456 lines
24 KiB
C#
456 lines
24 KiB
C#
using CirculateTool.Attribute;
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using WcsMain.Business.CommonAction;
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using WcsMain.Common;
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using WcsMain.DataBase.Dao;
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using WcsMain.DataBase.TableEntity;
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using WcsMain.DataService;
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using WcsMain.Enum.Stacker;
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using WcsMain.EquipOperation.Convey;
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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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namespace WcsMain.Business.CirculationTask.Stacker;
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/// <summary>
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/// 双货叉单深位执行堆垛机任务 ---- 卡特模式
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/// </summary>
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//[Circulation("双货叉单深位执行堆垛机任务")]
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public class ExeTaskDoubleFork(
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StackerOperation stackerOperation, AppWcsTaskDao wcsTaskDao, WCSTaskExecuteEvent wcsTaskEvent,
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ConveyOperation conveyOperation, DataBaseData dataBaseData)
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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 spare1);
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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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// 移库
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bool exeMoveTask = ExecuteMoveTask(stacker.StackerId);
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if (exeMoveTask) continue;
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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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// 入库
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bool exeInTask = ExecuteInTask(stacker.StackerId);
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if (exeInTask) continue;
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// 拣选
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//bool exePickTask = ExecutePickTask(stacker.StackerId);
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//if (exePickTask) return;
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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, 1);
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if (exeDoubleInTask) continue;
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exeDoubleInTask = ExecuteDoubleInTask(stacker.StackerId, spare1, 2);
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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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/* 检查入库站台是否允许取货 */
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bool allowGetGoods = conveyOperation.AllowGetVehicle(stackerId.ToString());
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if(!allowGetGoods) return false; // 入库站台不允许取货
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/* 读取入库站台的条码 */
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var codes = conveyOperation.ReadAreaConveyCode(stackerId.ToString());
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if(codes == default || codes.Count != 2) return false;
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/* 构造任务数据 */
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bool isWriteTask = false; // 指示是否写入任务
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for (int i = 0; i < 2; i++)
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{
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/* 校验货叉开启 */
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string forkStatus = CommonData.AppStackers.First(f => f.StackerId == stackerId).ForkStatus ?? "";
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if (forkStatus.Length <= i || forkStatus[i] != '1') continue; // 获取数据失败或者货叉未开启
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var code = codes[i];
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if (string.IsNullOrEmpty(code)) continue; // 检查条码是否为空
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//ConsoleLog.Warning($"{stackerId} 号堆垛机，入库位置：{i + 1} 返回：{code}");
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if (code == "NoRead") // 检查条码是否为 NoRead
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{
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/* 检查卸货站台是否允许卸货 */
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bool allowSetGoods = conveyOperation.AllowSetVehicle(stackerId.ToString());
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if (!allowSetGoods) continue; // 出库站台不允许取货
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/* 生成一个直接卸货出去的任务 */
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int? plcId = dataBaseData.GetNewPlcTaskId();
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if(plcId == default || plcId == 0) continue;
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StackerPlcTask errTask = StackerPlcTask.DefaultErrTask((int)plcId!, (int)stackerId!, i + 1);
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string WriteTaskErrText = stackerOperation.WriteTask(errTask, i + 1);
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if(string.IsNullOrEmpty(WriteTaskErrText)) // 写入成功
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{
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ConsoleLog.Success($"{stackerId} 号堆垛机，入库位置：{i + 1} 条码：{code}，写入任务成功，{errTask}");
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isWriteTask = true;
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}
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else
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{
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ConsoleLog.Warning($"【警告】{stackerId} 号堆垛机，入库位置：{i + 1} 条码：{code}，写入任务失败，{errTask}，异常信息：{WriteTaskErrText}，");
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}
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continue;
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}
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var wcsTasks = wcsTaskDao.Select(new AppWcsTask { VehicleNo = code, TaskStatus = (int)WcsTaskStatusEnum.create });
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if(wcsTasks == default) // 查询任务失败
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{
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ConsoleLog.Exception($"【警告】{stackerId} 号堆垛机，入库位置：{i + 1} 条码：{code} 查找任务失败，和数据库服务器连接中断");
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continue;
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}
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if(wcsTasks.Count < 1) // 没有任务
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{
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/* 检查卸货站台是否允许卸货 */
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bool allowSetGoods = conveyOperation.AllowSetVehicle(stackerId.ToString());
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if (!allowSetGoods) continue; // 出库站台不允许取货
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/* 生成一个直接卸货出去的任务 */
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ConsoleLog.Warning($"【警告】{stackerId} 号堆垛机，入库位置：{i + 1} 条码：{code} 没有找到对应任务");
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int? plcId = dataBaseData.GetNewPlcTaskId();
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if (plcId == default || plcId == 0) continue;
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StackerPlcTask errTask = StackerPlcTask.DefaultErrTask((int)plcId!, (int)stackerId!, i + 1, code.ToPlcVehicleNo());
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string WriteTaskErrText = stackerOperation.WriteTask(errTask, i + 1);
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if (string.IsNullOrEmpty(WriteTaskErrText)) // 写入成功
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{
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ConsoleLog.Success($"{stackerId} 号堆垛机，入库位置：{i + 1} 条码：{code}，写入任务成功，{errTask}");
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isWriteTask = true;
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}
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else
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{
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ConsoleLog.Warning($"【警告】{stackerId} 号堆垛机，入库位置：{i + 1} 条码：{code}，写入任务失败，{errTask}，异常信息：{WriteTaskErrText}，");
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}
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continue;
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}
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var wcsTask = wcsTasks[0]; // 找出第一个任务
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/* 校验终点是否正确 */
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var destinationLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Destination);
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if(destinationLocationInfo == default) // 任务终点错误，理论上此处不应该出现异常
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{
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/* 检查卸货站台是否允许卸货 */
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bool allowSetGoods = conveyOperation.AllowSetVehicle(stackerId.ToString());
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if (!allowSetGoods) continue; // 出库站台不允许取货
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/* 生成一个直接卸货出去的任务 */
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ConsoleLog.Warning($"【警告】{stackerId} 号堆垛机，入库位置：{i + 1} 条码：{code} 无法识别的入库库位");
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int? plcId = dataBaseData.GetNewPlcTaskId();
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if (plcId == default || plcId == 0) continue;
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StackerPlcTask errTask = StackerPlcTask.DefaultErrTask((int)plcId!, (int)stackerId!, i + 1, code.ToPlcVehicleNo());
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string WriteTaskErrText = stackerOperation.WriteTask(errTask, i + 1);
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if (string.IsNullOrEmpty(WriteTaskErrText)) // 写入成功
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{
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ConsoleLog.Success($"{stackerId} 号堆垛机，入库位置：{i + 1} 条码：{code}，写入任务成功，{errTask}");
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wcsTaskEvent.ErrTaskEvent(wcsTask, "入库库位不正确");
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isWriteTask = true;
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}
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else
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{
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ConsoleLog.Warning($"【警告】{stackerId} 号堆垛机，入库位置：{i + 1} 条码：{code}，写入任务失败，{errTask}，异常信息：{WriteTaskErrText}，");
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}
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continue;
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}
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/* 判断冲突货位是否有任务 */
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var runningWcsTasks = wcsTaskDao.QueryTaskWithWcsLocation(destinationLocationInfo.InterveneLocation);
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if (runningWcsTasks == default) continue; // 查询失败
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if(runningWcsTasks.Count > 0) continue; // 存在冲突点位，等待
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/* 下发任务 */
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StackerPlcTask stackerTask = wcsTask.ToStackerInTask((int)stackerId!, i + 1, destinationLocationInfo);
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string WriteStackerTaskErrText = stackerOperation.WriteTask(stackerTask, i + 1);
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if (string.IsNullOrEmpty(WriteStackerTaskErrText)) // 写入成功
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{
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ConsoleLog.Success($"{stackerId} 号堆垛机，入库位置：{i + 1} 条码：{code}，写入任务成功，{stackerTask}");
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wcsTaskEvent.StartTaskEvent(wcsTask); // 任务开始
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isWriteTask = true;
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}
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else
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{
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ConsoleLog.Warning($"【警告】{stackerId} 号堆垛机，入库位置：{i + 1} 条码：{code}，写入任务失败，{stackerTask}，异常信息：{WriteStackerTaskErrText}，");
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}
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}
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if (isWriteTask)
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{
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string confirmResult = stackerOperation.WriteTaskConfirm(stackerId); // 写入任务确认
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ConsoleLog.Info($"堆垛机：{stackerId} 入库任务写任务确认；信息：{(string.IsNullOrEmpty(confirmResult) ? "成功" : confirmResult)}");
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Thread.Sleep(1000);
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}
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return isWriteTask;
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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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/* 检查出库站台是否可以卸货 */
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bool allowSetGoods = conveyOperation.AllowSetVehicle(stackerId.ToString());
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if (!allowSetGoods) return false; // 出库站台不允许取货
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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.Exception(string.Format("【异常】{0} 号堆垛机出库任务查询失败，与数据库连接异常", stackerId));
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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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bool isWriteTask = false; // 指示是否写入任务
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int writeTaskCount = 0; // 表示执行了多少条任务
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for (int i = 0; i < wcsTasks.Count; i++)
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{
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if (writeTaskCount >= 2) break; // 最多执行两条
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/* 校验货叉开启 */
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string forkStatus = CommonData.AppStackers.First(f => f.StackerId == stackerId).ForkStatus ?? "";
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if (forkStatus.Length <= i || forkStatus[i] != '1')
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{
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writeTaskCount ++;
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continue; // 获取数据失败或者货叉未开启
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}
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var wcsTask = wcsTasks[i];
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/* 校验起点是否正确 */
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var originLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Origin);
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if (originLocationInfo == default) // 任务起点错误，理论上此处不应该出现异常
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{
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ConsoleLog.Warning($"【警告】{stackerId} 号堆垛机，出库库位：{wcsTask.Origin} 条码：{wcsTask.VehicleNo} 无法识别的出库库位");
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wcsTaskEvent.ErrTaskEvent(wcsTask, "出库的库位不正确");
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continue;
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}
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/* 判断冲突货位是否有任务 */
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var runningWcsTasks = wcsTaskDao.QueryTaskWithWcsLocation(originLocationInfo.InterveneLocation);
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if (runningWcsTasks == default) continue; // 查询失败
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if (runningWcsTasks.Count > 0) continue; // 存在冲突点位，等待
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/* 下发任务 */
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StackerPlcTask stackerTask = wcsTask.ToStackerOutTask((int)stackerId!, i + 1, originLocationInfo);
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string WriteStackerTaskErrText = stackerOperation.WriteTask(stackerTask, i + 1);
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if (string.IsNullOrEmpty(WriteStackerTaskErrText)) // 写入成功
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{
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ConsoleLog.Success($"{stackerId} 号堆垛机，出库位置：{i + 1} 条码：{wcsTask.VehicleNo}，写入任务成功，{stackerTask}");
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wcsTaskEvent.StartTaskEvent(wcsTask); // 任务开始
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writeTaskCount++;
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isWriteTask = true;
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}
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else
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{
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ConsoleLog.Warning($"【警告】{stackerId} 号堆垛机，出库位置：{i + 1} 条码：{wcsTask.VehicleNo}，写入任务失败，{stackerTask}，异常信息：{WriteStackerTaskErrText}，");
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}
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}
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if (isWriteTask)
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{
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string confirmResult = stackerOperation.WriteTaskConfirm(stackerId); // 写入任务确认
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ConsoleLog.Info($"堆垛机：{stackerId}出库任务写任务确认；信息：{(string.IsNullOrEmpty(confirmResult) ? "成功" : confirmResult)}");
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Thread.Sleep(1000);
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}
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return isWriteTask;
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}
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/// <summary>
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/// 执行堆垛机拣选任务，若执行了任务则返回 true
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/// </summary>
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/// <param name="stackerId"></param>
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/// <returns></returns>
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public bool ExecutePickTask(int? stackerId)
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{
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if (stackerId == default) return false;
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var wcsTasks = wcsTaskDao.SelectPickOutTaskWithStacker((int)stackerId!);
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if (wcsTasks == default)
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{
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ConsoleLog.Error($"【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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};
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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} 写入拣选任务成功，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} 写入拣选任务失败，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}，异常信息：{writeStackerTaskErrText}");
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wcsTaskEvent.ErrTaskEvent(wcsTask, $"写入任务失败，异常信息：{writeStackerTaskErrText}");
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}
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return false;
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}
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/// <summary>
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/// 执行堆垛机移库任务，若执行了任务则返回 true
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/// </summary>
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/// <param name="stackerId"></param>
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/// <returns></returns>
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public bool ExecuteMoveTask(int? stackerId)
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{
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if (stackerId == default) return false;
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var wcsTasks = wcsTaskDao.SelectMoveTaskWithStacker((int)stackerId!);
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if (wcsTasks == default)
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{
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ConsoleLog.Error($"【异常】{stackerId} 号堆垛机移库任务查询失败，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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bool isWriteTask = false; // 指示是否写入任务
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int writeTaskCount = 0; // 表示执行了多少条任务
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for (int i = 0; i < wcsTasks.Count; i++)
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{
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if (writeTaskCount >= 2) break; // 最多执行两条
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/* 校验货叉开启 */
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string forkStatus = CommonData.AppStackers.First(f => f.StackerId == stackerId).ForkStatus ?? "";
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if (forkStatus.Length <= i || forkStatus[i] != '1')
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{
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writeTaskCount++;
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continue; // 获取数据失败或者货叉未开启
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}
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var wcsTask = wcsTasks[i];
|
||
/* 校验起点是否正确 */
|
||
var originLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Origin);
|
||
var destinationLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Origin);
|
||
if (originLocationInfo == default || destinationLocationInfo == default) // 任务起点终点错误，理论上此处不应该出现异常
|
||
{
|
||
ConsoleLog.Warning($"【警告】{stackerId} 号堆垛机，移库库位：{wcsTask.Origin} 条码：{wcsTask.VehicleNo} 无法识别的库位");
|
||
wcsTaskEvent.ErrTaskEvent(wcsTask, "移库的库位不正确");
|
||
continue;
|
||
}
|
||
/* 判断冲突货位是否有任务，起点终点都要判断 */
|
||
var runningWcsTasks = wcsTaskDao.QueryTaskWithWcsLocation(destinationLocationInfo.InterveneLocation, originLocationInfo.InterveneLocation);
|
||
if (runningWcsTasks == default) continue; // 查询失败
|
||
if (runningWcsTasks.Count > 0) continue; // 存在冲突点位，等待
|
||
/* 下发任务 */
|
||
StackerPlcTask stackerTask = wcsTask.ToStackerMoveTask((int)stackerId!, originLocationInfo, destinationLocationInfo);
|
||
string WriteStackerTaskErrText = stackerOperation.WriteTask(stackerTask, i + 1);
|
||
if (string.IsNullOrEmpty(WriteStackerTaskErrText)) // 写入成功
|
||
{
|
||
ConsoleLog.Success($"{stackerId} 号堆垛机，移库位置：{i + 1} 条码：{wcsTask.VehicleNo}，写入任务成功，{stackerTask}");
|
||
wcsTaskEvent.StartTaskEvent(wcsTask); // 任务开始
|
||
writeTaskCount++;
|
||
isWriteTask = true;
|
||
}
|
||
else
|
||
{
|
||
ConsoleLog.Warning($"【警告】{stackerId} 号堆垛机，移库位置：{i + 1} 条码：{wcsTask.VehicleNo}，写入任务失败，{stackerTask}，异常信息：{WriteStackerTaskErrText}，");
|
||
}
|
||
}
|
||
if (isWriteTask)
|
||
{
|
||
string confirmResult = stackerOperation.WriteTaskConfirm(stackerId); // 写入任务确认
|
||
ConsoleLog.Info($"堆垛机：{stackerId}移库任务写任务确认；信息：{(string.IsNullOrEmpty(confirmResult) ? "成功" : confirmResult)}");
|
||
Thread.Sleep(1000);
|
||
}
|
||
return isWriteTask;
|
||
|
||
}
|
||
|
||
/// <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>
|
||
/// <param name="forkId">货叉编号</param>
|
||
/// <returns></returns>
|
||
public bool ExecuteDoubleInTask(int? stackerId, int plcId, int forkId)
|
||
{
|
||
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($"【异常】{stackerId} 号堆垛机重复入库任务检验失败，与数据库连接异常");
|
||
Thread.Sleep(5000);
|
||
return false;
|
||
}
|
||
if (doubleInTasks.Count == 0) return false; // 找不到对应的PlcId的任务
|
||
var doubleTask = doubleInTasks[0];
|
||
/* 判断这个任务是否出现卸货位置有货 */
|
||
if(doubleTask.TaskStatus != (int)WcsTaskStatusEnum.doubleIn) { return false; } // 没有重复入库不执行下面方法
|
||
/* 查找这个任务的新任务 */
|
||
List<AppWcsTask>? newTasks = wcsTaskDao.Select(new AppWcsTask { TaskId = doubleTask.TaskId, TaskType = (int)WcsTaskTypeEnum.newTaskForDoubleIn, TaskStatus = (int)WcsTaskStatusEnum.create });
|
||
if (newTasks == default)
|
||
{
|
||
ConsoleLog.Error($"【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, $"新终点存在异常");
|
||
return false;
|
||
}
|
||
/* 判断冲突货位是否有任务 */
|
||
var runningWcsTasks = wcsTaskDao.QueryTaskWithWcsLocation(destinationLocationInfo.InterveneLocation);
|
||
if (runningWcsTasks == default) return false; // 查询失败
|
||
if (runningWcsTasks.Count > 0) return false; // 存在冲突点位，等待
|
||
/* 下发任务 */
|
||
StackerPlcTask stackerTask = newTask.ToStackerInTask((int)stackerId!, forkId, destinationLocationInfo);
|
||
var writeStackerTaskErrText = stackerOperation.WriteTask(stackerTask);
|
||
if (string.IsNullOrEmpty(writeStackerTaskErrText))
|
||
{
|
||
ConsoleLog.Success($"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;
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
}
|