/// <summary>
/// 将任务号等写入堆垛机
/// </summary>
/// <param name="ts"></param>
public static bool WriteToCrane(CraneStr ts)
{
try
{
wbuffer = new byte[20];
//作业方式。入库、出库、移库
wbuffer[1] = (byte)(Convert.ToInt32(ts.Zyfs) % 256);
//任务号
wbuffer[2] = (byte)Convert.ToInt32(Convert.ToInt32(ts.Zxrwh) / (256 * 256 * 256));
wbuffer[3] = (byte)Convert.ToInt32(Convert.ToInt32(ts.Zxrwh) / (256 * 256));
wbuffer[4] = (byte)Convert.ToInt32(Convert.ToInt32(ts.Zxrwh) / 256);
wbuffer[5] = (byte)Convert.ToInt32(Convert.ToInt32(ts.Zxrwh) - (wbuffer[0] * 256 * 256 * 256) - (wbuffer[1] * 256 * 256) - (wbuffer[2] * 256));
//目标排
wbuffer[6] = (byte)(Convert.ToInt32(ts.Mbph) % 256);
wbuffer[7] = (byte)(Convert.ToInt32(ts.Mblh) % 256);
wbuffer[8] = (byte)(Convert.ToInt32(ts.Mbch) % 256);
//源地址排
wbuffer[12] = (byte)(Convert.ToInt32(ts.Dqph) % 256);
//源地址列
wbuffer[13] = (byte)(Convert.ToInt32(ts.Dqlh) % 256);
//源地址层
wbuffer[14] = (byte)(Convert.ToInt32(ts.Dqch) % 256);
bool flag = cPLCList[ts.Btid].HsWrite($"DB{wdbnumber}.0", buffer);
return(true);
}
catch (Exception ex)
{
LogWrite.WriteLog($"堆垛机写入异常，异常信息为：{ex.Message}");
return(false);
}
}
/// <summary>
/// 取货完成给堆垛机指令表下发指令数据
/// </summary>
/// <param name="cs"></param>
/// <returns></returns>
private bool QHWCDDJCommand(ref CraneStr cs)
{
bool flag = false;
string taskno = cs.Zxrwh.ToString();
DataSet ds = DataTrans.D_GetSchByTaskno(taskno);
if (ds != null && ds.Tables[0].Rows.Count > 0)
{
DataTable dt = ds.Tables[0];
cs.Dqph = dt.Rows[0]["SPLATOON"].ToString();
cs.Dqlh = dt.Rows[0]["SCOLUMN"].ToString();
cs.Dqch = dt.Rows[0]["SFLOOR"].ToString();
cs.Mbph = dt.Rows[0]["TPLATOON"].ToString();
cs.Mbch = dt.Rows[0]["TFLOOR"].ToString();
cs.Mblh = dt.Rows[0]["TCOLUMN"].ToString();
cs.Var1 = dt.Rows[0]["TASKID"].ToString();
if (dt.Rows[0]["TASKTYPE"].ToString() == "2" && dt.Rows[0]["FLOOR"].ToString() == "1")
{
AlleyIdRelation.GetCKOneDesSpace(cs.Btid, ref cs);
}
else if (dt.Rows[0]["TASKTYPE"].ToString() == "2" && dt.Rows[0]["FLOOR"].ToString() == "2")
{
AlleyIdRelation.GetCKTwoDesSpace(cs.Btid, ref cs);
}
flag = true;
}
else
{
LogWrite.WriteLog($"堆垛机{cs.Btid}取货完成后，所提取的任务号为找到任务");
NotifyShowEvent?.Invoke("R", $"堆垛机{cs.Btid}取货完成后，所提取的任务号为找到任务");
flag = false;
}
return(flag);
}
//private int OnJobNum = Convert.ToInt32(ConfigurationManager.AppSettings["OnJobNum"]);
public CRLCRANEConnect(string ipadress, int port, string scno)
{
try
{
HsControlServer plcList = new HsControlServer(ipadress);
if (!cPLCList.ContainsKey(scno))
{
cPLCList.Add(scno, plcList);
}
else
{
//如果已存在，更新链接信息
cPLCList[scno] = new HsControlServer(ipadress);
}
coc.IpAddress = ipadress;
coc.Port = port;
coc.ScNo = scno;
CraneStr crs = new CraneStr();
if (string.IsNullOrEmpty(scno))
{
crs.Btid = scno;
CraneStrList.Add(crs);
}
}
catch (Exception ex)
{
NotifyShowEvent?.Invoke("C", $"堆垛机{scno}初始化异常，异常信息为{ex.Message}");
}
}
/// <summary>
/// 给堆垛机下发命令
/// </summary>
/// <param name="si"></param>
public static void D_InsertCraneCommand(CraneStr crs, DataTable dt)
{
try
{
string orastr = @"INSERT INTO RICO_DEVICE_DDJ_COMMAND( BTID,DTYPE,COMMKIND,RWH,SPH,SLH,SCH,EPH,
ELH,ECH,TSJH,JYM,DOFLAG,CREATETIME,TRAYCODE,TASKID) VALUES
(:BTID,:DTYPE,:COMMKIND,:RWH,:SPH,:SLH,:SCH,:EPH,:ELH,:ECH,:TSJH,:JYM,:DOFLAG,:CREATETIME,:TRAYCODE,:TASKID)";
#region
OracleParameter[] parms = new OracleParameter[]
{
new OracleParameter(@":BTID", OracleType.NVarChar, 50),
new OracleParameter(@":DTYPE", OracleType.NVarChar, 50),
new OracleParameter(@":COMMKIND", OracleType.NVarChar, 50),
new OracleParameter(@":RWH", OracleType.NVarChar, 50),
new OracleParameter(@":SPH", OracleType.NVarChar, 50),
new OracleParameter(@":SLH", OracleType.NVarChar, 50),
new OracleParameter(@":SCH", OracleType.NVarChar, 50),
new OracleParameter(@":EPH", OracleType.NVarChar, 50),
new OracleParameter(@":ELH", OracleType.NVarChar, 50),
new OracleParameter(@":ECH", OracleType.NVarChar, 50),
new OracleParameter(@":TSJH", OracleType.NVarChar, 50),
new OracleParameter(@":JYM", OracleType.NVarChar, 50),
new OracleParameter(@":DOFLAG", OracleType.NVarChar, 50),
new OracleParameter(@":CREATETIME", OracleType.NVarChar, 50),
new OracleParameter(@":TRAYCODE", OracleType.NVarChar, 50),
new OracleParameter(@":TASKID", OracleType.NVarChar, 50)
};
#endregion
parms[0].Value = crs.Btid; //设备id
parms[1].Value = "1"; //设备分类
parms[2].Value = ""; //指令种类
parms[3].Value = dt.Rows[0]["taskno"]; //任务号
parms[4].Value = dt.Rows[0]["SPLATOON"]; //源货位排
parms[5].Value = dt.Rows[0]["SCOLUMN"]; //源货位列
parms[6].Value = dt.Rows[0]["SFLOOR"]; //源货位层
parms[7].Value = 0; //目标货位排
parms[8].Value = 0; //目标货位列
parms[9].Value = 0; //目标货位层
parms[10].Value = ""; //
parms[11].Value = ""; //校验码
parms[12].Value = "0"; //是否下发给PLC
parms[13].Value = DateTime.Now.ToString(); //生成时间
parms[14].Value = dt.Rows[0]["TRAYCODE"]; //托盘条码
parms[15].Value = dt.Rows[0]["taskid"].ToString(); //任务号
int n = OracleHelper.ExecuteNonQuery(CommandType.Text, orastr, parms);
}
catch (Exception ex)
{
LogInfo.WriteLog("插入堆垛机指令异常，异常信息为:" + ex.Message);
}
}
/// <summary>
/// 将读取到的数据绑定到堆垛机实体类
/// </summary>
/// <param name="btid"></param>
/// <param name="buffer"></param>
public void BindCraneStr(string btid, byte[] buffer)
{
CraneStr cst = CraneStrList.Find(cs => cs.Btid == btid);
if (cst != null)
{
cst.Btid = btid; //设备ID
cst.Czfs = buffer[2].ToString(); //操作方式（0、未定义 1、维修 2、手动 3、单机自动 4、联机自动）
cst.Jdbz = buffer[3].ToString(); //阶段标志（0、待机 1、取货中 2、取货完成 3、放货中 4、放货完成）
//cst.Zxrwh = buffer[4] * 256 * 256 * 256 + buffer[4] * 256 * 256 + buffer[6] * 256 + buffer[7];
cst.Zxrwh = buffer[4] * 256 * 256 * 256 + buffer[5] * 256 * 256 + buffer[6] * 256 + buffer[7]; //任务号
cst.Alarm = buffer[8].ToString(); //记录故障报警
cst.Rkyh = "0";
cst.Ckwh = "0";
if (buffer[8].ToString() == "5")
{
cst.Rkyh = "1"; //入库目标有货
cst.Dqzt = "2";
}
else if (buffer[8].ToString() == "6")
{
cst.Ckwh = "1"; //出库目标无货
cst.Dqzt = "1";
}
else if (cst.Alarm != "0")
{
cst.Dqzt = "4";
}
else
{
cst.Dqzt = "0";
}
cst.Dqph = buffer[38].ToString(); //获取堆垛机当前排
cst.Dqlh = buffer[39].ToString(); //获取堆垛机当前列
cst.Dqch = buffer[40].ToString(); //获取堆垛机当前层
if (cst.Czfs == "4")
{
IssuedCraneTask(cst.Btid, buffer);
}
}
}
/// <summary>
/// 通过任务类型以及任务类型层号获取出库任务信息
/// </summary>
/// <param name="tasktype">任务类型</param>
/// <param name="floor">层号</param>
/// <param name="status">任务状态</param>
/// <param name="allayid">巷道号</param>
/// <param name="taskno">任务号</param>
/// <returns></returns>
public static DataSet D_GetOutSchTaskByCrane(string tasktype, string floor, string status, string allayid, string taskno, CraneStr cs)
{
DataSet ds = new DataSet();
string orastr = "select * from schedule_task where 1=1";
if (tasktype != "")
{
orastr += " and tasktype='" + tasktype + "'";
}
if (!string.IsNullOrEmpty(floor))
{
orastr += " and FLOOR='" + floor + "'";
}
else
{
orastr += " and FLOOR IS NULL";
}
if (!string.IsNullOrEmpty(status))
{
orastr += " and status in ( '" + status + "')";
}
if (!string.IsNullOrEmpty(allayid))
{
orastr += " and SCARGO_ALLEY_ID='" + allayid + "'";
}
if (!string.IsNullOrEmpty(taskno))
{
orastr += " and taskno='" + taskno + "'";
}
orastr += @" order by (case
when(select * from(select ceil((sysdate - createtime) * 24 * 60)
from schedule_task
where 1 = 1
and tasktype = '" + tasktype
+ "' and FLOOR = '" + floor
+ "' and status in ('" + status
+ "') and SCARGO_ALLEY_ID = '" + allayid + "'";
orastr += " order by case when priority>=3 then to_char(createtime,'yyyy-mm-dd hh24:mi:ss') " +
"else to_char(PRIORITY) end) where rownum=1) > 30 then to_char(createtime, 'yyyy-mm-dd hh24:mi:ss') else to_char(PRIORITY) || ',' ||";
if (!string.IsNullOrEmpty(cs.Mblh))
{
int lh = Convert.ToInt32(cs.Mblh);
orastr += " abs(SCOLUMN-" + lh + ")||','||";
}
if (!string.IsNullOrEmpty(cs.Mbch))
{
int ch = Convert.ToInt32(cs.Mbch);
orastr += " abs(SCOLUMN-" + ch + ")||','||";
}
orastr += @" createtime
end) ";
try
{
ds = OracleHelper.ExecuteDataSet(CommandType.Text, orastr, null);
}
catch (Exception ex)
{
LogInfo.WriteLog("根据任务类型获取任务异常，异常信息为:" + ex.Message + "语句为：" + orastr);
}
return(ds);
}
/// <summary>
/// 给堆垛机指令表中插入指令数据
/// </summary>
/// <param name="cs"></param>
/// <param name="dt"></param>
/// <returns></returns>
private bool DDJCommand(ref CraneStr cs, DataTable dt)
{
bool flag = false;
//用于存储指令表中的任务
int cranetaskno = 0;
cs.Zxrwh = dt.Rows[0]["taskno"].ToInt();
if (dt.Rows[0]["TPLATOON"].ToInt().ToString().Equals("0"))
{
cs.Mbph = "0";
}
else
{
int remainder = Convert.ToInt32(dt.Rows[0]["TPLATOON"]) % 2;
if (remainder == 0)
{
cs.Mbph = "2";
}
else
{
cs.Mbph = "1";
}
}
cs.Mblh = dt.Rows[0]["TCOLUMN"].ToString();
cs.Mbch = dt.Rows[0]["TFLOOR"].ToString();
if (dt.Rows[0]["SPLATOON"].ToInt().ToString().Equals("0"))
{
cs.Dqph = "0";
}
else
{
int remainder = Convert.ToInt32(dt.Rows[0]["SPLATOON"]) % 2;
if (remainder == 0)
{
cs.Dqph = "2";
}
else
{
cs.Dqph = "1";
}
}
cs.Dqlh = dt.Rows[0]["SCOLUMN"].ToString();
cs.Dqch = dt.Rows[0]["SFLOOR"].ToString();
//查询指令表中是否存在指令未执行
DataSet dscommand = DataTrans.D_GetCraneCommand(cs.Btid);
if (dscommand.Tables[0].Rows.Count > 0)
{
cranetaskno = dscommand.Tables[0].Rows[0]["RWH"].ToInt();
}
if (cranetaskno > 0)
{
if (cranetaskno == Convert.ToInt32(dt.Rows[0]["TASKNO"]))
{
LogWrite.WriteLog($"堆垛机{cs.Btid}对应任务号{cranetaskno}还未给设备下发，无法向堆垛机指令表中再次写入！");
NotifyShowEvent?.Invoke("R", $"堆垛机{cs.Btid}对应任务号{cranetaskno}还未给设备下发，无法向堆垛机指令表中再次写入！");
flag = true;
}
else
{
LogWrite.WriteLog($"堆垛机{cs.Btid}对应任务号{cranetaskno}还未给设备下发,新任务{dt.Rows[0]["TASKNO"]}，无法向堆垛机指令表中再次写入！");
NotifyShowEvent?.Invoke("R", $"堆垛机{cs.Btid}对应任务号{cranetaskno}还未给设备下发，新任务{dt.Rows[0]["TASKNO"]}，无法向堆垛机指令表中再次写入！");
flag = false;
DataTrans.D_CraneCommanddel(cs.Btid);
}
}
else
{
DataTrans.D_InsertCraneCommand(cs, dt);
flag = true;
}
return(flag);
}
/// <summary>
/// 给堆垛机下达任务
/// </summary>
/// <param name="craneid"></param>
/// <param name="buffer"></param>
public void IssuedCraneTask(string craneid, byte[] buffer)
{
CraneStr cs = CRLBase.CraneStrList.Find(c => c.Btid == craneid);
//任务结束，删除指令，放货完成
if (cs.Jdbz == "4")
{
cs.Zyfs = "4";
LogWrite.WriteLog($"放货完成开始删除堆垛机{cs.Btid}任务{cs.Zxrwh}");
NotifyShowEvent?.Invoke("R", $"防火完成开始删除堆垛机{cs.Btid}任务{cs.Zxrwh}");
if (WriteToCrane(cs))
{
DataSet dssch = DataTrans.D_GetSchByTaskno(cs.Zxrwh.ToString());
if (dssch == null)
{
return;
}
if (dssch.Tables[0].Rows.Count > 0)
{
//入库或者移库
if (dssch.Tables[0].Rows[0]["TASKTYPE"].ToString() == "1" || dssch.Tables[0].Rows[0]["TASKTYPE"].ToString() == "3")
{
DataTrans.D_CraneCommandTrans(cs.Btid, dssch.Tables[0].Rows[0]["TASKID"].ToString(), "4", "4", "4");
LogWrite.WriteLog($"放货完成删除堆垛机{cs.Btid}任务{cs.Zxrwh}完成 托盘条码：{dssch.Tables[0].Rows[0]["traycode"]}");
NotifyShowEvent?.Invoke("R", $"放货完成删除堆垛机{cs.Btid}任务{cs.Zxrwh}完成 托盘条码：{dssch.Tables[0].Rows[0]["traycode"]}");
}
//出库
else if (dssch.Tables[0].Rows[0]["TASKTYPE"].ToString() == "2")
{
DataTrans.D_CraneCommandTrans(cs.Btid, dssch.Tables[0].Rows[0]["TASKID"].ToString(), "3", "1", "3");
LogWrite.WriteLog($"放货完成删除堆垛机{cs.Btid}任务{cs.Zxrwh}完成 托盘条码：{dssch.Tables[0].Rows[0]["traycode"]}");
NotifyShowEvent?.Invoke("R", $"放货完成删除堆垛机{cs.Btid}任务{cs.Zxrwh}完成 托盘条码：{dssch.Tables[0].Rows[0]["traycode"]}");
}
}
}
//入库目标有货
else if (cs.Rkyh == "1" && cs.Alarm != "0")
{
//根据任务号获取调度指令
DataSet dsoldsh = DataTrans.D_GetSchByTaskno(cs.Zxrwh.ToString());
//判断是否入库或者移库
if ((dsoldsh != null && dsoldsh.Tables[0].Rows.Count > 0 && (dsoldsh.Tables[0].Rows[0]["tasktype"].ToString() == "1")) || dsoldsh.Tables[0].Rows[0]["tasktype"].ToString() == "3")
{
#region 向中间表插入数据，向WMS发起请求
//发起前先判断中间表是否已存在该条申请，状态为 1=已下发，2=已处理
DataSet dsisexist = DataTrans.D_GetIDX_ASRS_SEND(dsoldsh.Tables[0].Rows[0]["TASKID"].ToString(), "10", $"1','2");
if (dsisexist != null && dsisexist.Tables[0].Rows.Count == 0)
{
LogWrite.WriteLog($"堆垛机{cs.Btid}调度指令{dsoldsh.Tables[0].Rows[0]["taskid"]}入库货位有货，开始向WMS申请新货位...");
NotifyShowEvent?.Invoke("R", $"堆垛机{cs.Btid}调度指令{dsoldsh.Tables[0].Rows[0]["taskid"]}入库货位有货，开始向WMS申请新货位...");
string alleyid = AlleyIdRelation.GetAlleyId(cs.Btid);
//10代表存货占位，1代表下发
int n = DataTrans.D_InsertIDX_ASRS_SEND("10", "1", dsoldsh.Tables[0].Rows[0]["taskid"].ToString(), dsoldsh.Tables[0].Rows[0]["TRAYCODE"].ToString(), dsoldsh.Tables[0].Rows[0]["TCARGO_SPACE_ID"].ToString(), alleyid);
string res = n > 0 ? "成功" : "失败";
LogWrite.WriteLog($"堆垛机{cs.Btid}调度指令{dsoldsh.Tables[0].Rows[0]["taskid"]}入库货位有货，向WMS申请新货位{res}");
NotifyShowEvent?.Invoke("R", $"堆垛机{cs.Btid}调度指令{dsoldsh.Tables[0].Rows[0]["taskid"]}入库货位有货，向WMS申请新货位{res}");
//等待wms处理2s
Thread.Sleep(2000);
}
#endregion
//获取WMS重新分配的货位
DataSet dsidx = DataTrans.D_GetIDX_ASRS_SEND(dsoldsh.Tables[0].Rows[0]["TASKID"].ToString(), "10", "2");
//查询到数据说明获取到货位
if (dsidx != null && dsidx.Tables[0].Rows.Count > 0)
{
LogWrite.WriteLog($"堆垛机{cs.Btid}货位有货重新分配货位");
NotifyShowEvent?.Invoke("R", $"堆垛机{cs.Btid}货位有货重新分配货位");
string taskid = dsoldsh.Tables[0].Rows[0]["TASKID"].ToString();
string sendid = dsidx.Tables[0].Rows[0]["SENDID"].ToString();
//重分的货位号
string spaceid = dsidx.Tables[0].Rows[0]["LOCATION"].ToString();
//根据货位号获取货位信息
DataSet dsspace = DataTrans.P_getSpaceInfo(spaceid);
if (dsspace == null)
{
return;
}
//目标排号
string desrow = dsspace.Tables[0].Rows[0]["CSPLATOON"].ToString();
//目标列号
string descolnum = dsspace.Tables[0].Rows[0]["CSCOLUMN"].ToString();
//目标层号
string desfloor = dsspace.Tables[0].Rows[0]["CSFLOOR"].ToString();
//目标名称
string spacename = dsspace.Tables[0].Rows[0]["CARGO_SPACE_NAME"].ToString();
int remainder = Convert.ToInt32(desrow) % 2;
cs.Mbph = remainder == 0 ? "2" : "1";
cs.Mblh = descolnum;
cs.Mbch = desfloor;
AlleyIdRelation.GetRKDesSpace(cs.Btid, ref cs);
cs.Zyfs = "5";
if (WriteToCrane(cs))
{
LogWrite.WriteLog($"{cs.Btid}满入解警成功");
NotifyShowEvent?.Invoke("R", $"{cs.Btid}满入解警成功");
//更新相关表货位信息
DataTrans.D_GetSpaceUpInfo(taskid, cs.Btid, "3", sendid, spaceid, desrow, descolnum, desfloor, spacename);
cs.Zyfs = "1";
string res = WriteToCrane(cs) ? "成功" : "失败";
LogWrite.WriteLog($"给堆垛机{cs.Btid}重新分货位{spaceid}{res}");
NotifyShowEvent?.Invoke("R", $"给堆垛机{cs.Btid}重新分货位{spaceid}{res}");
}
else
{
LogWrite.WriteLog($"{cs.Btid}满入解警失败");
NotifyShowEvent?.Invoke("R", $"{cs.Btid}满入解警失败");
}
}
}
}
//出库无货
else if (cs.Ckwh == "1" && cs.Alarm != "0")
{
//根据任务号获取调度指令
DataSet dsoldsch = DataTrans.D_GetSchByTaskno(cs.Zxrwh.ToString());
//判断是否出库
//出库将旧指令删除即可，调度指令作废
if (dsoldsch != null && dsoldsch.Tables[0].Rows.Count > 0 && dsoldsch.Tables[0].Rows[0]["tasktype"].ToString() == "2")
{
#region 向中间表插入数据，向WMS发起请求
//发起前先判断中间表是否已存在该条申请
//状态 1=下发，2=已处理状态
DataSet dsisexist = DataTrans.D_GetIDX_ASRS_SEND(dsoldsch.Tables[0].Rows[0]["TASKID"].ToString(), "11", $"1','3',4','2");
if (dsisexist.Tables[0].Rows.Count == 0)
{
//判断出库目标无货无申请，则插入一条申请
string alleyid = AlleyIdRelation.GetAlleyId(cs.Btid);
//11=出库目标无货 1=下发
int n = DataTrans.D_InsertIDX_ASRS_SEND("11", "1", dsoldsch.Tables[0].Rows[0]["taskid"].ToString(), dsoldsch.Tables[0].Rows[0]["TRAYCODE"].ToString(), dsoldsch.Tables[0].Rows[0]["TCAGRO_SPACE_ID"].ToString(), alleyid);
if (n > 0)
{
//插入成功，将调度指令更新为作废，将中间表更新为已完成
int k = DataTrans.D_RKYHDel(cs.Btid, dsoldsch.Tables[0].Rows[0]["taskid"].ToString());
if (k > 0)
{
string res = WriteToCrane(cs) ? "成功" : "失败";
LogWrite.WriteLog($"{cs.Btid}空出解警成功");
NotifyShowEvent?.Invoke("R", $"{cs.Btid}空出解警成功");
}
}
}
#endregion
}
else
{
cs.Zyfs = "5";
string res = WriteToCrane(cs) ? "成功" : "失败";
LogWrite.WriteLog($"{cs.Btid}空出解警{res}");
NotifyShowEvent?.Invoke("R", $"{cs.Btid}空出解警{res}");
}
}
//待机
else if (cs.Jdbz == "0")
{
#region 一楼出库
//一楼出库
if (runorder == 1 && n == 0)
{
DataTable dt = new DataTable();
//查询一楼出库口输送机信息，设备类型为103
string dttype = "103";
TransportStr ts = lsTransport.Find(t => t.DTYPE == dttype && t.BTID == cs.Btid && t.KXBZ == "1");
if (ts == null)
{
return;
}
crl.HsWcsReadSSJ(ref ts);
if (ts.KXBZ != "1")
{
return;
}
//查询调度任务，
//任务类型2（TASKTYPE出库），任务类型描述（DESCRIPTION），状态为2（STATUS待执行）
string alleyid = AlleyIdRelation.GetAlleyId(cs.Btid);
//查询出库调度任务
//任务类型为2（TASKTYPE出库），层号（FLOOR）为1，状态为2（STATUS待执行）
DataSet dstask = DataTrans.D_GetOutSchTaskByCrane("2", "1", "2", alleyid, string.Empty, cs);
if (dstask != null && dstask.Tables[0].Rows.Count > 0)
{
dt = dstask.Tables[0].Clone();
dt.ImportRow(dstask.Tables[0].Rows[0]);
bool flag1 = true;
//调度指令表中任务号不存在，分配新的任务号
if (dt.Rows[0]["task"].ToString() == "0" || string.IsNullOrEmpty(dt.Rows[0]["taskno"].ToString()))
{
//任务号分配
string taskno = DataTrans.D_AllotTaskno().ToString();
if (!string.IsNullOrEmpty(taskno) && taskno != "0")
{
dt.Rows[0]["taskno"] = taskno;
flag1 = DataTrans.D_UpSchTask(taskno, dt.Rows[0]["taskid"].ToString());
}
else
{
flag1 = false;
}
}
if (flag1)
{
LogWrite.WriteLog($"巷道{cs.Btid}开始一楼出库任务，任务号为{dt.Rows[0]["taskno"]}托盘条码：{dt.Rows[0]["traycode"]}");
NotifyShowEvent?.Invoke("R", $"巷道{cs.Btid}开始一楼出库任务，任务号为{dt.Rows[0]["taskno"]}托盘条码：{dt.Rows[0]["traycode"]}");
bool flag = DDJCommand(ref cs, dt);
if (flag)
{
//根据巷道获取出库目标
AlleyIdRelation.GetCKOneDesSpace(cs.Btid, ref cs);
//出库
cs.Zyfs = "2";
if (WriteToCrane(cs))
{
LogWrite.WriteLog($"给堆垛机{cs.Btid}下发出库任务{dt.Rows[0]["taskno"]}成功，托盘条码：{dt.Rows[0]["traycode"]}，目标地址：{cs.Mbph}排{cs.Mblh}列{cs.Mbch}层");
NotifyShowEvent?.Invoke("R", $"给堆垛机{cs.Btid}下发出库任务{dt.Rows[0]["taskno"]}成功，托盘条码：{dt.Rows[0]["traycode"]}，目标地址：{cs.Mbph}排{cs.Mblh}列{cs.Mbch}层");
DataTrans.D_CraneCommandTrans(cs.Btid, dt.Rows[0]["TASKID"].ToString(), "2", "2", "3");
Thread.Sleep(1000);
}
else
{
LogWrite.WriteLog($"给堆垛机{cs.Btid}下发出库任务{dt.Rows[0]["taskno"]}失败");
NotifyShowEvent?.Invoke("R", $"给堆垛机{cs.Btid}下发出库任务{dt.Rows[0]["taskno"]}失败");
}
}
}
}
}
#endregion
#region 一楼入库
else if (runorder == 2)
{
DataTable dt = new DataTable();
//查询二楼入库口输送机信息，设备类型为207
string dttype = "102";
TransportStr ts = lsTransport.Find(s => s.DTYPE == dttype && s.BTID == cs.Btid && s.DWXH == "1");
if (ts == null)
{
return;
}
else
{
crl.HsWcsReadSSJ(ref ts);
if (ts.DWXH != "1")
{
return;
}
//根据输送机任务号获取调度信息
DataSet dstask = DataTrans.D_GetSchByTaskno(ts.ZXRWH);
DataRow[] drs = dstask.Tables[0].Select("TCARGO_SPACE_ID is not null", "");
if (drs.Length > 0)
{
dt = dstask.Tables[0].Clone();
dt.ImportRow(drs[0]);
LogWrite.WriteLog($"开始入库任务，任务号为：{dt.Rows[0]["taskno"]}，托盘条码：{dt.Rows[0]["traycode"]}");
NotifyShowEvent?.Invoke("R", $"开始入库任务，任务号为：{dt.Rows[0]["taskno"]}，托盘条码：{dt.Rows[0]["traycode"]}");
bool flag = DDJCommand(ref cs, dt);
if (flag)
{
//如果入库，目标地址为巷道
AlleyIdRelation.GetRKDesSpace(cs.Btid, ref cs);
cs.Zyfs = "1";
//如果插入指令表成功，将指令写入到堆垛机中
if (WriteToCrane(cs))
{
LogWrite.WriteLog($"给堆垛机{cs.Btid}下发任务{dt.Rows[0]["taskno"]}成功，托盘条码：{dt.Rows[0]["traycode"]}，目标地址{cs.Mbph}排-{cs.Mblh}列-{cs.Mbch}层");
NotifyShowEvent?.Invoke("R", $"给堆垛机{cs.Btid}下发任务{dt.Rows[0]["taskno"]}成功，托盘条码：{dt.Rows[0]["traycode"]}，目标地址{cs.Mbph}排-{cs.Mblh}列-{cs.Mbch}层");
DataTrans.D_CraneCommandTrans(cs.Btid, dt.Rows[0]["TASKID"].ToString(), "3", "3", "3");
Thread.Sleep(1000);
}
else
{
LogWrite.WriteLog($"给堆垛机{cs.Btid}下发入库任务{dt.Rows[0]["taskno"]}失败");
NotifyShowEvent?.Invoke("R", $"给堆垛机{cs.Btid}下发入库任务{dt.Rows[0]["taskno"]}失败");
}
}
return;
}
}
}
#endregion
}
}
}
