using HH.WCS.Mobox3.FJJF.models;
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using HH.WCS.Mobox3.FJJT.api;
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using HH.WCS.Mobox3.FJJT.device;
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using HH.WCS.Mobox3.FJJT.dispatch;
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using HH.WCS.Mobox3.FJJT.process;
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using HH.WCS.Mobox3.FJJT.wms;
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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.Web.Http;
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using static HH.WCS.Mobox3.FJJT.api.ApiHelper;
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using static HH.WCS.Mobox3.FJJT.api.ApiModel;
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using HH.WCS.Mobox3.FJJT.util;
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namespace HH.WCS.Mobox3.FJJT.core {
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internal class WCSCore {
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/// <summary>
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/// AGV任务回报
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/// 1.根据回报AGV任务状态，更新货位信息和任务状态
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/// 2.判断WMSTask是否是出库任务，是，如果工装内有物料，则判断物料是否合格，不合格，则生成不合格品入库任务
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/// 3.如果合格，则触发余料/空托回库任务
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/// </summary>
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/// <param name="model"></param>
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public static void OperateAgvTaskStatus(AgvTaskState model) {
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try
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{
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if (string.IsNullOrEmpty(model.No))
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{
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//无任务号请求(交管)
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//DeviceProcess.Traffic(model.ForkliftNo, model.LockNo, model.State==1023);
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}
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else
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{
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var cst = WCSHelper.GetTask(model.No);
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if (cst != null)
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{
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var mst = WMSHelper.GetWmsTask(cst.S_OP_CODE);
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if (mst != null)
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{
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WCSHelper.AddActionRecord(model.No, model.State, model.ForkliftNo, model.ExtData);
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if (model.State <= 7)
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{
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//有任务号请求
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switch (model.State)
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{
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case 1:
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WCSHelper.Begin(cst);
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WMSHelper.updateMesTaskStatus(mst.S_CODE, "2"); // 更新MES任务状态
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break;
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#region MyRegion
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case 3:
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WCSHelper.UpdateStatus(cst, "开始取货");
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var locCntrRels = LocationHelper.GetLocCntr(cst.S_START_LOC);
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if (locCntrRels.Count > 0)
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{
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cst.S_CNTR_CODE = locCntrRels[0].S_CNTR_CODE;
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WCSHelper.UpdateWcsTask(cst);
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}
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break;
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case 4:
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WCSHelper.UpdateStatus(cst, "取货完成");
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TaskProcess.OperateStatus(cst, 4);
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break;
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case 5:
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WCSHelper.UpdateStatus(cst, "开始卸货");
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break;
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case 6:
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WCSHelper.UpdateStatus(cst, "卸货完成");
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TaskProcess.OperateStatus(cst, 6);
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break;
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#endregion
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case 2:
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WCSHelper.End(cst);
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break;
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case 7:
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TaskProcess.OperateStatus(cst, 7);
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WCSHelper.Fail(cst);
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break;
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}
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}
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else if (model.State == 1012)
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{
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LogHelper.Info("开始进行RFID扫描", "AGV");
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// 查询扫描的RFID
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// 发送 00 04 71 02到扫码器 ，接受返回数据并解析
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byte[] bytes = new byte[] {00,04,71,02};
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var plc = Settings.deviceInfos.Where(a => a.deviceNo == model.ForkliftNo && a.enable == 1).FirstOrDefault();
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TcpServer.TcpServerSend(plc.address, bytes);
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}
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else if (model.State == 1002)
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{
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LogHelper.Info("开始获取AGV终点", "AGV");
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// 更新AGV终点
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// 判断容器是否异常，修改1002的终点参数 ，并将参数6修改为1
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Container container = ContainerHelper.GetCntr(cst.S_CNTR_CODE);
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if (container != null)
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{
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LogHelper.Info($"容器的异常状态为：{container.N_E_STATE}", "AGV");
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string agvEndLoc = null;
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if (container.N_E_STATE == 0)
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{
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agvEndLoc = ApiHelper.AGVApplyDest(model.No, cst.S_START_LOC, cst.S_CNTR_CODE, "1");
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}
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else
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{
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agvEndLoc = ApiHelper.AGVApplyDest(model.No, cst.S_START_LOC, cst.S_CNTR_CODE, "2");
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}
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ChangeParamModel paramModel = new ChangeParamModel()
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{
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task_no = model.No,
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param_no = 0,
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param = $"{model.No};{cst.S_START_LOC};{cst.S_END_LOC};4;512;0;1"
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};
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NDCApi.ChangeOrderParam(paramModel);
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LogHelper.Info($"获取AGV终点：{agvEndLoc}", "AGV");
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}
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else
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{
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WMSHelper.addAlarmRecord("流程异常", "中", $"AGV任务回报,任务容器编码:{cst.S_CNTR_CODE}的容器没有录入到WMS系统","AGV");
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}
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}
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else
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{
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//安全请求等
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TaskProcess.OperateReq(model.No, model.State, model.ForkliftNo, model.ExtData);
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}
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// AGV任务完成
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if (model.State == 2)
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{
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// 检测物料是否合格,如不合格，
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// 判断物料是否是环带库物料，是则回环带库，并让环带下发新的物料
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// 非环带库物料，则退出立库，同时下发新的物料出库任务
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if (cst.S_TYPE.Contains("叫料出库任务"))
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{
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var cntrItemRels = ContainerHelper.GetCntrItemRel(cst.S_CNTR_CODE);
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if (cntrItemRels != null && cntrItemRels.Count > 0)
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{
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if (cntrItemRels[0].S_ITEM_STATE == "2")
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{
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// 不合格品回库
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ApiHelper.rejectReturnStock(mst, cst);
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}
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}
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}
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// 检测是否是读码位，非读码位，可以激活预创建任务
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var transfe = WMSHelper.GetTransfeRelevance(cst.S_END_LOC); // 接驳位属性
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if ((transfe == null || transfe.N_READ_LOC == 0))
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{
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if (cst.S_TYPE.Contains("【异常】"))
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{
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WCSHelper.ActivatePreCreateTask(mst.S_CODE,1);
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}
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else
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{
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WCSHelper.ActivatePreCreateTask(mst.S_CODE);
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}
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}
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// 查询是否有未完成的任务
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if (WMSHelper.isFinishTask(mst.S_CODE))
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{
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// 更新作业任务状态
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mst.N_B_STATE = 2;
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mst.T_END_TIME = DateTime.Now;
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WMSHelper.UpdateTaskState(mst);
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// 更新任务中间表状态
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WMSHelper.updateMesTaskStatus(mst.S_CODE, "3");
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// 如果作业名称为成型机叫料出库任务，则触发余料/空托搬运任务
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string locCode = WMSHelper.getReturnMaterialLocCode(mst.S_END_LOC);
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ApiHelper.returnMaterialOrEmptyTray(locCode);
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}
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}
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}
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else
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{
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WMSHelper.addAlarmRecord("系统错误", "高", $"AGV任务状态回报，作业号:{cst.S_OP_CODE}，未查询到作业","AGV");
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}
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}
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else
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{
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WMSHelper.addAlarmRecord("系统错误", "高", $"AGV任务状态回报，任务号:{model.No}，未查询到任务","AGV");
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}
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}
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}
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catch (Exception ex)
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{
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WMSHelper.addAlarmRecord("系统错误","高", $"WMS内部错误：agv任务状态回报错误，错误原因:{ex.Message}","AGV");
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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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if (list.Count > 0) {
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list.ForEach(task => {
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if (!TaskProcess.Intercept(task)) {
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//使用自定义任务推送
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TaskProcess.SendTask(task);
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}
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});
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}
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}
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/// <summary>
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/// 杭奥堆垛机信号反馈
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/// </summary>
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/// <param name="model"></param>
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internal static void OperateHATaskStatus(HanAo.TaskStateInfoModel model) {
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var wcsTask = WCSHelper.GetTask(model.requestPk);
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if (wcsTask != null) {
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if (model.code == "0") {
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//
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if (wcsTask.S_TYPE == "堆垛机入库") {
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//终点托盘绑定
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if (LocationHelper.BindingLoc(wcsTask.S_END_LOC, new List<string> { wcsTask.S_CNTR_CODE })) {
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//修改托盘状态为可用，增加库存量表，后面分拣出可以计算到
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}
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}
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else if (wcsTask.S_TYPE == "堆垛机出库") {
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//起点托盘解绑
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LocationHelper.UnBindingLoc(wcsTask.S_START_LOC, new List<string> { wcsTask.S_CNTR_CODE });
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}
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//标记任务完成
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//标记作业完成
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wcsTask.N_B_STATE = 3;
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WCSHelper.UpdateStatus(wcsTask);
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var wmsTask = WMSHelper.GetWmsTask(wcsTask.S_OP_CODE);
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if (wmsTask != null) {
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wmsTask.N_B_STATE = 2;
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WMSHelper.UpdateTaskState(wmsTask);
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}
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}
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}
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}
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}
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}
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