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;
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using System.Threading.Tasks;
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using yunneiWCS.Common;
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using yunneiWCS.data;
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using yunneiWCS.EnumDefine;
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using yunneiWCS.EnumDefine.Device;
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using yunneiWCS.ORM;
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namespace yunneiWCS.ExtendFunction
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{
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/// <summary>
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/// 增补创建的扩展帮助类 【EditBy shaocx,2022-02-05】
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/// </summary>
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public class MyExtendHelper
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{
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/// <summary>
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/// 验证AGV是否执行回原点的任务
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/// </summary>
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/// <param name="isP"></param>
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/// <returns></returns>
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public static bool ValidateAgvNoParting(string isP)
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{
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// return MyExtendHelper.ValidateAgvNoParting(isP);//原来的代码
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return true;//先确认返回，试试效果 【Editby shaocx,2024-10-11】
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}
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/// <summary>
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/// 过滤这些真正的空库位
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/// </summary>
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/// <param name="mod"></param>
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/// <param name="findPosition"></param>
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/// <returns></returns>
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public static List<position> FilterEmptyPosition(dbmodel mod, List<position> findPosition)
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{
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List<position> new_outPosition = new List<position>();
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if (findPosition == null || findPosition.Count == 0)
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{
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return new_outPosition;
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}
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productStock _productStock = null;
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foreach (var item in findPosition)
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{
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_productStock = null;
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_productStock = mod.productStock.Where(x => x.positionId == item.positionId).FirstOrDefault();
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if (_productStock != null)
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{//说明有库存
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}
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else
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{//说明无库存
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new_outPosition.Add(item);
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}
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}
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return new_outPosition;
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}
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/// <summary>
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/// 是否允许给堆垛机发送新任务
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/// </summary>
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/// <param name="srm"></param>
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/// <returns></returns>
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public static bool IsAllowSendNewTaskToSrm(int sleepTime = 2000)
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{
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Thread.Sleep(sleepTime);//等待一秒钟 【EditBy shaocx,2022-03-26】
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if (Form1.srm.mode == "自动" && Form1.srm.Alarm_info == "无故障" && Form1.srm.state == "待机" && Form1.srm.srmTaskExcuteName == "复位")
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{
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return true;
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}
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return false;
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}
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/// <summary>
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/// 获取输送线站点
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/// </summary>
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/// <param name="conv1"></param>
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/// <param name="conv2"></param>
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/// <param name="conv3"></param>
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/// <param name="conv4"></param>
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/// <param name="item"></param>
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/// <param name="queryTaskAreaEnum"></param>
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/// <returns></returns>
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public static string GetConvPlace(convEntity conv1, convEntity conv2, convEntity conv3, convEntity conv4, task item, TaskAreaEnum queryTaskAreaEnum)
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{
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string convPlace = "";
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if (!IsAllowSimulatorHandle(item))
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{
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switch (queryTaskAreaEnum)
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{
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case TaskAreaEnum.缸体侧:
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if (conv1.taskId.ToString() == item.PlcTaskNo)
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{
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convPlace = "2-39-1";
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}
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if (conv2.taskId.ToString() == item.PlcTaskNo)
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{
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convPlace = "1-39-1";
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}
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break;
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case TaskAreaEnum.缸盖侧:
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if (conv3.taskId.ToString() == item.PlcTaskNo)
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{
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convPlace = "1-0-1";
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}
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if (conv4.taskId.ToString() == item.PlcTaskNo)
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{
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convPlace = "2-0-1";
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}
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break;
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}
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}
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else
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{//虚拟模式或强制完成
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switch (queryTaskAreaEnum)
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{
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case TaskAreaEnum.缸体侧:
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convPlace = "2-39-1";//写死
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break;
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case TaskAreaEnum.缸盖侧:
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convPlace = "1-0-1";//写死
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break;
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}
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}
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return convPlace;
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}
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/// <summary>
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/// 判断任务是否允许模拟完成(虚拟模拟或者是强制完成模式)
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/// </summary>
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/// <param name="_task"></param>
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/// <returns></returns>
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public static bool IsAllowSimulatorHandle(task _task)
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{
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if (Form1.isvirtual)
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{
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return true;
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}
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if (_task != null && _task.isForceComplete == 1)
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{
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return true;
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}
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return false;
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}
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/// <summary>
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/// 根据站点位置获取输送线的设备枚举
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/// </summary>
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/// <param name="placeName"></param>
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/// <returns></returns>
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public static TransEnum GetTransByPlace(string placeName)
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{
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/*
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* 缸体下线、上线 、缸体余料回库 的立体入库口和出库口 1-39-1（对应输送线短的L2）、2-39-1(对应输送线长的L1)
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缸盖下线、上线、缸盖余料回库的立库入库口和出库口 1-0-1(对应输送线短的L3)、2-0-1（对应输送线长的L4）
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*/
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switch (placeName)
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{
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case "2-39-1":
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return TransEnum.输送线L1;
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case "1-39-1":
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return TransEnum.输送线L2;
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case "2-0-1":
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return TransEnum.输送线L4;
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case "1-0-1":
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return TransEnum.输送线L3;
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}
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throw new Exception("根据站点位置" + placeName + "获取输送线的设备枚举失败");
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}
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/// <summary>
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/// 通过站点ID获取库存
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/// </summary>
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/// <param name="mod"></param>
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/// <param name="positionId"></param>
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/// <returns></returns>
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public static productStock GetProductStockById(dbmodel mod, long positionId)
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{
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productStock stock = mod.productStock.FirstOrDefault(x => x.positionId == positionId);
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return stock;
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}
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/// <summary>
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/// 处理入库单，获取任务类型 【EditBy shaocx,2022-02-06】
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/// </summary>
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/// <param name="inTask"></param>
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/// <returns></returns>
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public static taskType GetTaskTypeForInStockOrder(inStockOrder inTask)
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{
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//增加 toStieCode的判断 【EditBy shaocx,2022-02-06】
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taskType tasktype = 0;
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if (string.IsNullOrEmpty(inTask.toStieCode))
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{
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//根据起点判断任务类型
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if (SysGloble.TransStations.Contains(inTask.siteCode))
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{
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tasktype = taskType.手动入库;
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}
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else
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{
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//tasktype = inTask.siteCode.Substring(0, 2) == "GT" ? 1 : 2;
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tasktype = inTask.siteCode.Substring(0, 2) == "GT" ? taskType.缸体下线 : taskType.缸盖下线;
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}
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}
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else
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{//表示不入立体库，直接去天永机器人那里
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tasktype = inTask.siteCode.Substring(0, 2) == "GT" ? taskType.缸体下线直接去上线点 : taskType.缸盖下线直接去上线点;
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}
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return tasktype;
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}
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/// <summary>
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/// 处理入库单，获取任务区域 【EditBy shaocx,2022-02-06】
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/// </summary>
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/// <param name="inTask"></param>
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/// <returns></returns>
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public static int GetTaskAreaForInStockOrder(inStockOrder inTask)
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{
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return inTask.orderType == 1 ? (int)TaskAreaEnum.缸体侧 : (int)TaskAreaEnum.缸盖侧;
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}
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/// <summary>
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/// 根据出库口的位置，获取任务区域 【EditBy shaocx,2022-02-06】
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/// </summary>
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/// <param name="inTask"></param>
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/// <returns></returns>
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public static int GetTaskAreaByOutStorePostion(string postionName)
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{
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TaskAreaEnum _TaskAreaEnum = default(TaskAreaEnum);
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switch (postionName)
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{
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case "1-39-1":
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case "2-39-1":
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_TaskAreaEnum = TaskAreaEnum.缸体侧;
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break;
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case "1-0-1":
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case "2-0-1":
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_TaskAreaEnum = TaskAreaEnum.缸盖侧;
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break;
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}
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return (int)_TaskAreaEnum;
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}
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/// <summary>
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/// 站点是否被任务占用
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/// </summary>
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/// <param name="mod"></param>
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/// <param name="station"></param>
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/// <returns></returns>
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public static FunctionReturnEntity<string> IsStationHasDoingTask(dbmodel mod, string station)
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{
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//判断站点是否有任务被占用
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var queryStatus1 = (int)taskStatus.完成;
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var queryStatus2 = (int)taskStatus.作废;
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int taskCount = mod.task.Where(x => (x.sourcePlace == station || x.toPlace == station) && x.taskStatus != queryStatus1 && x.taskStatus != queryStatus2).Count();
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if (taskCount > 0)
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{
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return FunctionReturnEntity<string>.Fail("站点" + station + "有任务被占用");
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}
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return FunctionReturnEntity<string>.Success("站点" + station + "没有任务被占用");
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}
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/// <summary>
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/// 输送线站点是否被任务占用
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/// </summary>
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/// <param name="mod"></param>
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/// <param name="station"></param>
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/// <returns></returns>
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public static FunctionReturnEntity<string> IsStationHasDoingTaskForMiddlePlace(dbmodel mod, string _middlePlace)
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{
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//判断站点是否有任务被占用
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var queryStatus1 = (int)taskStatus.完成;
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var queryStatus2 = (int)taskStatus.作废;
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int taskCount = mod.task.Where(x => (x.middlePlace == _middlePlace) && x.taskStatus != queryStatus1 && x.taskStatus != queryStatus2).Count();
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if (taskCount > 0)
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{
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return FunctionReturnEntity<string>.Fail("站点" + _middlePlace + "有任务被占用");
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}
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return FunctionReturnEntity<string>.Success("站点" + _middlePlace + "没有任务被占用");
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}
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/// <summary>
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/// 站点是否可以被创建新任务
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/// </summary>
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/// <param name="mod"></param>
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/// <param name="station"></param>
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/// <returns></returns>
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public static FunctionReturnEntity<string> IsStationAllowCreateNewTask(dbmodel mod, string station)
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{
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var position = mod.position.Where(x => (x.positionName == station)).FirstOrDefault();
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if (position == null)
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{
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return FunctionReturnEntity<string>.Fail("站点" + station + "不存在");
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}
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if (position.isLock == true)
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{
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return FunctionReturnEntity<string>.Fail("站点" + station + "被锁定");
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}
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if (position.enable == false)
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{
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return FunctionReturnEntity<string>.Fail("站点" + station + "被禁用");
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}
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return FunctionReturnEntity<string>.Success("站点" + station + "可以被使用");
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}
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/// <summary>
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/// 验证AGV是否空闲，可发送任务给他
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/// </summary>
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/// <param name="_taskArea"></param>
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/// <param name="agvs"></param>
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/// <param name="agvSendStatus"></param>
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/// <returns></returns>
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public static bool ValidateAgvIsFree(task item, TaskAreaEnum _taskArea, List<AgvStatus> agvs,
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string[] agvSendStatus
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)
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{
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if (MyExtendHelper.IsAllowSimulatorHandle(item)) return true;
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bool isReadAgv = false;
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switch (_taskArea)
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{
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case TaskAreaEnum.缸体侧:
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if (!MyExtendHelper.IsAllowSimulatorHandle(item))
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{
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if (agvs.Count == 4)
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{
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#region 判断AGV是否空闲
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string isP = agvs[2].orderId == null ? "" : agvs[2].orderId.Substring(agvs[2].orderId.Length - 1, 1);
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if (agvs[2].operatingMode == 2 && agvs[2].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
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{
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isReadAgv = true;
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}
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isP = agvs[3].orderId == null ? "" : agvs[3].orderId.Substring(agvs[3].orderId.Length - 1, 1);
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if (agvs[3].operatingMode == 2 && agvs[3].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
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{
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isReadAgv = true;
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}
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#endregion
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}
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}
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break;
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case TaskAreaEnum.缸盖侧:
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if (!MyExtendHelper.IsAllowSimulatorHandle(item))
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{
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if (agvs.Count == 4)
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{
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#region 判断AGV是否空闲
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string isP = agvs[0].orderId == null ? "" : agvs[0].orderId.Substring(agvs[0].orderId.Length - 1, 1);
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if (agvs[0].operatingMode == 2 && agvs[0].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
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{
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isReadAgv = true;
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}
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isP = agvs[1].orderId == null ? "" : agvs[1].orderId.Substring(agvs[1].orderId.Length - 1, 1);
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if (agvs[1].operatingMode == 2 && agvs[1].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
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{
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isReadAgv = true;
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}
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#endregion
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}
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}
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break;
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}
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return isReadAgv;
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}
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}
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}
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