using HslCommunication;
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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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using WIDESEAWCS_Common.ShuttleCarEnum;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob.DTO;
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using WIDESEAWCS_QuartzJob;
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using WIDESEAWCS_Core;
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using Newtonsoft.Json;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_DTO.WMSInfo;
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using WIDESEAWCS_Tasks.ShuttleCarJob;
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namespace WIDESEAWCS_Tasks
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{
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partial class CommonShuttleCarJob
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{
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private object _CarTaskObject = new object();
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#region 堆垛机移车完成
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/// <summary>
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/// 获取堆垛机移车完成任务
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/// </summary>
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public void GetSC_CarFinish()
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{
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Dt_Task dt_Task = GetTask((int)TaskCarStatusEnum.SC_CarFinish, (int)TaskOtherTypeEnum.RelocationCar);
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if (dt_Task != null)
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{
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var ShuttleCar = QueryCode(dt_Task.ShuttleCarCode);
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ShuttleCar.ShuttleCarPosition = dt_Task.CurrentAddress;
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string[] targetCodes = ShuttleCar.ShuttleCarPosition.Split("-");
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_shuttleCarService.UpdateData(ShuttleCar);
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if (string.IsNullOrEmpty(dt_Task.Remark))//完成移库任务
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_taskService.AddTask_Hty(dt_Task, TaskOperateTypeEnum.AutoComplete);
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else//下发充电任务
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SendTask(dt_Task);
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}
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}
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#endregion
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#region 获取移车任务
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/// <summary>
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/// 获取移车任务/出入库任务
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/// </summary>
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public void Get_CarTask(ShuttleCar shuttleCar, ShuttleCarTaskCommandR command)
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{
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lock (_CarTaskObject)
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{
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Dt_Task dt_Task = GetTask((int)TaskCarStatusEnum.CarNew, (int)TaskOtherTypeEnum.RelocationCar);//获取新建移车任务
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if (dt_Task != null)
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{
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if (string.IsNullOrEmpty(dt_Task.SourceAddress))
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{
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if (command.Status == (short)ShuttleCarStatus.Standby && command.TaskTypeComplete == (short)ShuttleCarTaskComplete.Standby && command.Err_Status == (short)ShuttleCarErr.Normal)
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{
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UpdateSource(ref dt_Task, shuttleCar);
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}
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else
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{
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#region 判断是否存在空闲穿梭车,如都在充电(选择电量高的并超过50%电量的穿梭车退出充电)
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QuitCharging(dt_Task, shuttleCar, command);
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#endregion
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}
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}
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else if (string.IsNullOrEmpty(dt_Task.TargetAddress))
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{
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#region 向WMS申请
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WebResponseContent content = new WebResponseContent();
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var ResultData = HttpHelper.PostAsync(WMSInterfaceAddress.GetPosition + $"?position={dt_Task.SourceAddress}", "", headers: new Dictionary<string, string>());
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if (ResultData.Result != null)
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{
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content = JsonConvert.DeserializeObject<WebResponseContent>(ResultData.Result);
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if (content != null && content.Status)
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{
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dt_Task.TargetAddress = content.Message;
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dt_Task.NextAddress = dt_Task.TargetAddress;
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_taskService.UpdateData(dt_Task);
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_taskExecuteDetailService.AddTaskExecuteDetail(dt_Task.TaskNum, "更新移车任务目标地址");
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}
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}
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#endregion
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}
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//穿梭车移库任务下发
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if (!string.IsNullOrEmpty(dt_Task.SourceAddress) && !string.IsNullOrEmpty(dt_Task.TargetAddress) && !string.IsNullOrEmpty(dt_Task.ShuttleCarCode))
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{
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SendTask(dt_Task);
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}
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}
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#region 穿梭车出入库任务
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else
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{
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var task = _taskService.QueryShuttleCarTask(shuttleCar.DeviceCode);
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if (task != null)
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{
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if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && !task.IsPickPlace)
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{
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var ShuttleCar = _shuttleCarService.QueryShuttleCar(task.SourceAddress);//出库任务判断是否存在穿梭车
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if (ShuttleCar != null) SendTask(task);
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else _taskService.AddRelocationCarTask("", task.SourceAddress);
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}
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}
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}
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#endregion
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}
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}
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#endregion
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#region 更新移车任务起始地址
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/// <summary>
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/// 更新移车任务起始地址
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/// </summary>
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/// <param name="dt_Task"></param>
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/// <param name="shuttleCar"></param>
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/// <param name="command"></param>
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public void UpdateSource(ref Dt_Task dt_Task, ShuttleCar shuttleCar)
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{
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dt_Task.SourceAddress = QueryCode(shuttleCar._deviceCode).ShuttleCarPosition;
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dt_Task.CurrentAddress = dt_Task.SourceAddress;
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dt_Task.ShuttleCarCode = shuttleCar._deviceCode;
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_taskService.UpdateData(dt_Task);
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_taskExecuteDetailService.AddTaskExecuteDetail(dt_Task.TaskNum, "更新移车任务起始地址");
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}
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#endregion
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#region 退出充电任务
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public void QuitCharging(Dt_Task dt_Task, ShuttleCar shuttleCar, ShuttleCarTaskCommandR command)
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{
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List<string> shuttleCarCodes = new List<string>() { "RGV01", "RGV02" };
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string CarCode = shuttleCarCodes.Where(x => !x.Contains(shuttleCar.DeviceCode)).First();
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ShuttleCar shuttleCar1 = Storage.Devices.Where(x => x.DeviceCode.Equals(CarCode)).FirstOrDefault() as ShuttleCar;
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if (shuttleCar1 != null)
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{
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var command1 = ReadCustomer<ShuttleCarTaskCommandR>(shuttleCar1, shuttleCar1.DeviceCode);//读取穿梭车信息
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if (command1.Status == (short)ShuttleCarStatus.Standby && command1.TaskTypeComplete == (short)ShuttleCarTaskComplete.Standby && command1.Err_Status == (short)ShuttleCarErr.Normal)
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{
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UpdateSource(ref dt_Task, shuttleCar1);
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}
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else
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{
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//选择电量高的并超过50%电量的穿梭车退出充电
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command = command.ElectricQuantity > command1.ElectricQuantity ? command : command1;
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shuttleCar = command.ElectricQuantity > command1.ElectricQuantity ? shuttleCar : shuttleCar1;
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}
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}
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if (string.IsNullOrEmpty(dt_Task.SourceAddress))
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{
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if (command.ElectricQuantity > 50)
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{
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ShuttleCarTaskCommandW shuttleCarTaskCommand = new ShuttleCarTaskCommandW();
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shuttleCarTaskCommand.Direction = command.Position;
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shuttleCarTaskCommand.TaskNum = dt_Task.TaskNum;
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shuttleCarTaskCommand.TaskType = (short)ShuttleCarTaskType.ExitCharge;
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if (shuttleCar.SendCommand(shuttleCarTaskCommand, shuttleCar.DeviceCode))
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{
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dt_Task.Remark = "退出充电已下发";
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UpdateSource(ref dt_Task, shuttleCar);
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}
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}
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}
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}
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#endregion
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#region 下发穿梭车任务
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/// <summary>
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/// 下发穿梭车任务
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/// </summary>
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/// <param name="task"></param>
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private void SendTask(Dt_Task task)
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{
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ShuttleCar shuttleCar = Storage.Devices.FirstOrDefault(x => x.DeviceCode == task.ShuttleCarCode) as ShuttleCar;
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if (shuttleCar != null)
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{
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ShuttleCarTaskCommandR command = ReadCustomer<ShuttleCarTaskCommandR>(shuttleCar, shuttleCar.DeviceCode);//读取穿梭车信息
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if (command != null && command.Status == (short)ShuttleCarStatus.Standby && command.TaskTypeComplete == (short)ShuttleCarTaskComplete.Standby && command.Err_Status == (short)ShuttleCarErr.Normal)
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{
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#region 判断小车位置无AB面不下发任务
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if (command.Position != 1 && command.Position != 2)
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{
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task.ExceptionMessage = $"{shuttleCar.DeviceName}小车位置异常";
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_taskService.UpdateData(task);
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return;
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}
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#endregion
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//任务转换
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ShuttleCarTaskCommandW shuttleCarTaskCommand = new ShuttleCarTaskCommandW();
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shuttleCarTaskCommand.Direction = command.Position;
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shuttleCarTaskCommand.TaskNum = task.TaskNum;
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if (task.TaskType == (int)TaskOtherTypeEnum.RelocationCar)//移车
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{
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if (task.TaskState == (int)TaskCarStatusEnum.CarNew)
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{
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//if (task.Remark == ShuttleCarTaskType.ExitCharge.ToString()) shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.Remark);
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//else
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shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction);
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}
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else if (task.TaskState == (int)TaskCarStatusEnum.SC_CarFinish)
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{
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if (task.Remark == ShuttleCarTaskType.Charging.ToString()) shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.Remark);
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//else
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// shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction);
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}
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}
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else
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shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction);
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//shuttleCarTaskCommand.TaskType = string.IsNullOrEmpty(task.Remark) ? (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction) : (short)GetCarTaskType(task.Remark);
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//任务下发
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if (shuttleCarTaskCommand.TaskType != null)//0
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{
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if (shuttleCar.SendCommand(shuttleCarTaskCommand, shuttleCar.DeviceCode))
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{
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if (!string.IsNullOrEmpty(task.Remark)) task.Remark = task.Remark + "已下发";
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task.TaskState = GetTaskState(task.TaskType);
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_taskService.UpdateData(task);
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}
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}
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}
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}
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}
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#endregion
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/// <summary>
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/// 根据任务状态、类型获取任务
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/// </summary>
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/// <param name="TaskState"></param>
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/// <param name="TaskType"></param>
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/// <returns></returns>
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private Dt_Task GetTask(int TaskState, int TaskType)
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{
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return _taskService.GetTaskState(TaskState, TaskType);
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}
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/// <summary>
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/// 根据穿梭车编号获取穿梭车信息
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/// </summary>
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/// <param name="ShuttleCarCode"></param>
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/// <returns></returns>
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public Dt_ShuttleCar QueryCode(string ShuttleCarCode)
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{
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return _shuttleCarService.QueryCode(ShuttleCarCode);
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}
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ShuttleCarTaskType GetCarTaskType(string remark) => remark switch
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{
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"Charging" => ShuttleCarTaskType.Charging,
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"ExitCharge" => ShuttleCarTaskType.ExitCharge,
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};
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ShuttleCarTaskType GetCarTaskType(int TaskType, short Direction)
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{
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ShuttleCarTaskType taskType = new ShuttleCarTaskType();
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switch (TaskType)
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{
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case (int)TaskInboundTypeEnum.Inbound:
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taskType = ShuttleCarTaskType.In;
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break;
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case (int)TaskOutboundTypeEnum.Outbound:
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taskType = ShuttleCarTaskType.Out;
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break;
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case (int)TaskOtherTypeEnum.RelocationCar:
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taskType = Direction == 1 ? ShuttleCarTaskType.ZeroA : ShuttleCarTaskType.ZeroB;
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break;
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default:
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break;
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}
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return taskType;
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}
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/// <summary>
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/// 获取任务状态
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/// </summary>
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/// <param name="TaskType"></param>
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/// <returns></returns>
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int GetTaskState(int TaskType)
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{
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int state = 0;
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switch (TaskType)
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{
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case (int)TaskInboundTypeEnum.Inbound:
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state = (int)TaskInStatusEnum.Car_InExecuting;
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break;
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case (int)TaskOutboundTypeEnum.Outbound:
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state = (int)TaskOutStatusEnum.Car_OutExecuting;
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break;
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case (int)TaskOtherTypeEnum.RelocationCar:
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state = (int)TaskCarStatusEnum.ShuttleCar_Executing;
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break;
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default:
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break;
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}
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return state;
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}
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/// <summary>
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/// 读取穿梭车信息
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/// </summary>
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/// <typeparam name="T"></typeparam>
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/// <param name="shuttleCar"></param>
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/// <param name="deviceChildCode"></param>
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/// <returns></returns>
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/// <exception cref="Exception"></exception>
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public T ReadCustomer<T>(ShuttleCar shuttleCar, string deviceChildCode) where T : IDataTransfer, new()
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{
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string deviceChildCode2 = deviceChildCode;
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if (!shuttleCar.IsConnected)
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{
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throw new Exception("通讯连接错误，请检查网络");
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}
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DeviceProDTO? deviceProDTO = (from x in shuttleCar.DeviceProDTOs
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where x.DeviceProParamType == "ReadDeviceCommand" && x.DeviceChildCode == deviceChildCode2
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orderby x.DeviceProOffset
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select x).FirstOrDefault();
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if (deviceProDTO == null)
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{
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throw new Exception("未找到协议信息");
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}
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return shuttleCar.Communicator.ReadCustomer<T>(deviceProDTO.DeviceProAddress);
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}
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}
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}
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