);
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if (detail == null) {
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LogHelper.Info($"{taskName}：AGV取货：查询明细单：当前没有执行中的明细单");
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return;
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}
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using (var tran = db.Ado.UseTran()) {
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detail.N_B_STATE = spotStateCode;
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if (db.Updateable<TN_Outbound_Detail>(detail).UpdateColumns(it => it.N_B_STATE).ExecuteCommand() <= 0) {
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tran.RollbackTran();
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LogHelper.Info($"{taskName}：AGV取货：修改明细单状态为【3任务执行完成】失败！");
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return;
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}
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var finishedCount = db.Queryable<TN_Outbound_Detail>().Count(d => d.S_OO_NO == detail.S_OO_NO && d.N_B_STATE == 3);
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var allCount = db.Queryable<TN_Outbound_Detail>().Count(d => d.S_OO_NO == detail.S_OO_NO);
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LogHelper.Info($"{taskName}：AGV取货：统计任务已完成：{finishedCount}/{allCount}");
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if (finishedCount == allCount) { // 当前出库单下的所有明细单，任务都已经完成
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if (db.Updateable<TN_Outbound_Order>().SetColumns(it => it.N_B_STATE == 3)
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.Where(it => it.S_NO == detail.S_OO_NO)
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.ExecuteCommand() <= 0) {
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tran.RollbackTran();
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LogHelper.Info($"{taskName}：AGV取货：所有任务完成时：修改单据状态为3任务执行完成--失败！");
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return;
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}
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}
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tran.CommitTran();
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}
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}
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public static void PickUpReturnErp(TN_Task task) {
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var db = new SqlHelper<object>().GetInstance();
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var info = "";
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var httpH = new HttpHelper();
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try {
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var plan = db.Queryable<TN_Outbound_Plan>()
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.Where(p => p.JHDH == task.S_BS_NO)
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.First();
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if (plan == null) {
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info = $"计划单号{task.S_BS_NO}不存在！";
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LogHelper.Info(info);
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}
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var cgDetail = db.Queryable<TN_CG_Detail>()
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.Where(d => d.S_CNTR_CODE == task.S_CNTR_CODE)
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.First();
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if (cgDetail == null) {
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info = $"物料编码不存在！";
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LogHelper.Info(info);
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}
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// TODO
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var model = new OtherModel.PickUpReturnErpInfo();
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model.sfjs = cgDetail.N_ITEM_NUM;
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model.sfsl = 0;
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//model.hw = task.S_START_LOC;
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//model.hwzt = "";
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var jsonInfo = JsonConvert.SerializeObject(model);
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var result = httpH.WebPost(Settings.ErpApiUrl + "PickUpReturn", jsonInfo);
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LogHelper.InfoApi("取货完成反馈ERP接口", model);
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}
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catch (Exception ex) {
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LogHelper.InfoEx(ex);
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}
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}
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/// <summary>
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/// 任务分发，根据调度类型发给不同的调度系统
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/// </summary>
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internal static void Dispatch() {
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//查询任务
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//获取所有等待的任务
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var list = WCSHelper.GetWaitingTaskList();
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LogHelper.Info("等待任务信息" + JsonConvert.SerializeObject(list), "API");
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if (list.Count > 0) {
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list.ForEach(task => {
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//使用自定义任务推送
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TaskProcess.SendTask(task);//调度NDC或杭奥或国自设备
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//TaskProcess.SendGZTask(task);///调度国自设备
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});
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}
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else {
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LogHelper.Info("暂无任务");
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}
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}
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}
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}
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