2024-10-07 09:51:55 +08:00
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using CirculateTool.Attribute;
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using WcsMain.Business.CommonAction;
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using WcsMain.Common;
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2024-11-15 11:37:55 +08:00
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using WcsMain.Constant.Enum.Stacker;
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using WcsMain.Constant.Enum.TaskEnum;
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2024-11-15 11:51:41 +08:00
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using WcsMain.Constant.ExtendMethod;
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2024-10-07 09:51:55 +08:00
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using WcsMain.DataBase.Dao;
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using WcsMain.DataBase.TableEntity;
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using WcsMain.EquipOperation.Entity.Stacker;
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using WcsMain.EquipOperation.Stacker;
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using WcsMain.ExtendMethod;
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2024-11-15 11:37:55 +08:00
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namespace WcsMain.CirculationJob.Stacker;
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2024-10-07 09:51:55 +08:00
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/// <summary>
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/// 执行堆垛机任务类
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/// </summary>
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//[Circulation(tags: ["stacker"])]
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public class ExecuteWcsTask(StackerOperation stackerOperation, AppWcsTaskDao wcsTaskDao, WCSTaskExecuteEvent wcsTaskEvent)
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{
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/// <summary>
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/// 执行堆垛机任务
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/// </summary>
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/// <returns></returns>
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[Circulation("执行堆垛机任务")]
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public bool ExecuteStackerTask()
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{
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foreach (var stacker in CommonData.AppStackers.Open())
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{
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var stackerUseStatus = stackerOperation.StackerCanUse(stacker.StackerId, out int plcId, out int _);
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if (stackerUseStatus == StackerUseStatusEnum.Free)
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{
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/* 空闲时正常执行任务 */
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// 入库
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if (!CommonData.AppConfig.ExcuteStackerInTaskWithScan.ToBool()) // 不是扫码入库
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{
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bool exeInTask = ExecuteInTask(stacker.StackerId);
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if (exeInTask) continue;
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}
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// 出库
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bool exeOutTask = ExecuteOutTask(stacker.StackerId);
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if (exeOutTask) continue;
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// 拣选
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bool exePickTask = ExecutePickTask(stacker.StackerId);
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if (exePickTask) continue;
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// 移库
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bool exeMoveTask = ExecuteMoveTask(stacker.StackerId);
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if (exeMoveTask) continue;
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}
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if (stackerUseStatus == StackerUseStatusEnum.waitTask)
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{
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/* 重复入库时执行任务 */
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bool exeDoubleInTask = ExecuteDoubleInTask(stacker.StackerId, plcId);
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if (exeDoubleInTask) continue;
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}
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}
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return true;
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}
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/// <summary>
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/// 执行堆垛机入库任务，若执行了任务则返回 true
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/// </summary>
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/// <param name="stackerId"></param>
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/// <returns></returns>
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private bool ExecuteInTask(int? stackerId)
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{
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if (stackerId == default) return false;
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var wcsTasks = wcsTaskDao.SelectInTaskWithStacker((int)stackerId!); // 此处方法内已经判断状态
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if (wcsTasks == default)
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{
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ConsoleLog.Error($"【异常】{stackerId} 号堆垛机入库任务查询失败，与数据库连接异常");
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Thread.Sleep(5000);
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return false;
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}
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if (wcsTasks.Count == 0) return false;
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var wcsTask = wcsTasks[0]; // 取第一条任务
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/* 校验入库站台是否可以取货 */
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// TODO
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/* 检验并返回起点终点信息 */
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var originLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Origin);
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var destinationLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Destination);
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if (destinationLocationInfo == default || originLocationInfo == default) // 起点终点错误，直接标记错误
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{
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// 已经在接口内做了检查，按道理此处不会出错。直接返回异常，任务直接取消
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ConsoleLog.Warning($"【警告】任务号：{wcsTask.TaskId}，Plc任务号：{wcsTask.PlcId} 无法执行，起点或者终点存在异常");
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wcsTaskEvent.ErrTaskEvent(wcsTask, $"起点或者终点存在异常");
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return false;
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}
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StackerPlcTask stackerTask = new()
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{
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StackerId = stackerId,
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PlcId = wcsTask.PlcId,
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TaskType = Convert.ToInt16(wcsTask.TaskType),
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GetStand = 0,
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InTunnelId = Convert.ToInt16(stackerId),
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OutTunnelId = Convert.ToInt16(stackerId),
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SetStand = 0,
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GetQueue = Convert.ToInt16(originLocationInfo.Queue),
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GetLine = Convert.ToInt16(originLocationInfo.Line),
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GetLayer = Convert.ToInt16(originLocationInfo.Layer),
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GetDeep = Convert.ToInt16(originLocationInfo.Depth),
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SetQueue = Convert.ToInt16(destinationLocationInfo.Queue),
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SetLine = Convert.ToInt16(destinationLocationInfo.Line),
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SetLayer = Convert.ToInt16(destinationLocationInfo.Layer),
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SetDeep = Convert.ToInt16(destinationLocationInfo.Depth),
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Size = Convert.ToInt16(wcsTask.VehicleSize),
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Weight = Convert.ToInt16(wcsTask.Weight),
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Code = wcsTask.PlcVehicleNo ?? 0,
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};
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var writeStackerTaskErrText = stackerOperation.WriteTask(stackerTask);
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if (string.IsNullOrEmpty(writeStackerTaskErrText))
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{
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ConsoleLog.Success($"堆垛机：{stackerId} 写入入库任务成功，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}");
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wcsTaskEvent.StartTaskEvent(wcsTask);
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return true;
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}
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else
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{
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ConsoleLog.Warning($"【警告】堆垛机：{stackerId} 写入入库任务失败，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}，异常信息：{writeStackerTaskErrText}");
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wcsTaskEvent.ErrTaskEvent(wcsTask, $"写入任务失败，异常信息：{writeStackerTaskErrText}");
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}
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return false;
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}
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/// <summary>
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/// 执行堆垛机出库任务，若执行了任务则返回 true
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/// </summary>
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/// <param name="stackerId"></param>
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/// <returns></returns>
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public bool ExecuteOutTask(int? stackerId)
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{
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if (stackerId == default) return false;
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var wcsTasks = wcsTaskDao.SelectOutTaskWithStacker((int)stackerId!);
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if (wcsTasks == default)
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{
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ConsoleLog.Error($"【异常】{stackerId} 号堆垛机出库任务查询失败，与数据库连接异常");
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Thread.Sleep(5000);
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return false;
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}
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if (wcsTasks.Count == 0) return false;
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var wcsTask = wcsTasks[0]; // 取第一条任务
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/* 校验出库站台是否可以卸货 */
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// TODO
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/* 检验并返回起点终点信息 */
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var originLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Origin);
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var destinationLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Destination);
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if (destinationLocationInfo == default || originLocationInfo == default) // 起点终点错误，直接标记错误
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{
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// 已经在接口内做了检查，按道理此处不会出错。直接返回异常，任务直接取消
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ConsoleLog.Warning($"【警告】任务号：{wcsTask.TaskId}，Plc任务号：{wcsTask.PlcId} 无法执行，起点或者终点存在异常");
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wcsTaskEvent.ErrTaskEvent(wcsTask, $"起点或者终点存在异常");
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return false;
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}
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StackerPlcTask stackerTask = new()
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{
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StackerId = stackerId,
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PlcId = wcsTask.PlcId,
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TaskType = Convert.ToInt16(wcsTask.TaskType),
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GetStand = 0,
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InTunnelId = Convert.ToInt16(stackerId),
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OutTunnelId = Convert.ToInt16(stackerId),
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SetStand = 0,
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GetQueue = Convert.ToInt16(originLocationInfo.Queue),
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GetLine = Convert.ToInt16(originLocationInfo.Line),
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GetLayer = Convert.ToInt16(originLocationInfo.Layer),
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GetDeep = Convert.ToInt16(originLocationInfo.Depth),
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SetQueue = Convert.ToInt16(destinationLocationInfo.Queue),
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SetLine = Convert.ToInt16(destinationLocationInfo.Line),
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SetLayer = Convert.ToInt16(destinationLocationInfo.Layer),
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SetDeep = Convert.ToInt16(destinationLocationInfo.Depth),
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Size = Convert.ToInt16(wcsTask.VehicleSize),
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Weight = Convert.ToInt16(wcsTask.Weight),
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Code = wcsTask.PlcVehicleNo ?? 0,
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};
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var writeStackerTaskErrText = stackerOperation.WriteTask(stackerTask);
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if (string.IsNullOrEmpty(writeStackerTaskErrText))
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{
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ConsoleLog.Success($"堆垛机：{stackerId} 写入出库任务成功，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}");
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wcsTaskEvent.StartTaskEvent(wcsTask);
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return true;
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}
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else
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{
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ConsoleLog.Warning($"【警告】堆垛机：{stackerId} 写入出库任务失败，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}，异常信息：{writeStackerTaskErrText}");
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wcsTaskEvent.ErrTaskEvent(wcsTask, $"写入任务失败，异常信息：{writeStackerTaskErrText}");
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}
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return false;
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}
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/// <summary>
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/// 执行堆垛机拣选任务，若执行了任务则返回 true
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/// </summary>
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/// <param name="stackerId"></param>
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/// <returns></returns>
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public bool ExecutePickTask(int? stackerId)
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{
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if (stackerId == default) return false;
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var wcsTasks = wcsTaskDao.SelectPickOutTaskWithStacker((int)stackerId!);
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if (wcsTasks == default)
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{
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ConsoleLog.Error($"【异常】{stackerId} 号堆垛机拣选任务查询失败，与数据库连接异常");
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Thread.Sleep(5000);
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return false;
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}
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if (wcsTasks.Count == 0) return false;
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var wcsTask = wcsTasks[0]; // 取第一条任务
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/* 校验出库站台是否可以卸货 */
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// TODO
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/* 检验并返回起点终点信息 */
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var originLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Origin);
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var destinationLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Destination);
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if (destinationLocationInfo == default || originLocationInfo == default) // 起点终点错误，直接标记错误
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{
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// 已经在接口内做了检查，按道理此处不会出错。直接返回异常，任务直接取消
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ConsoleLog.Warning($"【警告】任务号：{wcsTask.TaskId}，Plc任务号：{wcsTask.PlcId} 无法执行，起点或者终点存在异常");
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wcsTaskEvent.ErrTaskEvent(wcsTask, $"起点或者终点存在异常");
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return false;
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}
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StackerPlcTask stackerTask = new()
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{
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StackerId = stackerId,
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PlcId = wcsTask.PlcId,
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TaskType = Convert.ToInt16(wcsTask.TaskType),
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GetStand = 0,
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InTunnelId = Convert.ToInt16(stackerId),
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OutTunnelId = Convert.ToInt16(stackerId),
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SetStand = 0,
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GetQueue = Convert.ToInt16(originLocationInfo.Queue),
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GetLine = Convert.ToInt16(originLocationInfo.Line),
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GetLayer = Convert.ToInt16(originLocationInfo.Layer),
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GetDeep = Convert.ToInt16(originLocationInfo.Depth),
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SetQueue = Convert.ToInt16(destinationLocationInfo.Queue),
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SetLine = Convert.ToInt16(destinationLocationInfo.Line),
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SetLayer = Convert.ToInt16(destinationLocationInfo.Layer),
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SetDeep = Convert.ToInt16(destinationLocationInfo.Depth),
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Size = Convert.ToInt16(wcsTask.VehicleSize),
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Weight = Convert.ToInt16(wcsTask.Weight),
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Code = wcsTask.PlcVehicleNo ?? 0,
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|
};
|
|
|
|
|
|
var writeStackerTaskErrText = stackerOperation.WriteTask(stackerTask);
|
|
|
|
|
|
if (string.IsNullOrEmpty(writeStackerTaskErrText))
|
|
|
|
|
|
{
|
|
|
|
|
|
ConsoleLog.Success($"堆垛机：{stackerId} 写入拣选任务成功，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}");
|
|
|
|
|
|
wcsTaskEvent.StartTaskEvent(wcsTask);
|
|
|
|
|
|
return true;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
ConsoleLog.Warning($"【警告】堆垛机：{stackerId} 写入拣选任务失败，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}，异常信息：{writeStackerTaskErrText}");
|
|
|
|
|
|
wcsTaskEvent.ErrTaskEvent(wcsTask, $"写入任务失败，异常信息：{writeStackerTaskErrText}");
|
|
|
|
|
|
}
|
|
|
|
|
|
return false;
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
|
|
/// 执行堆垛机移库任务，若执行了任务则返回 true
|
|
|
|
|
|
/// </summary>
|
|
|
|
|
|
/// <param name="stackerId"></param>
|
|
|
|
|
|
/// <returns></returns>
|
|
|
|
|
|
public bool ExecuteMoveTask(int? stackerId)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (stackerId == default) return false;
|
|
|
|
|
|
var wcsTasks = wcsTaskDao.SelectMoveTaskWithStacker((int)stackerId!);
|
|
|
|
|
|
if (wcsTasks == default)
|
|
|
|
|
|
{
|
|
|
|
|
|
ConsoleLog.Error($"【异常】{stackerId} 号堆垛机移库任务查询失败，与数据库连接异常");
|
|
|
|
|
|
Thread.Sleep(5000);
|
|
|
|
|
|
return false;
|
|
|
|
|
|
}
|
|
|
|
|
|
if (wcsTasks.Count == 0) return false;
|
|
|
|
|
|
var wcsTask = wcsTasks[0]; // 取第一条任务
|
|
|
|
|
|
/* 检验并返回起点终点信息 */
|
|
|
|
|
|
var originLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Origin);
|
|
|
|
|
|
var destinationLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Destination);
|
|
|
|
|
|
if (destinationLocationInfo == default || originLocationInfo == default) // 起点终点错误，直接标记错误
|
|
|
|
|
|
{
|
|
|
|
|
|
// 已经在接口内做了检查，按道理此处不会出错。直接返回异常，任务直接取消
|
|
|
|
|
|
ConsoleLog.Warning($"【警告】任务号：{wcsTask.TaskId}，Plc任务号：{wcsTask.PlcId} 无法执行，起点或者终点存在异常");
|
|
|
|
|
|
wcsTaskEvent.ErrTaskEvent(wcsTask, $"起点或者终点存在异常");
|
|
|
|
|
|
return false;
|
|
|
|
|
|
}
|
|
|
|
|
|
StackerPlcTask stackerTask = new()
|
|
|
|
|
|
{
|
|
|
|
|
|
StackerId = stackerId,
|
|
|
|
|
|
PlcId = wcsTask.PlcId,
|
|
|
|
|
|
TaskType = Convert.ToInt16(wcsTask.TaskType),
|
|
|
|
|
|
GetStand = 0,
|
|
|
|
|
|
InTunnelId = Convert.ToInt16(stackerId),
|
|
|
|
|
|
OutTunnelId = Convert.ToInt16(stackerId),
|
|
|
|
|
|
SetStand = 0,
|
|
|
|
|
|
GetQueue = Convert.ToInt16(originLocationInfo.Queue),
|
|
|
|
|
|
GetLine = Convert.ToInt16(originLocationInfo.Line),
|
|
|
|
|
|
GetLayer = Convert.ToInt16(originLocationInfo.Layer),
|
|
|
|
|
|
GetDeep = Convert.ToInt16(originLocationInfo.Depth),
|
|
|
|
|
|
SetQueue = Convert.ToInt16(destinationLocationInfo.Queue),
|
|
|
|
|
|
SetLine = Convert.ToInt16(destinationLocationInfo.Line),
|
|
|
|
|
|
SetLayer = Convert.ToInt16(destinationLocationInfo.Layer),
|
|
|
|
|
|
SetDeep = Convert.ToInt16(destinationLocationInfo.Depth),
|
|
|
|
|
|
Size = Convert.ToInt16(wcsTask.VehicleSize),
|
|
|
|
|
|
Weight = Convert.ToInt16(wcsTask.Weight),
|
|
|
|
|
|
Code = wcsTask.PlcVehicleNo ?? 0,
|
|
|
|
|
|
};
|
|
|
|
|
|
var writeStackerTaskErrText = stackerOperation.WriteTask(stackerTask);
|
|
|
|
|
|
if (string.IsNullOrEmpty(writeStackerTaskErrText))
|
|
|
|
|
|
{
|
|
|
|
|
|
ConsoleLog.Success($"堆垛机：{stackerId} 写入移库任务成功，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}");
|
|
|
|
|
|
wcsTaskEvent.StartTaskEvent(wcsTask);
|
|
|
|
|
|
return true;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
ConsoleLog.Warning($"【警告】堆垛机：{stackerId} 写入移库任务失败，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}，异常信息：{writeStackerTaskErrText}");
|
|
|
|
|
|
wcsTaskEvent.ErrTaskEvent(wcsTask, $"写入任务失败，异常信息：{writeStackerTaskErrText}");
|
|
|
|
|
|
}
|
|
|
|
|
|
return false;
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
|
|
/// 执行重复入库新任务，若执行了返回true
|
|
|
|
|
|
/// </summary>
|
|
|
|
|
|
/// <param name="stackerId"></param>
|
|
|
|
|
|
/// <param name="plcId"></param>
|
|
|
|
|
|
/// <returns></returns>
|
|
|
|
|
|
public bool ExecuteDoubleInTask(int? stackerId, int plcId)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (stackerId == default || plcId == 0) return false;
|
|
|
|
|
|
/* 查找这个PlcId对应的wms任务 */
|
|
|
|
|
|
List<AppWcsTask>? doubleInTasks = wcsTaskDao.Select(new AppWcsTask { PlcId = plcId });
|
|
|
|
|
|
if (doubleInTasks == default)
|
|
|
|
|
|
{
|
|
|
|
|
|
ConsoleLog.Error($"【异常】{stackerId} 号堆垛机重复入库任务检验失败，与数据库连接异常");
|
|
|
|
|
|
Thread.Sleep(5000);
|
|
|
|
|
|
return false;
|
|
|
|
|
|
}
|
|
|
|
|
|
if (doubleInTasks.Count == 0) return false; // 找不到对应的PlcId的任务
|
|
|
|
|
|
var doubleTask = doubleInTasks[0];
|
|
|
|
|
|
/* 查找这个任务的新任务 */
|
|
|
|
|
|
List<AppWcsTask>? newTasks = wcsTaskDao.Select(new AppWcsTask { TaskId = doubleTask.TaskId, TaskType = (int)TaskTypeEnum.newTaskForDoubleIn, TaskStatus = (int)WmsTaskStatusEnum.create });
|
|
|
|
|
|
if (newTasks == default)
|
|
|
|
|
|
{
|
|
|
|
|
|
ConsoleLog.Error($"【异常】{stackerId} 号堆垛机重复入库任务新任务查询失败，与数据库连接异常");
|
|
|
|
|
|
Thread.Sleep(5000);
|
|
|
|
|
|
return false;
|
|
|
|
|
|
}
|
|
|
|
|
|
if (newTasks.Count == 0) return false;
|
|
|
|
|
|
var newTask = newTasks[0];
|
|
|
|
|
|
var destinationLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(newTask.Destination);
|
|
|
|
|
|
if (destinationLocationInfo == default) // 终点错误，直接标记错误
|
|
|
|
|
|
{
|
|
|
|
|
|
// 已经在接口内做了检查，按道理此处不会出错。直接返回异常，任务直接取消
|
|
|
|
|
|
ConsoleLog.Warning($"【警告】任务号：{newTask.TaskId}，Plc任务号：{newTask.PlcId} 无法执行，新终点存在异常");
|
|
|
|
|
|
wcsTaskEvent.ErrTaskEvent(newTask, $"新终点存在异常");
|
|
|
|
|
|
return false;
|
|
|
|
|
|
}
|
|
|
|
|
|
StackerPlcTask stackerTask = new()
|
|
|
|
|
|
{
|
|
|
|
|
|
StackerId = stackerId,
|
|
|
|
|
|
PlcId = newTask.PlcId,
|
|
|
|
|
|
TaskType = Convert.ToInt16(TaskTypeEnum.inTask),
|
|
|
|
|
|
GetStand = 0,
|
|
|
|
|
|
InTunnelId = Convert.ToInt16(stackerId),
|
|
|
|
|
|
OutTunnelId = Convert.ToInt16(stackerId),
|
|
|
|
|
|
SetStand = 0,
|
|
|
|
|
|
GetQueue = 0,
|
|
|
|
|
|
GetLine = 0,
|
|
|
|
|
|
GetLayer = 0,
|
|
|
|
|
|
GetDeep = 0,
|
|
|
|
|
|
SetQueue = Convert.ToInt16(destinationLocationInfo.Queue),
|
|
|
|
|
|
SetLine = Convert.ToInt16(destinationLocationInfo.Line),
|
|
|
|
|
|
SetLayer = Convert.ToInt16(destinationLocationInfo.Layer),
|
|
|
|
|
|
SetDeep = Convert.ToInt16(destinationLocationInfo.Depth),
|
|
|
|
|
|
Size = Convert.ToInt16(newTask.VehicleSize),
|
|
|
|
|
|
Weight = Convert.ToInt16(newTask.Weight),
|
|
|
|
|
|
Code = newTask.PlcVehicleNo ?? 0,
|
|
|
|
|
|
};
|
|
|
|
|
|
var writeStackerTaskErrText = stackerOperation.WriteTask(stackerTask);
|
|
|
|
|
|
if (string.IsNullOrEmpty(writeStackerTaskErrText))
|
|
|
|
|
|
{
|
|
|
|
|
|
ConsoleLog.Success($"堆垛机：{stackerId} 写入重复入库新任务成功，箱号：{newTask.VehicleNo}，PlcId：{newTask.PlcId}；新目的地：{newTask.Destination}");
|
|
|
|
|
|
wcsTaskEvent.StartTaskEvent(newTask);
|
|
|
|
|
|
return true;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
ConsoleLog.Warning($"【警告】堆垛机：{stackerId} 写入重复入库新任务失败，箱号：{newTask.VehicleNo}，PlcId：{newTask.PlcId}；新目的地：{newTask.Destination}，异常信息：{writeStackerTaskErrText}");
|
|
|
|
|
|
wcsTaskEvent.ErrTaskEvent(newTask, $"写入任务失败，异常信息：{writeStackerTaskErrText}");
|
|
|
|
|
|
}
|
|
|
|
|
|
return false;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
}
|
