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+using DBHelper;
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+using ServiceCenter.Extensions;
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+using System.ComponentModel;
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+using WCS.Core;
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+using WCS.Entity;
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+using WCS.Entity.Protocol.SRM;
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+using WCS.Entity.Protocol.Station;
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+using WCS.WorkEngineering.Extensions;
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+using WCS.WorkEngineering.Worlds;
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+
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+namespace WCS.WorkEngineering.Systems
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+{
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+ /// <summary>
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+ /// 堆垛机系统
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+ /// </summary>
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+ [BelongTo(typeof(MainWorld))]
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+ [Description("堆垛机系统")]
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+ public class SrmSystems : DeviceSystem<Device<ISRM520, ISRM521, ISRM523>>
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+ {
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+ /// <summary>
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+ /// 取货点设备集合
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+ /// </summary>
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+ private List<Device<IStation520, IStation521, IStation522>> PickUpDevices;
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+
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+ /// <summary>
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+ /// 放货设备
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+ /// </summary>
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+ private List<Device<IStation520, IStation521, IStation522>> PutDevices;
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+
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+ public SrmSystems()
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+ {
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+ //分拣库1
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+ PickUpDevices = World.Devices.Where(v => v.Code is "" or "")
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+ .Select(v => new Device<IStation520, IStation521, IStation522>(v)).ToList();
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+ PutDevices = World.Devices.Where(v => v.Code is "" or "")
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+ .Select(v => new Device<IStation520, IStation521, IStation522>(v)).ToList();
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+ //分拣库2
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+ PickUpDevices = World.Devices.Where(v => v.Code is "" or "")
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+ .Select(v => new Device<IStation520, IStation521, IStation522>(v)).ToList();
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+ PutDevices = World.Devices.Where(v => v.Code is "" or "")
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+ .Select(v => new Device<IStation520, IStation521, IStation522>(v)).ToList();
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+ //分拣库3
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+ PickUpDevices = World.Devices.Where(v => v.Code is "" or "")
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+ .Select(v => new Device<IStation520, IStation521, IStation522>(v)).ToList();
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+ PutDevices = World.Devices.Where(v => v.Code is "" or "")
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+ .Select(v => new Device<IStation520, IStation521, IStation522>(v)).ToList();
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+ }
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+
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+ protected override bool ParallelDo => true;
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+
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+ protected override bool SaveLogsToFile => true;
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+
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+ public override void Do(Device<ISRM520, ISRM521, ISRM523> obj)
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+ {
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+ //判断堆垛机是否报警
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+ if (obj.Data2.Status.HasFlag(SrmStatus.Alarm)) throw new KnownException(obj.Data3.Alarm.ToString(), LogLevel.High);
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+
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+ //判断DB520 完成任务确认清除信号 是否为1
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+ if (obj.Data.OkAck == 1) throw new KnownException("任务完成确认信号未清除", LogLevel.Mid);
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+
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+ //判断完成任务号是否大于0
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+ if (obj.Data2.TaskFinishiId > 0)
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+ {
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+ Db.Do(db =>
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+ {
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+ //根据DB521任务号获取对应任务
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+ var task = db.Default.Queryable<WCS_TASK>().First(v => v.ID == obj.Data2.TaskFinishiId) ?? throw new KnownException($"未找到任务{obj.Data2.TaskFinishiId}", LogLevel.High);
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+ if (task.STATUS != Entity.TaskStatus.StackerExecution)
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+ throw new KnownException($"任务{task.ID}状态是{task.STATUS.Description()}.堆垛机完成任务需要对应任务状态处于堆垛机执行中", LogLevel.High);
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+ //根据任务类型做不同的处理
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+ switch (task.TYPE)
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+ {
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+ case TaskType.EnterDepot:
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+ //完成任务
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+ task.STATUS = Entity.TaskStatus.Finish;
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+ task.UPDATETIME = DateTime.Now;
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+ task.ENDTIME = DateTime.Now;
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+ task.AddWCS_TASK_DTL(db, task.ADDRTO, "入库任务结束");
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+ break;
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+
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+ case TaskType.OutDepot:
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+ task.STATUS = Entity.TaskStatus.ConveyorInProgress;
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+ task.UPDATETIME = DateTime.Now;
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+ task.AddWCS_TASK_DTL(db, task.SRMSTATION, "出库任务到达放货站台");
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+ break;
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+
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+ case TaskType.TransferDepot:
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+ task.STATUS = Entity.TaskStatus.Finish;
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+ task.UPDATETIME = DateTime.Now;
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+ task.ENDTIME = DateTime.Now;
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+ task.AddWCS_TASK_DTL(db, task.ADDRTO, "移库任务结束");
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+ break;
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+ }
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+
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+ db.Default.Updateable(task).AddQueue();
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+ db.Default.SaveQueues();
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+ obj.Data.OkAck = 1;
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+ });
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+ }
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+
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+ //堆垛机是否可以下发任务
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+ if (obj.Data2.VoucherNo != obj.Data.VoucherNo) throw new KnownException($"凭证号不一致,DB520:{obj.Data.VoucherNo},DB521:{obj.Data2.VoucherNo}", LogLevel.Mid);
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+ if (obj.Data2.AutoStatus != SrmAutoStatus.Automatic) throw new KnownException($"堆垛机处于{obj.Data2.AutoStatus}模式", LogLevel.Low);
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+ if (obj.Data2.RunStatus != SrmRunStatus.Idle) throw new KnownException($"堆垛机处于{obj.Data2.RunStatus}状态", LogLevel.High);
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+
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+ //默认没有移库任务
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+ bool isTransfer = false;
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+
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+ //出入库优先级任务 1:无优先 2:入库 3:出库
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+ int enterOrOut = 1;
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+
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+ //再检查是否有等待执行的货物
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+ Db.Do(db =>
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+ {
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+ //获取当前堆垛机的所有未完成任务
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+ var tasks = db.Default.Queryable<WCS_TASK>().Where(v => v.STATUS < Entity.TaskStatus.Finish && (v.DEVICE == obj.Entity.Code));
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+ //任务集合是否有处于堆垛机执行状态的任务
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+ if (tasks.Any(v => v.STATUS == Entity.TaskStatus.StackerExecution)) throw new KnownException($"有任务处于堆垛机执行状态", LogLevel.High);
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+
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+ //判断是否存在调整优先级任务
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+ if (!tasks.Any(v => v.TYPE != TaskType.TransferDepot && v.STATUS < Entity.TaskStatus.StackerExecution && v.Priority > 0))
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+ {
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+ //不存在调整优先级任务,判断是否存在移库任务
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+ isTransfer = tasks.Any(v => v.TYPE == TaskType.TransferDepot && v.STATUS == Entity.TaskStatus.NewBuild);
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+ }
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+ else //存在调整优先级任务
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+ {
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+ //获取出库任务中新建状态最大优先级
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+ var outPriorityNewBuild = tasks.Where(v => v.TYPE == TaskType.OutDepot && v.STATUS == Entity.TaskStatus.NewBuild).Max(v => v.Priority);
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+ //获取入库任务中最后一个交互点是取货点任务的最大优先级
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+ var enterPriority = tasks.Where(v => v.TYPE == TaskType.EnterDepot && v.STATUS < Entity.TaskStatus.StackerExecution && PickUpDevices.Any(p => p.Entity.Code == v.LastInteractionPoint))
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+ .Max(v => v.Priority);
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+ //出入库最大优先级相加大于零
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+ if (outPriorityNewBuild + enterPriority > 0)
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+ {
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+ //出入库优先级任务 1:无优先 2:入库 3:出库
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+ enterOrOut = enterPriority > outPriorityNewBuild ? 2 : 3;
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+ }
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+ }
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+ });
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+
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+ #region 移库
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+
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+ if (isTransfer)
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+ {
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+ Db.Do(db =>
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+ {
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+ //获取一条当前堆垛机优先级最高的新建移库任务
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+ var task = db.Default.Queryable<WCS_TASK>().Where(v => v.DEVICE == obj.Entity.Code && v.TYPE == TaskType.TransferDepot && v.STATUS == Entity.TaskStatus.NewBuild)
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+ .OrderByDescending(v => v.Priority)
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+ .First() ?? throw new KnownException("未找到移库任务", LogLevel.High);
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+ //任务状态改为堆垛机执行中
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+ task.STATUS = Entity.TaskStatus.StackerExecution;
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+ task.STARTTIME = DateTime.Now;
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+ task.UPDATETIME = DateTime.Now;
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+ task.AddWCS_TASK_DTL(db, task.ADDRFROM, task.DEVICE, $"堆垛机{obj.Entity.Code}开始执行任务");
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+ db.Default.Updateable(task).AddQueue();
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+ db.Default.SaveQueues();
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+ var addrFrom = task.ADDRFROM.Split("-");
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+ var addrTo = task.ADDRTO.Split("-");
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+ //下发任务
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+ obj.Data.TaskNumber = task.ID;
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+ obj.Data.RowPos1 = addrFrom[0].ToShort();
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+ obj.Data.TravelPos1 = addrFrom[1].ToShort();
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+ obj.Data.LiftPos1 = addrFrom[2].ToShort();
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+ obj.Data.RowPos2 = addrTo[0].ToShort();
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+ obj.Data.TravelPos2 = addrTo[1].ToShort();
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+ obj.Data.LiftPos2 = addrTo[2].ToShort();
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+ obj.Data.VoucherNo++;
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+ });
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+ }
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+
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+ #endregion 移库
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+
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+ #region 出入库
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+
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+ //上一个周期是不是出库任务 第一次获取返回结果会是false
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+ var lastIsOut = obj.Entity.Get<bool>("LastIsOut");
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+ obj.Entity.Set("LastIsOut", !lastIsOut);
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+
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+ //入库任务优先 或 上一个周期是出库任务并且出库任务无优先
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+ if (enterOrOut == 2 || (lastIsOut && enterOrOut == 1)) //入库任务
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+ {
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+ //判断本次优先执行楼层,并设置下次执行时优先楼层
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+ var floor = obj.Entity.Get<int>("Floor");
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+ floor = floor % 2 + 1;
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+ obj.Entity.Set("Floor", floor);
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+ }
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+ else if (enterOrOut == 3 || !lastIsOut)
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+ {
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+ }
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+
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+ #endregion 出入库
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+ }
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+
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+ public override bool Select(Device dev)
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+ {
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+ return dev.Code.Contains("SRM");
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+ }
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+ }
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+}
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