using HH.WCS.Mobox3.SXJK.core;
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using HH.WCS.Mobox3.SXJK.dispatch;
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using HH.WCS.Mobox3.SXJK.util;
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using HH.WCS.Mobox3.SXJK.wms;
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using Newtonsoft.Json;
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using SqlSugar;
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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.Security.Cryptography;
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namespace HH.WCS.Mobox3.SXJK.process {
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internal class TaskProcess {
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#region 任务相关
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//--------------------------------------------------任务相关--------------------------------------------------
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/// <summary>
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/// 取货卸货完成，缓存位状态更新
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/// </summary>
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/// <param name="mst"></param>
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/// <param name="v"></param>
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internal static void CacheBitUpdate(WCSTask mst, bool load) {
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var trayCarryCount = mst.N_CNTR_COUNT > 0 ? mst.N_CNTR_COUNT : 1;
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if (load) {
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Console.WriteLine($"任务{mst.S_CODE} 货位{mst.S_START_LOC}取货完成，起点解绑容器{mst.S_CNTR_CODE}");
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LogHelper.Info($"任务{mst.S_CODE} 货位{mst.S_START_LOC}取货完成，起点解绑容器{mst.S_CNTR_CODE}");
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LocationHelper.UnBindingLoc(mst.S_START_LOC, mst.S_CNTR_CODE.Split(',').ToList());
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}
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else {
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Console.WriteLine($"任务{mst.S_CODE} 货位{mst.S_END_LOC}卸货完成，终点绑定容器{mst.S_CNTR_CODE}");
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LogHelper.Info($"任务{mst.S_CODE} 货位{mst.S_END_LOC}卸货完成，起点解绑容器{mst.S_CNTR_CODE}");
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LocationHelper.BindingLoc(mst.S_END_LOC, mst.S_CNTR_CODE.Split(',').ToList());
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}
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}
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/// <summary>
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/// 任务取消，缓存位状态更新
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/// </summary>
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/// <param name="mst"></param>
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internal static void CacheBitCancelUpdate(WCSTask mst) {
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//任务取消，取货完成前的，起点的loadingCount和终点unLoadingCount都清除，取货完成的只处理终点
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if (WCSHelper.CheckActionRecordExist(mst.S_CODE, 4)) {
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//根据客户现场要求，如果取货完成任务失败人工拉到终点，我们就当卸货完成处理；如果是人工拉走到其它区域，我们就解锁终点，删除托盘。
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//终点绑定
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CacheBitUpdate(mst, false);
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LocationHelper.UnLockLoc(mst.S_END_LOC);
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}
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else {
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//起点终点解锁
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LocationHelper.UnLockLoc(mst.S_START_LOC);
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LocationHelper.UnLockLoc(mst.S_END_LOC);
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}
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}
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/// <summary>
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/// 安全请求
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/// </summary>
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/// <param name="no"></param>
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/// <param name="state"></param>
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/// <param name="forkliftNo"></param>
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/// <param name="extData"></param>
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internal static void OperateReq(string no, int state, string forkliftNo, string extData) {
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if (state == 1101) {
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//请求取货，
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}
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if (state == 1102) {
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//请求卸货，
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//根据终点判断，是cb02的入口，判断内存中状态（要状态时间），允许卸货，通知agv改参数
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var dic=new Dictionary<string, string>();
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//< Req >< Order No = 'TN2302020002' ParamNo = '18' Param1 = '12' /></ Req >
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dic.Add("No", no);
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dic.Add("ParamNo", "8");
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dic.Add("Param1", "1");
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NDC.ChangeOrder(dic);
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//改完参数车子就会自己卸货
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}
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if (state == 1103) {
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//大铁框叉走以后通知，我们要通知输送线
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}
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}
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/// <summary>
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/// 任务拦截
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/// </summary>
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/// <param name="task"></param>
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/// <returns></returns>
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internal static bool Intercept(WCSTask mst) {
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var result = false;
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//出库任务是批量生成的，初始终点我们先给一个虚拟点，不推送。有单独的现场去判断出库缓存区光电，空了再给出库任务分配终点
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if (mst.S_END_LOC.Trim() == "出库虚拟点") {
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result = true;
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}
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return result;
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}
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/// <summary>
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/// 任务状态更新处理
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/// </summary>
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/// <param name="mst"></param>
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/// <param name="state"></param>
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internal static void OperateStatus(WCSTask mst, int state) {
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if (state == 4) {
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CacheBitUpdate(mst, true);
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}
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if (state == 6)//卸货完成
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{
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CacheBitUpdate(mst, false);
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}
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if (state == 7) {
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CacheBitCancelUpdate(mst);
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}
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}
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private static object locLocker = new object();
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/// <summary>
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/// 堆叠库区出入库任务申请
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/// </summary>
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/// <param name="ls"></param>
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/// <param name="cntrs"></param>
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/// <param name="area"></param>
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/// <param name="itemCode"></param>
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/// <param name="itemBatch"></param>
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/// <param name="taskType"></param>
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/// <param name="insStock"></param>
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/// <returns></returns>
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internal static bool ApplyTN_Task(Location ls, ref List<string> cntrs, string area, string itemCode, string itemBatch, string taskType, bool insStock = true) {
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var result = false;
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lock (locLocker) {
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try {
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if (insStock) {
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Console.WriteLine($"MoboxHelperCreateTask: {area}-{itemCode}-{itemBatch}-{taskType}");
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var endTN_Location = TEST.GetTN_Location4In(area, itemCode, itemBatch, 3);
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if (endTN_Location != null) {
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var endLayer = endTN_Location.N_CURRENT_NUM == 0 ? 1 : 2;
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var taskNo = DateTime.Now.Ticks.ToString();
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result = TaskProcess.CreateTransport(ls.S_CODE, endTN_Location.S_CODE, taskType, cntrs, 1, endLayer, 3, 70);
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}
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else {
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Console.WriteLine($"MoboxHelperCreateTask: 未找到终点货位");
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}
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}
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else {
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var startTN_Location = TEST.GetTN_Location4Out(area, itemCode, itemBatch, 3);
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if (startTN_Location != null) {
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var startLayer = startTN_Location.N_CURRENT_NUM <= 3 ? 1 : 2;
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var taskNo = DateTime.Now.Ticks.ToString();
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var carryCount = startTN_Location.N_CURRENT_NUM > 3 ? startTN_Location.N_CURRENT_NUM - 3 : startTN_Location.N_CURRENT_NUM;
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//出库要从起点获取托盘
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var cntrList = LocationHelper.GetLocCntr(startTN_Location.S_CODE);
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if (cntrList.Count == startTN_Location.N_CURRENT_NUM) {
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cntrs = cntrList.OrderByDescending(a => a.T_CREATE).Take(carryCount).Select(a => a.S_CNTR_CODE.Trim()).ToList();
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result = TaskProcess.CreateTransport(startTN_Location.S_CODE, ls.S_CODE, taskType, cntrs, startLayer, 1, carryCount, 65);
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}
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else {
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Console.WriteLine($"起点托盘数量和货位容器表不符合，请检查【货位表】和【货位容器表】");
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}
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}
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}
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}
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catch (Exception ex) {
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Console.WriteLine("MoboxHelperCreateTask:" + ex.Message);
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LogHelper.Error("MoboxHelperCreateTask:" + ex.Message, ex);
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}
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}
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return result;
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}
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/// <summary>
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/// 普通货架区的出入库申请
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/// </summary>
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/// <param name="ls"></param>
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/// <param name="cntrs"></param>
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/// <param name="area"></param>
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/// <param name="taskType"></param>
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/// <param name="itemCode"></param>
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/// <param name="insStock"></param>
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/// <returns></returns>
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internal static bool ApplyNormalTN_Task(Location ls, ref List<string> cntrs, string area, string taskType, string itemCode, bool insStock = true) {
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var result = false;
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lock (locLocker) {
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try {
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if (insStock) {
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Console.WriteLine($"MoboxHelperCreateTask: {area}-{taskType}");
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var endTN_Location = new Location();
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if (endTN_Location != null) {
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var taskNo = DateTime.Now.Ticks.ToString();
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result = TaskProcess.CreateTransport(ls.S_CODE, endTN_Location.S_CODE, taskType, cntrs, 70);
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}
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else {
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Console.WriteLine($"MoboxHelperCreateTask: 未找到终点货位");
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}
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}
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else {
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var startTN_Location = new Location();
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if (startTN_Location != null) {
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//出库要从起点获取托盘
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var cntrList = LocationHelper.GetLocCntr(startTN_Location.S_CODE);
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if (cntrList.Count == startTN_Location.N_CURRENT_NUM) {
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result = TaskProcess.CreateTransport(startTN_Location.S_CODE, ls.S_CODE, taskType, new List<string> { cntrList[0].S_CNTR_CODE }, 65);
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}
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else {
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Console.WriteLine($"起点托盘数量和货位容器表不符合，请检查【货位表】和【货位容器表】");
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}
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}
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}
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}
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catch (Exception ex) {
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Console.WriteLine("MoboxHelperCreateTask:" + ex.Message);
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LogHelper.Error("MoboxHelperCreateTask:" + ex.Message, ex);
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}
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}
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return result;
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}
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/// <summary>
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/// 推送任务
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/// </summary>
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/// <param name="mst"></param>
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internal static bool SendTask(WCSTask mst) {
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var result = false;
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var taskType = mst.S_TYPE.Trim();
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if (mst.N_B_STATE == 0)
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{
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var startLoc = LocationHelper.GetLocation(mst.S_START_LOC);
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var endLoc = LocationHelper.GetLocation(mst.S_END_LOC);
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var cntrCodes = mst.S_CNTR_CODE.Split(',').ToList();
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if (mst.S_SCHEDULE_TYPE == "国自")
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{
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var wmsTask = WMSHelper.GetWmsTask(mst.S_OP_CODE);
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// 判断推送条件是否满足
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// 2.货位前方是否有货，有则进行移库,没则进行出库
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var startShiftLoc = WMSHelper.getShiftLocation(startLoc);
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var endShiftLoc = WMSHelper.getShiftLocation(endLoc);
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if (startShiftLoc != null)
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{
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LogHelper.Info("移库阻塞,移库货位：" + startShiftLoc, "Mobox");
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var wcsTask = WCSHelper.GetTaskByStart(startShiftLoc.S_CODE);
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if (wcsTask == null)
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{
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LogHelper.Info("移库阻塞进行自动移库", "Mobox");
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Monitor.agvAutoShiftStock(wmsTask.S_CODE, "移库阻塞AGV自动移库", startShiftLoc);
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return false;
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}
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}
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if (endShiftLoc != null)
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{
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LogHelper.Info("移库阻塞进行自动移库,移库货位：" + endShiftLoc, "Mobox");
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var wcsTask = WCSHelper.GetTaskByStart(endShiftLoc.S_CODE);
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if (wcsTask == null)
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{
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LogHelper.Info("移库阻塞进行自动移库", "Mobox");
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Monitor.agvAutoShiftStock(wmsTask.S_CODE, "移库阻塞AGV自动移库", endShiftLoc);
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return false;
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}
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}
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if (cntrCodes.Count() == 1)
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{
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// 判断开始货位取货高度
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var startLocCntrRels = LocationHelper.GetLocCntr(mst.S_START_LOC);
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if (startLocCntrRels != null && startLocCntrRels.Count == 2)
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{
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var upCntr = startLocCntrRels.Where(a => a.N_BIND_ORDER == 2).FirstOrDefault();
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var downCntr = startLocCntrRels.Where(a => a.N_BIND_ORDER == 1).FirstOrDefault();
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if (upCntr != null && downCntr != null && cntrCodes[0] == upCntr.S_CNTR_CODE) {
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var cntrItemRel = ContainerHelper.GetCntrItemRel(downCntr.S_CNTR_CODE).FirstOrDefault();
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if (cntrItemRel != null)
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{
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float height = WMSHelper.getFurHeight(cntrItemRel.LOTATT10);
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mst.S_START_LOC = mst.S_START_LOC + "-" + height;
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}
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}
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}
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// 判断终点货位的放货高度
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var endLocCntrRels = LocationHelper.GetLocCntr(mst.S_END_LOC);
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if (endLocCntrRels != null && endLocCntrRels.Count == 1) {
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var cntrItemRel = ContainerHelper.GetCntrItemRel(endLocCntrRels[0].S_CNTR_CODE).FirstOrDefault();
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if (cntrItemRel != null) {
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float height = WMSHelper.getFurHeight(cntrItemRel.LOTATT10);
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mst.S_END_LOC = mst.S_END_LOC + "-" + height;
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}
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}
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}
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var dic = new Dictionary<string, object>();
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dic.Add("src", mst.S_START_LOC);
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dic.Add("dst", mst.S_END_LOC);
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dic.Add("palletNo", mst.S_CNTR_CODE);
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string parameters = JsonConvert.SerializeObject(dic);
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Console.WriteLine("额外参数：" + parameters);
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// 国自 创建订单
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int orderId = GZRobot.CreateOrder(mst.S_CODE, mst.N_PRIORITY, parameters);
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// TODO 测试 orderId 随机数
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/*orderId = new Random().Next(100000);*/
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if (orderId != 0)
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{
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var db = new SqlHelper<WCSTask>().GetInstance();
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mst.S_EQ_TASK_CODE = orderId.ToString();
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mst.N_B_STATE = 1;
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mst.S_B_STATE = WCSTask.GetStateStr(mst.N_B_STATE);
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mst.T_MODIFY = DateTime.Now;
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db.Updateable(mst).UpdateColumns(it => new { it.S_EQ_TASK_CODE, it.N_B_STATE, it.S_B_STATE, it.T_MODIFY }).ExecuteCommand();
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}
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else
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{
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LogHelper.Debug("国自创建订单失败", "ZS7412");
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}
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}
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}
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return result;
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}
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/// <summary>
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/// 创建搬运任务
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/// </summary>
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/// <param name="start"></param>
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/// <param name="end"></param>
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/// <param name="taskType"></param>
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/// <param name="cntrs"></param>
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/// <param name="startLayer"></param>
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/// <param name="endLayer"></param>
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/// <param name="trayCarryCount"></param>
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/// <param name="priority"></param>
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/// <returns></returns>
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public static bool CreateTransport(string start, string end, string taskType, List<string> cntrs, int startLayer, int endLayer, int trayCarryCount = 1, int priority = 1) {
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var result = false;
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//批次号存托盘号，1~3个托盘
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var trayCodes = string.Join(",", cntrs);
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var taskNo = DateTime.Now.Ticks.ToString();
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var res = WCSHelper.CreateTask(taskNo, start.Trim(), end.Trim(), taskType, priority, trayCodes, trayCarryCount, startLayer, endLayer);
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if (res) {
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result = true;
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//任务创建成功，起点货位出库锁定，终点货位入库锁定
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LocationHelper.LockLoc(start, 1);
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LocationHelper.LockLoc(end, 2);
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}
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return result;
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}
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public static bool CreateTransport(string start, string end, string taskType, List<string> cntrs, int priority = 1) {
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var result = false;
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//批次号存托盘号，1~3个托盘
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var trayCodes = string.Join(",", cntrs);
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var taskNo = DateTime.Now.Ticks.ToString();
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var res = WCSHelper.CreateTask(taskNo, start.Trim(), end.Trim(), taskType, priority, trayCodes, 1, 1, 1);
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if (res) {
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result = true;
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LocationHelper.LockLoc(start, 2);
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LocationHelper.LockLoc(end, 1);
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}
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return result;
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}
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#endregion
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}
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}
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