using IWareCC.CacheInfo;
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using IWareCC.CacheInfo.Container;
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using IWareCC.ORM;
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using IWareCC.Properties;
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using IWareCC.RGV.Entity;
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using IWareCommon.Enum.Common;
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using IWareCommon.Enum.Conveyor;
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using IWareCommon.Help;
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using IWareCommon.Util;
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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.Text;
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using System.Threading.Tasks;
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namespace IWareCC.RGV.Handle.DoRgvTaskAuto
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{
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public class 选择一个未执行的Rgv的任务 : IHandler
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{
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/// <summary>
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/// 该节点的下一个节点
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/// </summary>
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private IHandler nextHandler = null;
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public IHandler NextHandler
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{
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set { nextHandler = value; }
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}
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private RgvEntity Rgv;
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/// <summary>
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/// 任务容器
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/// </summary>
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private PartTaskContainer DecompositionTaskContainer;
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/// <summary>
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/// 构造函数
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/// </summary>
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/// <param name="resultContainer">结果容器</param>
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/// <param name="decompositionTaskContainer">WIP任务容器</param>
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public 选择一个未执行的Rgv的任务(PartTaskContainer decompositionTaskContainer)
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{
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this.DecompositionTaskContainer = decompositionTaskContainer;
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}
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public void Handle()
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{
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using (var dbModel = new DbModel())
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{
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try
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{
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string msg;
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var task = dbModel.PartTasks.OrderBy(x => x.priority).ThenBy(x => x.updatetime).FirstOrDefault(x => x.eqtype == (int)EPartTaskType.Rgv任务 && x.isreleased == (int)EYesOrNo.否 && x.isfinished == (int)EYesOrNo.否);
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if (task == null)
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{
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// LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/", "选择一个未执行的Rgv的任务:{0}", "未找到相应的Rgv任务");
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return;
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}
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else
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{
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task.updatetime = DateTime.Now;
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dbModel.SaveChanges();
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int tdevid = (int)((EDeviceId)task.eqid);
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var rgv = CacheEntity.Rgvs.FirstOrDefault(x => x.DeviceId == tdevid);
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Rgv = rgv;
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}
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///如果是叠盘任务，必须校验去的位置是否有满托盘回库的任务，如果有不能执行
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if (task.maintasktype == (int)EMainTaskType.出库叠盘)
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{
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var newtask = dbModel.PartTasks.OrderBy(x => x.priority).ThenBy(x => x.updatetime).FirstOrDefault(x => x.eqtype == (int)EPartTaskType.Rgv任务 && x.isreleased == (int)EYesOrNo.否 && x.isfinished == (int)EYesOrNo.否 && x.maintasktype == (int)EMainTaskType.满空托回库 && x.sourceplace == task.toplace);
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if (newtask != null)
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{
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "选择一个未执行的Rgv的任务:Rgv{0}不能执行任务--{1}", Rgv.RgvName, "满托盘需要回库无法执行叠盘任务");
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msg = "有满托盘回库的任务，不能执行出库叠盘";
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if (task.filereason != msg)
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{
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task.filereason = msg;
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dbModel.SaveChanges();
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}
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return;
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}
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else
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{
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int devno = (int)EDeviceId.小盘叠盘机;
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if (task.containertype != 1)
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{
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devno = (int)EDeviceId.大盘叠盘机;
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}
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var transporTask = dbModel.ChaiDieTransports.OrderBy(x => x.createtime).FirstOrDefault(x => x.status == 0 && x.type == 2 && x.dev == devno);
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if (transporTask != null)
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{
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msg = "叠盘机已叠满，不能执行叠盘任务！";
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if (task.filereason != msg)
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{
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task.filereason = msg;
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dbModel.SaveChanges();
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}
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return;
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}
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}
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}
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//检测上一任务是否完成
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var notfinishtask = dbModel.PartTasks.OrderBy(x => x.priority).ThenBy(x => x.createtime).FirstOrDefault(x => x.eqtype == (int)EPartTaskType.Rgv任务 && x.isreleased == (int)EYesOrNo.是 && x.isfinished == (int)EYesOrNo.否 && x.eqid == Rgv.DeviceId);
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if (notfinishtask != null)
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{
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "选择一个未执行的Rgv的任务:{0}", "当前设备还有未完成的任务");
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msg = "上一任务未完成";
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if (task.filereason != msg)
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{
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task.filereason = msg;
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dbModel.SaveChanges();
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}
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return;
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}
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//检测同一个目标点，上一个rgv任务的完成时间是否超过了10s，如果未超过，则暂时不允许下发新的rgv任务【EditBy shaocx,2022-10-18】
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var lastFinishtask = dbModel.PartTasks.OrderByDescending(x => x.createtime).FirstOrDefault(x => x.toplace == task.toplace
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&& x.eqtype == (int)EPartTaskType.Rgv任务 && x.isfinished == (int)EYesOrNo.是 && x.eqid == Rgv.DeviceId);
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if (lastFinishtask != null && lastFinishtask.finishTime != null)
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{
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TimeSpan ts = DateTime.Now - Convert.ToDateTime(lastFinishtask.finishTime);
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if (ts.TotalSeconds <= 10)
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{
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msg = "同一个目标点，上一个rgv任务(" + lastFinishtask.taskcode + ")的完成时间没有超过10s，暂时不允许下发新的rgv任务";
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "选择一个未执行的Rgv的任务:{0}", msg);
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if (task.filereason != msg)
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{
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task.filereason = msg;
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dbModel.SaveChanges();
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}
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return;
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}
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}
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if (!CheckSourAndToPlaceIsEmpty(task, out msg))
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{
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "选择一个未执行的Rgv的任务:{0}", "请检车RGV的起始位或目标位是否有货");
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if (task.filereason != msg)
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{
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task.filereason = msg;
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dbModel.SaveChanges();
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}
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return;
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}
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if (!Rgv.CanSendTask(Rgv.DeviceId, out msg))
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{
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "选择一个未执行的Rgv的任务:Rgv{0}不能执行任务--{1}", Rgv.RgvName, msg);
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if (task.filereason != msg)
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{
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task.filereason = msg;
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dbModel.SaveChanges();
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}
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return;
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}
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if (task.maintasktype == (int)EMainTaskType.常规入库 && (task.heighttype == 0 || task.targetplace == "0"))
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{
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "选择一个未执行的Rgv的任务:Rgv{0}不能执行任务--{1}", Rgv.RgvName, "入库任务未确定入库位置");
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msg = "常规入库任务目标位置或者托盘高度没有，无法继续执行！";
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if (task.filereason != msg)
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{
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task.filereason = msg;
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dbModel.SaveChanges();
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}
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return;
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}
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DecompositionTaskContainer.DecompositionTask = task;
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "选择一个未执行的Rgv的任务:{0}", DecompositionTaskContainer.DecompositionTask.id);
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if (nextHandler != null)
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{
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nextHandler.Handle();
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}
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}
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catch (Exception ex)
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{
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LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), "Handle", ex.Message);
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}
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}
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}
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/// <summary>
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/// 验证目标位置是否为空
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/// </summary>
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/// <param name="task"></param>
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/// <returns></returns>
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public bool CheckSourAndToPlaceIsEmpty(PartTask task, out string msg)
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{
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if (task != null)
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{
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int tasktype = task.maintasktype;
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bool b1 = false;
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msg = "";
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switch (tasktype)
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{
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case (int)EMainTaskType.常规入库:
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string name = "Line" + task.sourceplace;
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var sconveyor = CacheEntity.Conveyors.FirstOrDefault(x => x.ConveyorName == name);
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if ((sconveyor != null && (sconveyor.RPh1 == 1 && sconveyor.RPh2 == 1)))
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{
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b1 = true;
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}
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else
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{
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b1 = false;
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msg = "起始位置未检测到货物，请查看广电是否检测到";
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "{0}端口不为空:{1}，{2}", sconveyor.ConveyorName, sconveyor.RPh1, sconveyor.RPh2);
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}
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string tname = "Line" + task.toplace;
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var tconveyor = CacheEntity.Conveyors.FirstOrDefault(x => x.ConveyorName == tname);
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if ((tconveyor != null && (tconveyor.RPh1 == 2 && tconveyor.RPh2 == 2 && tconveyor.RPh3 == 2)))
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{
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b1 = true;
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}
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else
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{
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b1 = false;
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msg = "目标位置检测到有货物，请确认无货才允许执行";
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "{0}端口不为空:{1}，{2}", tconveyor.ConveyorName, tconveyor.RPh1, tconveyor.RPh2);
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}
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break;
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case (int)EMainTaskType.常规出库:
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if (task.toplace == "1001")
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{
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string t1name = "Line" + task.toplace;
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var t1conveyor = CacheEntity.Conveyors.FirstOrDefault(x => x.ConveyorName == t1name);
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if ((t1conveyor != null && (t1conveyor.RPh1 == 2 && t1conveyor.RPh2 == 2)))
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{
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b1 = true;
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}
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else
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{
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b1 = false;
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msg = "目标位置检测到有货物，请确认无货才允许执行";
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "{0}端口不为空:{1}，{2}", t1conveyor.ConveyorName, t1conveyor.RPh1, t1conveyor.RPh2);
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}
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}
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else if (task.toplace == "1011")
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{
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string t2name = "Line1012";
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var t2conveyor = CacheEntity.Conveyors.FirstOrDefault(x => x.ConveyorName == t2name);
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if ((t2conveyor != null && (t2conveyor.RPh1 == 2 && t2conveyor.RPh2 == 2)))
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{
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b1 = true;
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}
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else
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{
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b1 = false;
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msg = "目标位置检测到有货物，请确认无货才允许执行";
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "{0}端口不为空:{1}，{2}", t2conveyor.ConveyorName, t2conveyor.RPh1, t2conveyor.RPh2);
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}
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}
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else if (task.toplace == "1005")
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{
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string t3name = "Line1006";
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var t3conveyor = CacheEntity.Conveyors.FirstOrDefault(x => x.ConveyorName == t3name);
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if ((t3conveyor != null && (t3conveyor.RPh1 == 2 && t3conveyor.RPh2 == 2)))
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{
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b1 = true;
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}
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else
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{
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b1 = false;
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msg = "目标位置检测到有货物，请确认无货才允许执行";
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "{0}端口不为空:{1}，{2}", t3conveyor.ConveyorName, t3conveyor.RPh1, t3conveyor.RPh2);
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}
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}
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else
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{
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b1 = false;
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}
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break;
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case (int)EMainTaskType.出库叠盘:
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if (task.sourceplace == "1001")
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{
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string t1name = "Line" + task.sourceplace;
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var t1conveyor = CacheEntity.Conveyors.FirstOrDefault(x => x.ConveyorName == t1name);
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if ((t1conveyor != null && (t1conveyor.RPh1 == 1 && t1conveyor.RPh2 == 1)))
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{
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b1 = true;
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}
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else
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{
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b1 = false;
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msg = "起始位置未检测到货物，请查看广电是否检测到";
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "{0}端口不为空:{1}，{2}", t1conveyor.ConveyorName, t1conveyor.RPh1, t1conveyor.RPh2);
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}
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}
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else if (task.sourceplace == "1007")
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{
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string t2name = "Line1008";
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var t2conveyor = CacheEntity.Conveyors.FirstOrDefault(x => x.ConveyorName == t2name);
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if ((t2conveyor != null && (t2conveyor.RPh1 == 1 && t2conveyor.RPh2 == 1)))
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{
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b1 = true;
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}
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else
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{
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b1 = false;
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msg = "起始位置未检测到货物，请查看广电是否检测到";
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "{0}端口不为空:{1}，{2}", t2conveyor.ConveyorName, t2conveyor.RPh1, t2conveyor.RPh2);
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}
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}
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else if (task.sourceplace == "1002")
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{
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string t3name = "Line1003";
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var t3conveyor = CacheEntity.Conveyors.FirstOrDefault(x => x.ConveyorName == t3name);
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if ((t3conveyor != null && (t3conveyor.RPh1 == 1 && t3conveyor.RPh2 == 1)))
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{
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b1 = true;
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}
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else
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{
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b1 = false;
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msg = "起始位置未检测到货物，请查看广电是否检测到";
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "{0}端口不为空:{1}，{2}", t3conveyor.ConveyorName, t3conveyor.RPh1, t3conveyor.RPh2);
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}
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}
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else
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{
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b1 = false;
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}
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break;
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case (int)EMainTaskType.满空托回库:
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string tmname = "Line" + task.toplace;
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var tmconveyor = CacheEntity.Conveyors.FirstOrDefault(x => x.ConveyorName == tmname);
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if ((tmconveyor != null && (tmconveyor.RPh1 == 2 && tmconveyor.RPh2 == 2 && tmconveyor.RPh3 == 2)))
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{
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b1 = true;
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}
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else
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{
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b1 = false;
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msg = "目标位置检测到有货物，请确认无货才允许执行";
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "{0}端口不为空:{1}，{2}", tmconveyor.ConveyorName, tmconveyor.RPh1, tmconveyor.RPh2);
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}
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break;
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case (int)EMainTaskType.余料回库:
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string tvname = "Line" + task.toplace;
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var tyconveyor = CacheEntity.Conveyors.FirstOrDefault(x => x.ConveyorName == tvname);
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if ((tyconveyor != null && (tyconveyor.RPh1 == 2 && tyconveyor.RPh2 == 2 && tyconveyor.RPh3 == 2)))
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{
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b1 = true;
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}
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else
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{
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b1 = false;
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msg = "目标位置检测到有货物，请确认无货才允许执行";
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "{0}端口不为空:{1}，{2}", tyconveyor.ConveyorName, tyconveyor.RPh1, tyconveyor.RPh2);
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}
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if (task.sourceplace == "1001")
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{
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string t1name = "Line" + task.sourceplace;
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var t1conveyor = CacheEntity.Conveyors.FirstOrDefault(x => x.ConveyorName == t1name);
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if ((t1conveyor != null && (t1conveyor.RPh1 == 1 && t1conveyor.RPh2 == 1)))
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{
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b1 = true;
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}
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else
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{
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b1 = false;
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msg = "起始位置未检测到货物，请查看广电是否检测到";
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "{0}端口不为空:{1}，{2}", t1conveyor.ConveyorName, t1conveyor.RPh1, t1conveyor.RPh2);
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}
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}
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else if (task.sourceplace == "1007")
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{
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string t2name = "Line1008";
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var t2conveyor = CacheEntity.Conveyors.FirstOrDefault(x => x.ConveyorName == t2name);
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if ((t2conveyor != null && (t2conveyor.RPh1 == 1 && t2conveyor.RPh2 == 1)))
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{
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b1 = true;
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}
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else
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{
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b1 = false;
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msg = "起始位置未检测到货物，请查看广电是否检测到";
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "{0}端口不为空:{1}，{2}", t2conveyor.ConveyorName, t2conveyor.RPh1, t2conveyor.RPh2);
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}
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}
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else if (task.sourceplace == "1002")
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{
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string t3name = "Line1003";
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var t3conveyor = CacheEntity.Conveyors.FirstOrDefault(x => x.ConveyorName == t3name);
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if ((t3conveyor != null && (t3conveyor.RPh1 == 1 && t3conveyor.RPh2 == 1)))
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{
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b1 = true;
|
}
|
else
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{
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b1 = false;
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msg = "起始位置未检测到货物，请查看广电是否检测到";
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LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "{0}端口不为空:{1}，{2}", t3conveyor.ConveyorName, t3conveyor.RPh1, t3conveyor.RPh2);
|
}
|
}
|
else
|
{
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b1 = false;
|
}
|
break;
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case (int)EMainTaskType.组盘出库:
|
bool bt1 = false;
|
string tzname = "Line" + task.toplace;
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var tzconveyor = CacheEntity.Conveyors.FirstOrDefault(x => x.ConveyorName == tzname);
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if ((tzconveyor != null && (tzconveyor.RPh1 == 2 && tzconveyor.RPh2 == 2)) && tzconveyor.RState == (int)EConveyorState.空闲)
|
{
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bt1 = true;
|
}
|
else
|
{
|
bt1 = false;
|
LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "{0}端口不为空:{1}，{2}", tzconveyor.ConveyorName, tzconveyor.RPh1, tzconveyor.RPh2);
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}
|
bool bt2 = false;
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string t8name = "Line" + (int.Parse(task.toplace) - 1).ToString();
|
var ti1conveyor = CacheEntity.Conveyors.FirstOrDefault(x => x.ConveyorName == t8name);
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if ((ti1conveyor != null && (ti1conveyor.RPh1 == 2 && ti1conveyor.RPh2 == 2)) && ti1conveyor.RState == (int)EConveyorState.空闲)
|
{
|
bt2 = true;
|
}
|
else
|
{
|
bt2 = false;
|
|
LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "{0}端口不为空:{1}，{2},{3}", ti1conveyor.ConveyorName, ti1conveyor.RPh1, ti1conveyor.RPh2, ti1conveyor.RState);
|
}
|
bool bt3 = false;
|
string t10name = "Line" + (int.Parse(task.toplace) - 2).ToString();
|
var ti10conveyor = CacheEntity.Conveyors.FirstOrDefault(x => x.ConveyorName == t10name);
|
if ((ti10conveyor != null && (ti10conveyor.RPh1 == 2 && ti10conveyor.RPh2 == 2)) && ti10conveyor.RState == (int)EConveyorState.空闲)
|
{
|
bt3 = true;
|
}
|
else
|
{
|
bt3 = false;
|
|
LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "{0}端口不为空:{1}，{2},{3}", ti10conveyor.ConveyorName, ti10conveyor.RPh1, ti10conveyor.RPh2, ti10conveyor.RState);
|
}
|
bool bt4 = false;
|
string t9name = "Line" + (int.Parse(task.toplace) - 3).ToString();
|
var ti2conveyor = CacheEntity.Conveyors.FirstOrDefault(x => x.ConveyorName == t9name);
|
if ((ti2conveyor != null && (ti2conveyor.RPh1 == 2 && ti2conveyor.RPh2 == 2)) && ti2conveyor.RState == (int)EConveyorState.空闲)
|
{
|
bt4 = true;
|
}
|
else
|
{
|
bt4 = false;
|
|
LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "{0}端口不为空:{1}，{2},{3}", ti2conveyor.ConveyorName, ti2conveyor.RPh1, ti2conveyor.RPh2, ti2conveyor.RState);
|
}
|
if (bt1 && bt2 && bt3 && bt4)
|
{
|
b1 = true;
|
LogTextHelper.WriteLine(Resources.LogDir + @"/自动执行Rgv任务流程/" + Rgv.RgvName, "出库组盘可下发任务号:{0}，起始位置;{1},目标位置：{2}", task.id, task.sourceplace, task.toplace);
|
}
|
else
|
{
|
msg = "目标位置检测到有货物，请确认无货才允许执行";
|
b1 = false;
|
}
|
break;
|
default:
|
b1 = true;
|
break;
|
}
|
return b1;
|
}
|
else
|
{
|
msg = "未找到任务起始位置与目标位置验证失败";
|
return false;
|
}
|
}
|
}
|
}
|
