using Microsoft.AspNetCore.Components.Routing;
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using Newtonsoft.Json;
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using Quartz;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics.CodeAnalysis;
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using System.Linq;
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using System.Net.Http.Json;
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using System.Net.NetworkInformation;
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using System.Reflection;
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using System.Reflection.Metadata;
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using System.Reflection.PortableExecutable;
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using System.Text;
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using System.Text.Json.Nodes;
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using System.Threading.Tasks;
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using WIDESEAWCS_Common.StackerCraneEnum;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.Caches;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_IShuttleCar;
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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.DeviceBase;
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using WIDESEAWCS_QuartzJob.DTO;
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using WIDESEAWCS_QuartzJob.Models;
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using WIDESEAWCS_QuartzJob.Service;
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using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
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using WIDESEAWCS_TaskInfoService;
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using WIDESEAWCS_Tasks.ConveyorLineJob;
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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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[DisallowConcurrentExecution]
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public partial class CommonStackerCraneJob : JobBase, IJob
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{
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private readonly ITaskService _taskService;
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private readonly ITaskExecuteDetailService _taskExecuteDetailService;
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private readonly ITaskRepository _taskRepository;
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private readonly IRouterService _routerService;
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private readonly IShuttleCarService _shuttleCarService;
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private readonly ICacheService _cacheService;
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public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService, IShuttleCarService shuttleCarService, ICacheService cacheService)
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{
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_taskService = taskService;
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_taskExecuteDetailService = taskExecuteDetailService;
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_taskRepository = taskRepository;
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_routerService = routerService;
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_shuttleCarService = shuttleCarService;
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_cacheService = cacheService;
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}
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public Task Execute(IJobExecutionContext context)
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{
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try
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{
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SpeStackerCrane commonStackerCrane = (SpeStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
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if (commonStackerCrane != null)
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{
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commonStackerCrane.Communicator.IsReadAfterWrite = false;
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#region 获取堆垛机信息
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StackerCraneTaskCommandR common = ReadCustomer<StackerCraneTaskCommandR>(commonStackerCrane, commonStackerCrane.DeviceCode);
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_cacheService.AddOrUpdate(commonStackerCrane.DeviceCode, common);
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#endregion
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#region 信号交互处理
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//Heartbeat(commonStackerCrane);
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ShuttleCarSignal(commonStackerCrane);
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#endregion
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#region 任务完成
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if (common.CompleteStatus == 2 || common.CompleteStatus == 3 || common.CompleteStatus == 4)
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{
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var remark = "正常完成";
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if (common.CompleteStatus == 2) remark = "手动完成";
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if (common.CompleteStatus == 4) remark = "错误完成";
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WriteDebug($"{commonStackerCrane.DeviceName}任务完成", $"{remark},任务号【{commonStackerCrane.CurrentTaskNum}】");
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NormalCompleted(commonStackerCrane);
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}
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#endregion
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#region 任务逻辑处理
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if (common.Onlinestate == (short)Onlinestate.online)
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{
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#region 查询任务,逻辑处理
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if (common.RunStatus == (short)RunStatus.Standby)
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{
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#region 穿梭车移车/充电任务
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var Task = _taskService.GetTaskState((int)CarChargingTaskEnum.CarCharging_Finish, (int)TaskOtherTypeEnum.RelocationCarCharging) ??
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_taskService.GetTaskState((int)TaskCarStatusEnum.ShuttleCar_Finish, (int)TaskOtherTypeEnum.RelocationCar);
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if (Task != null) SendTask(commonStackerCrane, Task);
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#endregion
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else
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{
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Task = GetStackerCraneTask();
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if (Task != null) SendTask(commonStackerCrane, Task);
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}
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}
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#endregion
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}
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#endregion
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}
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}
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catch (Exception ex)
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{
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//Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
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}
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return Task.CompletedTask;
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}
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#region 任务下发给堆垛机
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private void SendTask(SpeStackerCrane commonStackerCrane, Dt_Task task)
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{
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StackerCraneTaskCommandW? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
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if (stackerCraneTaskCommand != null)
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{
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bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
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bool worktype = commonStackerCrane.SetValue(StackerCraneDBName.WorkType, task.TaskType >= (int)TaskOtherTypeEnum.RelocationCar ? (short)WorkType.Car : (short)WorkType.Cargo);
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if (sendFlag && worktype)
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{
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if (commonStackerCrane.SetValue(StackerCraneDBName.CommandSend, sendFlag))
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{
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if (_taskService.TaskInboundTypes.Contains(task.TaskType) ||
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_taskService.TaskOutboundTypes.Contains(task.TaskType))
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commonStackerCrane.LastTaskType = task.TaskType;
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_taskService.UpdateTaskStatusToNext(task.TaskNum);
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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 任务完成
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/// <summary>
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/// 任务完成
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/// </summary>
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/// <param name="commonStackerCrane"></param>
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public void NormalCompleted(SpeStackerCrane commonStackerCrane)
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{
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if (commonStackerCrane != null)
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{
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var content = _taskService.StackCraneTaskCompleted(commonStackerCrane.CurrentTaskNum);
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commonStackerCrane.SetValue(StackerCraneDBName.ConfirmComplete, content.Status);
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}
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}
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#endregion
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private Dt_Task? GetStackerCraneTask()
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{
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Dt_Task? task = null;
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task = _taskRepository.QueryFirst(x => _taskService.TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish && !string.IsNullOrEmpty(x.NextAddress), _taskService.TaskOrderBy);//入库任务
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if (task != null) task = GetTaskOk(task);
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if (task == null)
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{
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task = _taskRepository.QueryFirst(x => _taskService.TaskRelocationTypes.Contains(x.TaskType) &&
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x.TaskState == (int)TaskRelocationStatusEnum.CarSource_Finish, _taskService.TaskOrderBy) ??//移库任务
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_taskRepository.QueryFirst(x => _taskService.TaskOutboundTypes.Contains(x.TaskType) &&
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x.TaskState == (int)TaskOutStatusEnum.Car_OutFinish, _taskService.TaskOrderBy);//出库任务
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if (task != null) task = GetTaskOk(task);
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}
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return task;
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}
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/// <summary>
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/// 判断任务是否满足堆垛机执行
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/// </summary>
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/// <param name="task"></param>
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/// <returns></returns>
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public Dt_Task? GetTaskOk(Dt_Task? task)
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{
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#region 入库/移库任务
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if (_taskService.TaskInboundTypes.Contains(task.TaskType) || _taskService.TaskRelocationTypes.Contains(task.TaskType))
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{
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var ShuttleCar = GetShuttleCarInfo(task.TargetAddress);//入库任务判断终点是否有穿梭车
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if (task.TargetIsPickPlace && ShuttleCar != null)//移走
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{
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_taskService.AddRelocationCarTask(task.TargetAddress, "", ShuttleCar.ShuttleCarCode);
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task = null;
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}
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else if (!task.TargetIsPickPlace && ShuttleCar == null)
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{
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_taskService.AddRelocationCarTask("", task.TargetAddress);
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task = null;
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}
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else
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{
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if (ShuttleCar != null)
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{
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if (_taskRepository.QueryFirst(x => x.TaskType != task.TaskType && x.ShuttleCarCode == ShuttleCar.ShuttleCarCode) != null)
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task = null;
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else
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{
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task.ShuttleCarCode = ShuttleCar.ShuttleCarCode;
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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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#endregion
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#region 出库任务
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else
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task = OutTaskStationIsOccupied(task);
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#endregion
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return task;
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}
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/// <summary>
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/// 获取任务
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/// </summary>
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/// <param name="commonStackerCrane">堆垛机对象</param>
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/// <returns></returns>
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private Dt_Task? GetTask(SpeStackerCrane commonStackerCrane)
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{
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Dt_Task task = _taskService.QueryStackerCraneRelocationTask(commonStackerCrane.DeviceCode);//获取移库任务
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#region 存在移库任务必须先执行移库任务
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if (task != null)
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{
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return task;
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//if (task.SourceIsPickPlace && task.ShuttleCarCode != null)
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// return task;
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//else return null;
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}
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#endregion
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#region 出入库任务
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else
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{
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//task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
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//if (task != null) return task;
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if (commonStackerCrane.LastTaskType == null)
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{
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task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
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}
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else
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{
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if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
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if (task == null)
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{
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task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
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}
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}
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else
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{
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task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode) /*?? _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode)*/;
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if (task == null)
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{
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task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
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}
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}
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}
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if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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if (OutTaskStationIsOccupied(task) != null)
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{
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return task;
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}
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else
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{
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List<string> otherOutStaionCodes = _routerService.QueryNextRoutes(commonStackerCrane.DeviceCode, task.NextAddress).Select(x => x.ChildPosi).ToList();
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List<Dt_Task> tasks = _taskService.QueryStackerCraneOutTasks(commonStackerCrane.DeviceCode, otherOutStaionCodes);
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foreach (var item in tasks)
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{
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if (OutTaskStationIsOccupied(item) != null)
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{
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return item;
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}
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}
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task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
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}
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}
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if (task != null && !string.IsNullOrEmpty(task.TargetAddress)) return task;//入库任务判断是否已分配货位，WMS判断货位状态是否允许放货
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}
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#endregion
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return task;
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}
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/// <summary>
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/// 出库任务判断出库站台是否被占用
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/// </summary>
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/// <param name="task">任务实体</param>
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/// <returns>如果未被占用，返回传入的任务信息，否则，返回null</returns>
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private Dt_Task? OutTaskStationIsOccupied([NotNull] Dt_Task task)
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{
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Dt_Router? router = _routerService.QueryNextRoutes(task.Roadway, task.NextAddress).FirstOrDefault();
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if (router != null)
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{
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == router.ChildPosiDeviceCode);
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if (device != null)
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{
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CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
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ConveyorLineTaskCommandR command = conveyorLine.ReadCustomer<ConveyorLineTaskCommandR>(router.ChildPosi);
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if (command.Status == 4)
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{
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return task;
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}
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//if (conveyorLine.IsOccupied(router.ChildPosi))//出库站台未被占用
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//{
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// return task;
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//}
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}
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else
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{
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到出库站台【{router.ChildPosiDeviceCode}】对应的通讯对象，无法判断出库站台是否被占用");
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}
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}
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else
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{
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.NextAddress}】信息，无法校验站台");
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}
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return null;
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}
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/// <summary>
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/// 任务实体转换成命令Model
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/// </summary>
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/// <param name="task">任务实体</param>
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/// <returns></returns>
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/// <exception cref="Exception"></exception>
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public StackerCraneTaskCommandW? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
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{
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StackerCraneTaskCommandW stackerCraneTaskCommand = new StackerCraneTaskCommandW();
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stackerCraneTaskCommand.TaskNum = task.TaskNum;
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if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)//判断是否是入库任务
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{
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List<Dt_Router> routers = _routerService.QueryNextRoutes(task.CurrentAddress, task.Roadway);
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if (routers.Count > 0)
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{
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stackerCraneTaskCommand.StartRow = Convert.ToInt16(routers.FirstOrDefault().SrmRow);
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stackerCraneTaskCommand.StartColumn = Convert.ToInt16(routers.FirstOrDefault().SrmColumn);
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stackerCraneTaskCommand.StartLayer = Convert.ToInt16(routers.FirstOrDefault().SrmLayer);
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string[] targetCodes = task.NextAddress.Split("-");
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if (targetCodes.Length == 3)
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{
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var EndRow = Convert.ToInt16(targetCodes[0]);
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stackerCraneTaskCommand.EndRow = EndRow;// Convert.ToInt16(EndRow > 1 ? EndRow - 1 : EndRow);
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stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
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stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
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}
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else
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{
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//数据配置错误
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"入库任务终点错误，起点：【{task.NextAddress}】");
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return null;
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}
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}
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else
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{
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.NextAddress}】信息，无法获取对应的堆垛机取货站台信息");
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return null;
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}
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}
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else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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List<Dt_Router> routers = _routerService.QueryNextRoutes(task.Roadway, task.TargetAddress);
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if (routers.Count > 0)
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{
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stackerCraneTaskCommand.EndRow = Convert.ToInt16(routers.FirstOrDefault().SrmRow);
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stackerCraneTaskCommand.EndColumn = Convert.ToInt16(routers.FirstOrDefault().SrmColumn);
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stackerCraneTaskCommand.EndLayer = Convert.ToInt16(routers.FirstOrDefault().SrmLayer);
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string[] sourceCodes = task.CurrentAddress.Split("-");
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if (sourceCodes.Length == 3)
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{
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var StartRow = Convert.ToInt16(sourceCodes[0]);
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stackerCraneTaskCommand.StartRow = StartRow;// Convert.ToInt16(StartRow > 1 ? StartRow - 1 : StartRow);
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stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
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stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
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}
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else
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{
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//数据配置错误
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"出库任务起点错误，起点：【{task.CurrentAddress}】");
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return null;
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}
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}
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else
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{
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.NextAddress}】信息，无法获取对应的堆垛机放货站台信息");
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return null;
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}
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}
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else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup || task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OtherGroup)
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{
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string[] targetCodes = task.NextAddress.Split("-");
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if (targetCodes.Length == 3)
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{
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var EndRow = Convert.ToInt16(targetCodes[0]);
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stackerCraneTaskCommand.EndRow = EndRow;// Convert.ToInt16(EndRow > 1 ? EndRow - 1 : EndRow);
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stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
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stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
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}
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else
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{
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//数据配置错误
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务终点错误，起点：【{task.NextAddress}】");
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return null;
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}
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string[] sourceCodes = task.CurrentAddress.Split("-");
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if (sourceCodes.Length == 3)
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{
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var SourceRow = Convert.ToInt16(sourceCodes[0]);
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stackerCraneTaskCommand.StartRow = SourceRow;// Convert.ToInt16(SourceRow > 1 ? SourceRow - 1 : SourceRow);
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stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
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stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
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}
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else
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{
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//数据配置错误
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务起点错误，起点：【{task.CurrentAddress}】");
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return null;
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}
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}
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return stackerCraneTaskCommand;
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}
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}
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}
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