using HH.WCS.DaYang.core;
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using HH.WCS.DaYang.dispatch;
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using HH.WCS.DaYang.util;
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using HH.WCS.DaYang.wms;
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using HH.WCS.JunzhouNongfu.device;
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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.Emit;
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using System.Security.Cryptography;
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using System.Text;
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using static HH.WCS.DaYang.api.ApiModel;
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using static HH.WCS.DaYang.util.Settings;
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using static System.Net.WebRequestMethods;
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namespace HH.WCS.DaYang.process
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{
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internal class TaskProcess
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{
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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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{
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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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{
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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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{
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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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{
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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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{
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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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{
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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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{
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if (state == 1101)
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{
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//请求取货，
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}
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if (state == 1102)
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{
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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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{
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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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{
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var result = false;
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#region 空托回库任务需要判断有没有执行中的出库任务，接驳位有无托盘，如果有先不推送任务,任务任务需要agv任务完成再推
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if (mst.S_TYPE == "空托回库")
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{
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if (mst.N_SCHEDULE_TYPE == 1)
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{
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//判断有无出库中的任务
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var task = WCSHelper.GetTaskbyType("出库");
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if (task.Count == 0)
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{ //获取接驳位设备状态
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HttpHelper httpHelper = new HttpHelper();
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TableUrl tableUrl = Settings.tableUrls.Find(a => a.id == 3);
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if (tableUrl != null)
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{
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Result<DeviceStatusModel> DeviceStatu = httpHelper.GetDeviceStatus(new string[] { mst.S_END_LOC }, tableUrl.url);
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//设备状态空则允许推送
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if (DeviceStatu != null && DeviceStatu.Data.PhotoStatus == 0)
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{
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}
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else
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{
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LogHelper.Info($"Intercept:设备状态不允许推送");
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result = true;
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}
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}
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else
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{
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LogHelper.Info($"Intercept:获取接口url失败");
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result = true;
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}
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}
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}
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if (mst.N_SCHEDULE_TYPE == 2)
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{
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var task = WCSHelper.GetTaskByOpName(mst.S_OP_CODE, 3);
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if (task == null)
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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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if (mst.S_TYPE.Contains("出库"))
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{
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//推送agv任务，判断设备任务是否完成
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if (mst.N_SCHEDULE_TYPE == 1)
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{
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var task = WCSHelper.GetTaskByOpName(mst.S_OP_CODE, 3);
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if (task == null)
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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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//如果当前任务不是移库任务，需要判断移库任务是否完成
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if (!mst.S_TYPE.Contains("移库"))
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{
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var db = new SqlHelper<object>().GetInstance();
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var ykmst = db.Queryable<WCSTask>().Where(a => a.S_OP_CODE == mst.S_OP_NAME && a.N_B_STATE == 3 && a.S_TYPE == "移库").First();
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if (ykmst != null)
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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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//出库任务判断外侧有没有锁
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var startLoc = LocationHelper.GetLoc(mst.S_START_LOC);
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if (startLoc != null && startLoc.N_POS == 1)
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{
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var db = new SqlHelper<WCSTask>().GetInstance();
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var OutLoc = db.Queryable<Location>().Where(b => b.S_AREA_CODE == startLoc.S_AREA_CODE && b.N_LAYER == startLoc.N_LAYER && b.N_POS == 2).First();
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if (OutLoc != null && OutLoc.N_LOCK_STATE != 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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#endregion
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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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{
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if (state == 4)
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{
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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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{
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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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{
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var result = false;
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lock (locLocker)
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{
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try
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{
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if (insStock)
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{
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Console.WriteLine($"MoboxHelperCreateTask: {area}-{itemCode}-{itemBatch}-{taskType}");
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var endTN_Location = GetLocation4In(area, itemCode, itemBatch, 3);
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if (endTN_Location != null)
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{
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var endLayer = endTN_Location.N_CURRENT_NUM == 0 ? 1 : 2;
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var taskNo = DateTime.Now.Ticks.ToString();
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result = TaskProcess.CreateTransport(ls.S_CODE, endTN_Location.S_CODE, taskType, cntrs, 1, endLayer, 3, 70);
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}
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else
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{
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Console.WriteLine($"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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{
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var startTN_Location = GetLocation4Out(area, itemCode, itemBatch, 3);
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if (startTN_Location != null)
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{
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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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{
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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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{
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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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{
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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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private static Location GetLocation4Out(string area, string itemCode, string itemBatch, int v)
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{
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throw new NotImplementedException();
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}
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private static Location GetLocation4In(string area, string itemCode, string itemBatch, int v)
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{
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throw new NotImplementedException();
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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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{
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var result = false;
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lock (locLocker)
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{
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try
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{
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if (insStock)
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{
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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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{
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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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{
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Console.WriteLine($"MoboxHelperCreateTask: 未找到终点货位");
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}
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}
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else
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{
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var startTN_Location = new Location();
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if (startTN_Location != null)
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{
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//出库要从起点获取托盘
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var cntrList = LocationHelper.GetLocCntr(startTN_Location.S_CODE);
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if (cntrList.Count == startTN_Location.N_CURRENT_NUM)
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{
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result = TaskProcess.CreateTransport(startTN_Location.S_CODE, ls.S_CODE, taskType, new List<string> { cntrList[0].S_CNTR_CODE }, 65);
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}
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else
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{
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Console.WriteLine($"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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{
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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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{
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var result = false;
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var start = "0"; var end = "0";
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var taskType = mst.S_TYPE.Trim();
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if (mst.N_SCHEDULE_TYPE == 1)
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{
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LogHelper.Info($"任务推送数据：{JsonConvert.SerializeObject(mst)}");
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if (string.IsNullOrEmpty(mst.S_START_LOC) || string.IsNullOrEmpty(mst.S_END_LOC))
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{
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LogHelper.Info($"任务{mst.S_CODE},起点终点有空参数，不推送任务");
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}
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start = LocationHelper.GetAgvSite(mst.S_START_LOC);
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end = LocationHelper.GetAgvSite(mst.S_END_LOC);
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//if (mst.N_START_LAYER > 1)
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//{
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// start = LocationHelper.GetAgvSite(mst.S_START_LOC, mst.N_START_LAYER.ToString()).ToString();
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//}
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if (mst.N_END_LAYER > 1)
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{
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end = LocationHelper.GetAgvSite(mst.S_END_LOC, mst.N_END_LAYER.ToString()).ToString();
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LogHelper.Info($"任务推送：终点层数为{mst.N_END_LAYER}，推送站点为:{end}");
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}
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Console.WriteLine($"SendTask {mst.S_CODE}");
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Console.WriteLine("start=" + start);
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Console.WriteLine("end= " + end);
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List<param> dic = new List<param>();
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dic.Add(new param() { name = "From", value = start.ToString() });
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dic.Add(new param() { name = "To", value = end.ToString() });
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dic.Add(new param() { name = "FUNC", value = "0" });
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dic.Add(new param() { name = "DATA", value = "0" });
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dic.Add(new param() { name = "Ctype", value = "0" });
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var res = NDCApi.AddOrderNew(1, 1, mst.S_CODE, dic);//添加新命令
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//dic.Add("Pri", mst.N_PRIORITY.ToString());
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//dic.Add("From", start.ToString());
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//dic.Add("To", end.ToString());
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//dic.Add("task_no", mst.S_CODE.Trim());// dic.Add("Ext1", "1"); dic.Add("Ext2", "CALLADDAGV"); dic.Add("N_CNTR_COUNT", "");
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//var res = NDC.AddNewOrder(1, dic);
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if (res != null && (res.err_code == 0 || res.err_code == 50009))
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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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mst.S_B_STATE = WCSTask.GetStateStr(1);
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WCSHelper.UpdateStatus(mst);//更新任务状态
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result = true;
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LogHelper.Info($"NDC推送任务成功 {mst.S_CODE}start= {mst.S_START_LOC} + end = {mst.S_END_LOC}");
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}
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else
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{
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LogHelper.Info($"NDC推送任务失败 {mst.S_CODE};Res:" + JsonConvert.SerializeObject(res));
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}
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}
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else if (mst.N_SCHEDULE_TYPE == 2)//输送线任务
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{
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HttpHelper http = new HttpHelper();
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TableUrl tableUrl = Settings.tableUrls.Find(a => a.id == 3);
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if (tableUrl != null)
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{
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var Wcsrsult = http.TaskAssignment(mst, tableUrl.url);
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if (Wcsrsult.Code == 200)
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{
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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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/// <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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{
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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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{
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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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{
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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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{
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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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