288 lines
13 KiB
C#
288 lines
13 KiB
C#
using System.Text.RegularExpressions;
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using CirculateTool.Attribute;
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using WcsMain.ApiClient.AGV;
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using WcsMain.ApiClient.Shuttle;
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using WcsMain.Constant.Enum.General;
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using WcsMain.Constant.Enum.Stacker;
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using WcsMain.DataBase.Dao;
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using WcsMain.DataBase.TableEntity;
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using WcsMain.EquipOperation.StackerConvey;
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namespace WcsMain.CirculationJob.Stacker;
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/// <summary>
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/// 执行仓库任务
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/// </summary>
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[Circulation]
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public class ExecuteWmsTask(AppWmsTaskDao wmsTaskDao, StackerConveyOperation stackerConveyOperation, AGVWebApiAction agvAction, ShuttleWebApiAction containerAction, AppLiftInfoDao liftInfoDao)
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{
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/// <summary>
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/// 开始执行任务
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/// </summary>
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/// <returns></returns>
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[Circulation("执行任务", 1000)]
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public bool ExecuteWmsTaskStarter()
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{
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/* 执行任务列表任务 */
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List<AppWmsTask>? wmsTasks = wmsTaskDao.Select(new AppWmsTask() { TaskStatus = (int)WmsTaskStatusEnum.create });
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if (wmsTasks == default)
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{
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ConsoleLog.Error("【异常】解析Wms任务时拉取任务列表失败，与数据库连接中断");
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Thread.Sleep(5000);
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return true;
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}
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wmsTasks.ForEach(ExecuteTask);
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/* 出库站台发送AGV接续任务 */
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ExecuteAGVOutTask();
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return true;
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}
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/// <summary>
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/// 执行对应的任务
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/// </summary>
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/// <param name="wmsTask"></param>
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private void ExecuteTask(AppWmsTask wmsTask)
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{
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switch (wmsTask.TaskType)
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{
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case (int)WmsTaskTypeEnum.agv: // AGV 点对点搬运
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ExecuteAGVTask(wmsTask);
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break;
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case (int)WmsTaskTypeEnum.outTask:
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ExecuteOutTask(wmsTask);
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break;
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case (int)WmsTaskTypeEnum.inTask:
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ExecuteInTask(wmsTask);
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break;
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case (int)WmsTaskTypeEnum.moveTask:
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ExecuteMoveTask(wmsTask);
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break;
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default:
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break;
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}
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}
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/// <summary>
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/// 执行 AGV 任务
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/// </summary>
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/// <param name="wmsTask"></param>
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private void ExecuteAGVTask(AppWmsTask wmsTask)
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{
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string errText = agvAction.Send_NO_VERIFY_BUCKET_MOVE(wmsTask);
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if (!string.IsNullOrEmpty(errText))
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{
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ConsoleLog.Warning($"【警告】AGV点对点搬运请求AGV服务失败，任务号：{wmsTask.TaskId}，异常信息：{errText}");
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return;
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}
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ConsoleLog.Success($"AGV点对点搬运请求AGV服务成功，任务号：{wmsTask.TaskId}");
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/* 更新任务状态为执行中 */
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var updateResult = wmsTaskDao.Update(new() { TaskId = wmsTask.TaskId, TaskStatus = (int)WmsTaskStatusEnum.running, StartTime = DateTime.Now, ModifyTime = DateTime.Now });
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ConsoleLog.Success($"更新任务状态结果：{(updateResult > 0 ? "成功" : "失败")}，任务号：{wmsTask.TaskId}");
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}
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/// <summary>
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/// 执行入库任务 --- AGV搬运
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/// </summary>
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/// <param name="wmsTask"></param>
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private void ExecuteInTask(AppWmsTask wmsTask)
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{
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string? midPoint = wmsTask.MidPoint;
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if (string.IsNullOrEmpty(wmsTask.Origin) || Regex.IsMatch(wmsTask.Origin, "^\\d+$")) return;
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if (string.IsNullOrEmpty(midPoint))
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{
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midPoint = GetEmptyInLift(wmsTask.Destination);
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}
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if (string.IsNullOrEmpty(midPoint)) return; // 没有可用的站台
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/* 发送AGV 搬运任务 */
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string errText = agvAction.Send_AGV_TASK(wmsTask.TaskId, wmsTask.Origin, midPoint, 1);
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if (!string.IsNullOrEmpty(errText))
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{
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ConsoleLog.Warning($"【警告】入库请求AGV搬运失败，任务号：{wmsTask.TaskId}，异常信息：{errText}");
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return;
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}
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ConsoleLog.Success($"入库搬运请求AGV成功，任务号：{wmsTask.TaskId}");
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/* 更新任务状态为前往中间点，更新中间点 */
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var updateResult = wmsTaskDao.Update(new() { TaskId = wmsTask.TaskId, MidPoint = midPoint, TaskStatus = (int)WmsTaskStatusEnum.toMid, StartTime = DateTime.Now, ModifyTime = DateTime.Now });
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ConsoleLog.Success($"更新任务状态结果：{(updateResult > 0 ? "成功" : "失败")}，任务号：{wmsTask.TaskId}");
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/* 四向车任务有接口返回给四向车 */
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}
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/// <summary>
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/// 执行出库任务
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/// </summary>
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/// <param name="wmsTask"></param>
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private void ExecuteOutTask(AppWmsTask wmsTask)
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{
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string? midPoint = wmsTask.MidPoint;
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if(string.IsNullOrEmpty(midPoint))
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{
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midPoint = GetEmptyOutLift(wmsTask.Origin);
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}
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if (string.IsNullOrEmpty(midPoint)) return; // 没有可用站台
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/* 发送四向车搬运任务 */
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string? errText = containerAction.ExecuteOutTask(wmsTask.WcsId, wmsTask.Origin, midPoint, wmsTask.VehicleNo);
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if (!string.IsNullOrEmpty(errText))
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{
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ConsoleLog.Warning($"【警告】出库请求四向车搬运失败，任务号：{wmsTask.TaskId}，异常信息：{errText}");
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return;
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}
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ConsoleLog.Success($"出库搬运请求四向车成功，任务号：{wmsTask.TaskId}/{wmsTask.WcsId}");
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/* 更新任务状态为前往中间点，更新中间点 */
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var updateResult = wmsTaskDao.Update(new() { TaskId = wmsTask.TaskId, MidPoint = midPoint, TaskStatus = (int)WmsTaskStatusEnum.toMid, StartTime = DateTime.Now, ModifyTime = DateTime.Now });
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ConsoleLog.Success($"更新任务状态结果：{(updateResult > 0 ? "成功" : "失败")}，任务号：{wmsTask.TaskId}");
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/* AGV接续任务由定时器触发 */
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}
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/// <summary>
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/// 执行 四向车库移库任务
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/// </summary>
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/// <param name="wmsTask"></param>
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private void ExecuteMoveTask(AppWmsTask wmsTask)
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{
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string errText = containerAction.ExecuteMoveTask(wmsTask);
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if (!string.IsNullOrEmpty(errText))
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{
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ConsoleLog.Warning($"四向车移库任务请求四向车服务失败，任务号：{wmsTask.TaskId}/{wmsTask.WcsId}，异常信息：{errText}");
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return;
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}
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ConsoleLog.Success($"四向车移库任务请求四向车服务成功，任务号：{wmsTask.TaskId}/{wmsTask.WcsId}");
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/* 更新任务状态为执行中 */
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var updateResult = wmsTaskDao.Update(new() { TaskId = wmsTask.TaskId, TaskStatus = (int)WmsTaskStatusEnum.running, StartTime = DateTime.Now, ModifyTime = DateTime.Now });
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ConsoleLog.Success($"更新任务状态结果：{(updateResult > 0 ? "成功" : "失败")}，任务号：{wmsTask.TaskId}");
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}
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/// <summary>
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/// 执行AGV出库任务
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/// </summary>
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private void ExecuteAGVOutTask()
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{
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List<AppLiftInfo>? liftInfos = liftInfoDao.Query(new() { Status = (int)TrueFalseEnum.TRUE });
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if (liftInfos == default || liftInfos.Count < 1) return;
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foreach (var liftInfo in liftInfos)
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{
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(string errText, short model, short allowAction, short errCode, string code) = stackerConveyOperation.GetLiftInfo(liftInfo.LiftId ?? "");
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if (!string.IsNullOrEmpty(errText))
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{
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//ConsoleLog.Warning($"【警告】提升机站台信息获取失败，异常信息：{errText}");
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continue;
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}
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if (model != 2 || allowAction != (short)TrueFalseEnum.TRUE || errCode != 0) continue; // 不满足执行条件
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/* 查找出库任务 */
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List<AppWmsTask>? tasks = wmsTaskDao.Select(new() { VehicleNo = code, TaskStatus = (int)WmsTaskStatusEnum.arriveMid })?.OrderByDescending(o => o.CreateTime).ToList();
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if (tasks == null || tasks.Count == 0) continue;
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var task = tasks.First();
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if (string.IsNullOrEmpty(task.Destination)) continue;
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/* 下发任务 */
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string agvErrText = agvAction.Send_AGV_TASK(task.TaskId, GetAgvNo(task.MidPoint), task.Destination);
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if (!string.IsNullOrEmpty(agvErrText))
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{
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ConsoleLog.Warning($"【警告】AGV出库任务请求AGV服务失败，任务号：{task.TaskId}，异常信息：{agvErrText}");
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return;
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}
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/* 更新任务状态为前往终点 */
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var updateResult = wmsTaskDao.Update(new() { TaskId = task.TaskId, TaskStatus = (int)WmsTaskStatusEnum.toDestination, ModifyTime = DateTime.Now });
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ConsoleLog.Success($"更新任务状态结果：{(updateResult > 0 ? "成功" : "失败")}，任务号：{task.TaskId}");
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}
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}
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/// <summary>
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/// 获取一个空闲的入库站台
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/// </summary>
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/// <param name="destination"></param>
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/// <returns></returns>
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private string? GetEmptyInLift(string? destination)
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{
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if (string.IsNullOrEmpty(destination)) return default;
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List<AppLiftInfo>? liftInfos = liftInfoDao.Query(new() { Status = (int)TrueFalseEnum.TRUE });
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if (liftInfos == default || liftInfos.Count < 1) return default;
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foreach (var liftInfo in liftInfos)
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{
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(string errText, short model, short allowAction, short errCode, string code) = stackerConveyOperation.GetLiftInfo(liftInfo.LiftId ?? "");
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if (!string.IsNullOrEmpty(errText))
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{
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//ConsoleLog.Warning($"【警告】提升机站台信息获取失败，异常信息：{errText}");
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continue;
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}
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if (model != 1 || allowAction != (short)TrueFalseEnum.TRUE || errCode != 0) continue;
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/* 检验任务是否是第一层，若是不是第一层不能分配第一层出入口 */
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if (destination.EndsWith("1"))
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{
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if (liftInfo.LiftMode != 2) continue;
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}
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/* 获取这个站台的任务.没有占用任务即可重新使用 */
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List<AppWmsTask> tasks = [];
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tasks.AddRange(wmsTaskDao.Select(new() { MidPoint = liftInfo.Tag!.Split(',')[0], TaskStatus = (int)WmsTaskStatusEnum.toMid }) ?? []);
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tasks.AddRange(wmsTaskDao.Select(new() { MidPoint = liftInfo.Tag!.Split(',')[1], TaskStatus = (int)WmsTaskStatusEnum.toMid }) ?? []);
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if (tasks == default || tasks.Count > 0) continue;
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string location = "";
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if (!string.IsNullOrEmpty(liftInfo.Tag))
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{
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location = liftInfo.Tag.Split(',')[1];
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}
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return location;
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}
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return default;
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}
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/// <summary>
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/// 获取一个空闲的出库站台
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/// </summary>
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/// <param name="origin"></param>
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/// <returns></returns>
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private string? GetEmptyOutLift(string? origin)
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{
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if (string.IsNullOrEmpty(origin)) return default;
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Dictionary<string, int> liftTaskCount = [];
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List<AppLiftInfo>? liftInfos = liftInfoDao.Query(new() { Status = (int)TrueFalseEnum.TRUE });
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if (liftInfos == default || liftInfos.Count < 1) return default;
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foreach (var liftInfo in liftInfos)
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{
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(string errText, short model, short allowAction, short errCode, string code) = stackerConveyOperation.GetLiftInfo(liftInfo.LiftId ?? "");
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if (!string.IsNullOrEmpty(errText))
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{
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//ConsoleLog.Warning($"【警告】提升机站台信息获取失败，异常信息：{errText}");
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continue;
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}
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if (model != 2 || allowAction != (short)TrueFalseEnum.FALSE || errCode != 0) continue;
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/* 检验任务是否是第一层，若是不是第一层不能分配第一层出入口 */
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if (!origin.EndsWith("1"))
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{
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if (liftInfo.LiftMode == 2) continue;
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}
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/* 获取这个站台的任务.并计数 */
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List<AppWmsTask> tasks = [];
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tasks.AddRange(wmsTaskDao.Select(new() { MidPoint = liftInfo.Tag!.Split(',')[0], TaskStatus = (int)WmsTaskStatusEnum.toMid }) ?? []);
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tasks.AddRange(wmsTaskDao.Select(new() { MidPoint = liftInfo.Tag!.Split(',')[1], TaskStatus = (int)WmsTaskStatusEnum.toMid }) ?? []);
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if (tasks == default) continue;
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string location = "";
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if(!string.IsNullOrEmpty(liftInfo.Tag))
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{
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location = liftInfo.Tag.Split(',')[0];
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}
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liftTaskCount.TryAdd(location, tasks.Count);
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}
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var sortLiftInfos = liftTaskCount.OrderBy(o => o.Value).ToDictionary();
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if (sortLiftInfos.Count > 0) return sortLiftInfos.First().Key;
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return default;
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}
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private string? GetAgvNo(string? lift)
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{
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List<AppLiftInfo>? liftInfos = liftInfoDao.Query(new() { Status = (int)TrueFalseEnum.TRUE });
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if (liftInfos == default || liftInfos.Count < 1) return default;
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AppLiftInfo? appLiftInfo = liftInfos.Find(f => f.Tag!.Contains(lift!));
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if (appLiftInfo == null) return default;
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return appLiftInfo.Tag?.Split(',')[1];
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}
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}
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