using HH.WCS.Mobox3.YNJT_BZP.core;
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using HH.WCS.Mobox3.YNJT_BZP.dispatch;
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using HH.WCS.Mobox3.YNJT_BZP.util;
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using HH.WCS.Mobox3.YNJT_BZP.wms;
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using HH.WCS.Mobox3.YNJT_BZP.api;
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using Newtonsoft.Json;
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using NLog.Fluent;
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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.Reflection;
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using System.Security.Cryptography;
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using static HH.WCS.Mobox3.YNJT_BZP.util.Settings;
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namespace HH.WCS.Mobox3.YNJT_BZP.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="load"></param>
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internal static void CacheBitUpdate(WCSTask mst, bool load) {
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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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//终点绑定
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if (!WCSHelper.CheckActionRecordExist(mst.S_CODE, 5)) {
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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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}
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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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LogHelper.Info($"开始安全请求，任务号:{no},请求码:{state},小车号：{forkliftNo}", "AGV");
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var cst = WCSHelper.GetTask(no);
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var mst = WMSHelper.GetWmsTask(cst.S_OP_CODE);
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var endLoc = LocationHelper.GetLoc(cst.S_END_LOC);
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var taskAction = WCSHelper.getActionRecord(no, state);
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if (taskAction != null)
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{
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LogHelper.Info($"再次安全请求，查询设备是否反馈", "AGV");
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if (taskAction.N_S_STATUS == 1)
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{
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LogHelper.Info($"再次安全请求，设备已反馈", "AGV");
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/* NDCApi.ChangeOrderParam(no, 6, "1");*/
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}
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}
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else
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{
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LogHelper.Info($"首次进行安全请求，任务号:{no},请求码:{state},小车号：{forkliftNo}", "AGV");
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bool result = false;
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if (state == 1101)
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{
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LogHelper.Info("向WCS发送取货申请信号", "AGV");
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/*result = WCSDispatch.safetyInteraction(cst.S_CODE, cst.S_START_LOC, "1"); //取货申请，*/
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result = true;
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}
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if (state == 1102)
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{
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LogHelper.Info("向WCS发送取货完成安全退出信号", "AGV");
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/*result = WCSDispatch.safetyInteraction(cst.S_CODE, cst.S_START_LOC, "2"); //取货完成安全退出*/
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result = true;
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}
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if (state == 1103) //卸货申请，
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{
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var container = ContainerHelper.GetCntr(cst.S_CNTR_CODE);
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// 胎圈入库，下发母拖出库任务 \ 帘布、内衬入库，下发托盘回库任务
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if (cst.S_TYPE.Contains("入库") && endLoc.N_LOCK_STATE == 0)
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{
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if (container.N_TYPE != 6 )
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{
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if (endLoc.N_CURRENT_NUM == 1)
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{
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var locCntrRels = LocationHelper.GetLocCntr(endLoc.S_CODE);
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if (locCntrRels != null && locCntrRels.Count > 0)
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{
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var container1 = ContainerHelper.GetCntr(locCntrRels[0].S_CNTR_CODE);
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if (container1.N_TYPE == 0)
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{
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LogHelper.Info("非胎圈入库，接驳位存在母拖，下发母拖入库任务", "AGV");
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ApiHelper.baseTrayInStockAgv(endLoc.S_CODE, mst.S_CODE);
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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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result = true;
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}
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}
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else
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{
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// 胎圈入库
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if (endLoc.N_CURRENT_NUM == 0)
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{
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LogHelper.Info("胎圈入库，接驳位缺少母拖，下发母拖出库任务", "AGV");
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ApiHelper.baseTrayOutStockAgv(endLoc.S_CODE, mst.S_CODE);
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}
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else if (endLoc.N_CURRENT_NUM == 1)
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{
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var locCntrRels = LocationHelper.GetLocCntr(endLoc.S_CODE);
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if (locCntrRels != null && locCntrRels.Count > 0)
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{
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var container1 = ContainerHelper.GetCntr(locCntrRels[0].S_CNTR_CODE);
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if (container1.N_TYPE == 0)
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{
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result = true;
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}
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}
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}
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}
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}
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// 请求WCS是否允许放货
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if (result)
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{
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LogHelper.Info("向WCS发送请求放货信号", "AGV");
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/*result = WCSDispatch.safetyInteraction(cst.S_CODE, cst.S_START_LOC, "3"); // 请求放货*/
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result = true;
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}
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}
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if (state == 1104)
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{
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LogHelper.Info("向WCS发送卸货完成安全退出信号", "AGV");
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/*result = WCSDispatch.safetyInteraction(cst.S_CODE, cst.S_START_LOC, "4"); //卸货完成安全退出*/
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result = true;
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}
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// 安全请求发送成功，添加任务动作记录
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if (result)
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{
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WCSHelper.AddActionRecord(no, state, forkliftNo, extData);
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LogHelper.Info($"首次进行安全请求成功", "AGV");
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}
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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 == "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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/// 推送任务（此项目都是ndc系统）
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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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if (mst.N_B_STATE == 0) {
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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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if (mst.S_SCHEDULE_TYPE == "AGV")
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{
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AddOrderNewModel model = new AddOrderNewModel()
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{
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ts_no = 1,
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pri = 1,
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task_no = mst.S_CODE
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};
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List<Param> paramList = new List<Param>();
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var dic = new Dictionary<string, string>();
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dic.Add("From", startLoc.S_CODE);
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dic.Add("To", endLoc.S_CODE);
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foreach (var item in dic)
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{
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Param param = new Param
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{
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name = item.Key,
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value = item.Value,
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};
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paramList.Add(param);
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}
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model.paramList = paramList;
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var res = NDCApi.AddOrderNew(model);
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if (res != null && res.err_code == 0 || true)
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{
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//推送成功，修改任务优先级
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mst.N_B_STATE = 1;
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WCSHelper.UpdateStatus(mst);
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result = true;
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}
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}
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else if (mst.S_SCHEDULE_TYPE == "WCS")
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{
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if (true)
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{
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//推送成功，修改任务优先级
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mst.N_B_STATE = 1;
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WCSHelper.UpdateStatus(mst);
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result = true;
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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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private static List<FreeLineInfo> freeLineInfos = new List<FreeLineInfo>();
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internal static freeLineBit GetFreeLineBit(string area, int row, int col) {
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if (freeLineInfos.Count == 0) {
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freeLineInfos = LocationHelper.GetAllFreeLineInfo();
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}
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var res = freeLineInfos.Where(a => a.S_AREA_CODE == area && a.N_ROW == row && col >= a.START_COL && col <= a.END_COL).FirstOrDefault();
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if (res != null) {
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return new freeLineBit { area = area, row = row, minCol = res.START_COL, maxCol = res.END_COL, bit1 = res.FIRST_POINT, bit2 = res.SECOND_POINT };
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}
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return null;
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}
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public class freeLineBit {
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public string area { get; set; }
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public int row { get; set; }
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public int minCol { get; set; }
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public int maxCol { get; set; }
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public int bit1 { get; set; }
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public int bit2 { get; set; }
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}
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#endregion
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}
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}
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