using SqlSugar.Extensions;
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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.TaskEnum;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_ITaskInfoRepository;
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using WIDESEAWCS_ITaskInfoService;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob;
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using WIDESEAWCS_QuartzJob.Service;
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using WIDESEAWCS_Tasks.ShuttleCarJob;
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using WIDESEAWCS_Tasks.StackerCraneJob;
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namespace WIDESEAWCS_Tasks
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{
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public partial class CommonStackerCraneJob
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{
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/// <summary>
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/// 心跳
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/// </summary>
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/// <param name="commonStackerCrane"></param>
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public void Heartbeat(SpeStackerCrane commonStackerCrane)
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{
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var HeartBeat = commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.HeartBeat);
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commonStackerCrane.SetValue(StackerCraneDBName.WCSHeartBeat, !HeartBeat);
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}
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/// <summary>
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/// 堆垛机与穿梭车信息交互
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/// </summary>
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/// <param name="commonStackerCrane"></param>
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public void ShuttleCarSignal(SpeStackerCrane commonStackerCrane)
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{
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var ASRSRqtGetAGV = commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.ASRSRqtGetAGV);
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var ASRSRqtGetGoods = commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.ASRSRqtGetGoods);
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var ASRSRqtPutGoods = commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.ASRSRqtPutGoods);
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var ASRSRqtPutAGV = commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.ASRSRqtPutAGV);
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var ASRSGetAGVDone = commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.ASRSGetAGVDone);
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var ASRSGetGoodsDone = commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.ASRSGetGoodsDone);
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var ASRSPutAGoodsDone = commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.ASRSPutAGoodsDone);
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var ASRSPutAGVDone = commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.ASRSPutAGVDone);
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//任务查询目的地找到车
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if (ASRSRqtGetAGV || ASRSRqtGetGoods || ASRSRqtPutGoods || ASRSRqtPutAGV || ASRSGetAGVDone || ASRSGetGoodsDone || ASRSPutAGoodsDone || ASRSPutAGVDone)
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{
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Dt_Task? task = GetTaskInfo(commonStackerCrane);
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if (task != null)
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{
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if ((_taskService.TaskInboundTypes.Contains(task.TaskType)
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|| task.TaskType == TaskRelocationTypeEnum.Relocation.ObjToInt())
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&& task.TargetIsPickPlace && ASRSRqtPutGoods)//请求放货
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{
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commonStackerCrane.SetValue(StackerCraneDBName.AGVAlwASRSPuttGoods, ASRSRqtPutGoods);
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WriteDebug($"{commonStackerCrane.DeviceName}请求放货", $"WCS允许放货,任务号【{task.TaskNum}】");
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}
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else if ((_taskService.TaskOutboundTypes.Contains(task.TaskType)
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|| task.TaskType == TaskRelocationTypeEnum.Relocation.ObjToInt())
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&& ASRSRqtGetGoods && task.SourceIsPickPlace)//请求取货
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{
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commonStackerCrane.SetValue(StackerCraneDBName.AGVAlwASRSGetGoods, ASRSRqtGetGoods);
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WriteDebug($"{commonStackerCrane.DeviceName}请求取货", $"WCS允许取货,任务号【{task.TaskNum}】");
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}
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else
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{
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if (task.TaskType == TaskRelocationTypeEnum.Relocation.ObjToInt())
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{
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var shuttleCar2 = _shuttleCarService.QueryNoCode(task.ShuttleCarCode);
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ShuttleCar shuttleCarA = Storage.Devices.FirstOrDefault(x => x.DeviceCode == shuttleCar2.ShuttleCarCode) as ShuttleCar;
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ShuttleCar shuttleCarB = Storage.Devices.FirstOrDefault(x => x.DeviceCode == task.ShuttleCarCode) as ShuttleCar;
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#region 取货
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if (ASRSRqtGetGoods)
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{
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shuttleCarA.SetValue(ShuttleCarDBName.ASRSRqtGetGoods, ASRSRqtGetGoods, shuttleCarA.DeviceCode);
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var AGVAlwASRSGetGoods = shuttleCarA.GetValue<ShuttleCarDBName, bool>(ShuttleCarDBName.AGVAlwASRSGetGoods, shuttleCarA.DeviceCode);//允许取货
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if (AGVAlwASRSGetGoods)
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commonStackerCrane.SetValue(StackerCraneDBName.AGVAlwASRSGetGoods, AGVAlwASRSGetGoods);
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WriteDebug($"{commonStackerCrane.DeviceName}请求取货", $"【{shuttleCarA.DeviceName}】{(AGVAlwASRSGetGoods ? "允许" : "不允许")}取货,任务号【{task.TaskNum}】");
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}
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#endregion
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#region 取货完成
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if (ASRSGetGoodsDone)
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{
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shuttleCarA.SetValue(ShuttleCarDBName.ASRSGetGoodsDone, ASRSGetGoodsDone, shuttleCarA.DeviceCode);
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WriteDebug($"{commonStackerCrane.DeviceName}取货完成", $"【{shuttleCarA.DeviceName}】,任务号【{task.TaskNum}】");
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}
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#endregion
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#region 放货
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if (ASRSRqtPutGoods)
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{
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shuttleCarB.SetValue(ShuttleCarDBName.ASRSRqtPutGoods, ASRSRqtPutGoods, shuttleCarB.DeviceCode);
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var AGVAlwASRSPuttGoods = shuttleCarB.GetValue<ShuttleCarDBName, bool>(ShuttleCarDBName.AGVAlwASRSPuttGoods, shuttleCarB.DeviceCode);//允许放货
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if (AGVAlwASRSPuttGoods)
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commonStackerCrane.SetValue(StackerCraneDBName.AGVAlwASRSPuttGoods, AGVAlwASRSPuttGoods);
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WriteDebug($"{commonStackerCrane.DeviceName}请求放货", $"【{shuttleCarB.DeviceName}】{(AGVAlwASRSPuttGoods ? "允许" : "不允许")}放货,任务号【{task.TaskNum}】");
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}
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#endregion
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#region 放货完成
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if (ASRSPutAGoodsDone)
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{
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shuttleCarB.SetValue(ShuttleCarDBName.ASRSPutAGoodsDone, ASRSPutAGoodsDone, shuttleCarB.DeviceCode);
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WriteDebug($"{commonStackerCrane.DeviceName}放货完成", $"【{shuttleCarA.DeviceName}】,任务号【{task.TaskNum}】");
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}
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#endregion
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}
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else
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{
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ShuttleCar shuttleCar = Storage.Devices.FirstOrDefault(x => x.DeviceCode == task.ShuttleCarCode) as ShuttleCar;
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if (shuttleCar != null)
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{
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shuttleCar.SetValue(ShuttleCarDBName.ASRSRqtGetAGV, ASRSRqtGetAGV, shuttleCar.DeviceCode);
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shuttleCar.SetValue(ShuttleCarDBName.ASRSRqtGetGoods, ASRSRqtGetGoods, shuttleCar.DeviceCode);
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shuttleCar.SetValue(ShuttleCarDBName.ASRSRqtPutGoods, ASRSRqtPutGoods, shuttleCar.DeviceCode);
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var AGVAlwASRSGetAGV = shuttleCar.GetValue<ShuttleCarDBName, bool>(ShuttleCarDBName.AGVAlwASRSGetAGV, shuttleCar.DeviceCode);//允许取车
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commonStackerCrane.SetValue(StackerCraneDBName.AGVAlwASRSGetAGV, AGVAlwASRSGetAGV);
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if (ASRSRqtGetAGV)
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WriteDebug($"{commonStackerCrane.DeviceName}请求取车", $"【{shuttleCar.DeviceName}】{(AGVAlwASRSGetAGV ? "允许" : "不允许")}取车,任务号【{task.TaskNum}】");
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var AGVAlwASRSGetGoods = shuttleCar.GetValue<ShuttleCarDBName, bool>(ShuttleCarDBName.AGVAlwASRSGetGoods, shuttleCar.DeviceCode);//允许取货
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commonStackerCrane.SetValue(StackerCraneDBName.AGVAlwASRSGetGoods, AGVAlwASRSGetGoods);
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if (ASRSRqtGetGoods)
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WriteDebug($"{commonStackerCrane.DeviceName}请求取货", $"【{shuttleCar.DeviceName}】{(AGVAlwASRSGetGoods ? "允许" : "不允许")}取货,任务号【{task.TaskNum}】");
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var AGVAlwASRSPuttGoods = shuttleCar.GetValue<ShuttleCarDBName, bool>(ShuttleCarDBName.AGVAlwASRSPuttGoods, shuttleCar.DeviceCode);//允许放货
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commonStackerCrane.SetValue(StackerCraneDBName.AGVAlwASRSPuttGoods, AGVAlwASRSPuttGoods);
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if (ASRSRqtPutGoods)
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WriteDebug($"{commonStackerCrane.DeviceName}请求放货", $"【{shuttleCar.DeviceName}】{(AGVAlwASRSPuttGoods ? "允许" : "不允许")}放货,任务号【{task.TaskNum}】");
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commonStackerCrane.SetValue(StackerCraneDBName.AGVAlwASRSPutAGV, ASRSRqtPutAGV);
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if (ASRSRqtPutAGV)
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WriteDebug($"{commonStackerCrane.DeviceName}请求放车", $"WCS允许放车,任务号【{task.TaskNum}】");
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shuttleCar.SetValue(ShuttleCarDBName.ASRSGetAGVDone, ASRSGetAGVDone, shuttleCar.DeviceCode);
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if (ASRSGetAGVDone)
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WriteDebug($"{commonStackerCrane.DeviceName}取车完成", $"【{shuttleCar.DeviceName}】,任务号【{task.TaskNum}】");
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shuttleCar.SetValue(ShuttleCarDBName.ASRSGetGoodsDone, ASRSGetGoodsDone, shuttleCar.DeviceCode);
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if (ASRSGetGoodsDone)
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WriteDebug($"{commonStackerCrane.DeviceName}取货完成", $"【{shuttleCar.DeviceName}】,任务号【{task.TaskNum}】");
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shuttleCar.SetValue(ShuttleCarDBName.ASRSPutAGoodsDone, ASRSPutAGoodsDone, shuttleCar.DeviceCode);
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if (ASRSPutAGoodsDone)
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WriteDebug($"{commonStackerCrane.DeviceName}放货完成", $"【{shuttleCar.DeviceName}】,任务号【{task.TaskNum}】");
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}
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}
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}
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}
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}
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}
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/// <summary>
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/// 获取任务信息
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/// </summary>
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/// <param name="commonStackerCrane"></param>
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/// <returns></returns>
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/// <exception cref="Exception"></exception>
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public Dt_Task GetTaskInfo(SpeStackerCrane commonStackerCrane)
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{
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return _taskService.GetTaskInfo(commonStackerCrane.CurrentTaskNum);
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}
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/// <summary>
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/// 获取穿梭车信息
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/// </summary>
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/// <param name="Address"></param>
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/// <returns></returns>
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public Dt_ShuttleCar GetShuttleCarInfo(string Address)
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{
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return _shuttleCarService.QueryShuttleCar(Address);
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}
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}
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}
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