#region << 版 本 注 释 >>
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/*----------------------------------------------------------------
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* 命名空间：WIDESEAWCS_QuartzJob
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* 创建者：胡童庆
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* 创建时间：2024/8/2 16:13:36
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* 版本：V1.0.0
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* 描述：一般堆垛机实现类，实现堆垛机接口层
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*
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* ----------------------------------------------------------------
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* 修改人：
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* 修改时间：
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* 版本：V1.0.1
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* 修改说明：
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*
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*----------------------------------------------------------------*/
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#endregion << 版 本 注 释 >>
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using HslCommunication;
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using Microsoft.AspNetCore.Http;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Linq;
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using System.Reflection;
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using System.Text;
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using System.Threading.Tasks;
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using WIDESEAWCS_Communicator;
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using WIDESEAWCS_Core.Enums;
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using WIDESEAWCS_QuartzJob.DeviceBase;
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using WIDESEAWCS_QuartzJob.DTO;
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using WIDESEAWCS_QuartzJob.StackerCrane;
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using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
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namespace WIDESEAWCS_QuartzJob
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{
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/// <summary>
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/// 一般堆垛机实现类，实现堆垛机接口层
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/// </summary>
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[Description("堆垛机")]
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public class CommonStackerCrane : IStackerCrane
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{
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#region Private Member
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/// <summary>
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/// 堆垛机通讯对象
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/// </summary>
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private BaseCommunicator _communicator;
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/// <summary>
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/// 堆垛机协议信息
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/// </summary>
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private readonly List<DeviceProDTO> _deviceProDTOs;
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/// <summary>
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/// 堆垛机协议明细信息
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/// </summary>
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private readonly List<DeviceProtocolDetailDTO> _deviceProtocolDetailDTOs;
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/// <summary>
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/// 设备编号
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/// </summary>
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public readonly string _deviceCode;
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/// <summary>
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/// 设备名称
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/// </summary>
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public readonly string _deviceName;
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/// <summary>
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/// 上一次任务号
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/// </summary>
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private int _lastTaskNum;
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private bool _isChecked = false;
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private bool _heartStatr = true;
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private bool _isConnected = true;
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#endregion Private Member
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#region Public Member
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/// <summary>
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/// 堆垛机通讯对象
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/// </summary>
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public BaseCommunicator Communicator => _communicator;
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/// <summary>
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/// 堆垛机协议信息
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/// </summary>
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public List<DeviceProDTO> DeviceProDTOs => _deviceProDTOs;
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/// <summary>
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/// 堆垛机协议明细信息
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/// </summary>
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public List<DeviceProtocolDetailDTO> DeviceProtocolDetailDTOs => _deviceProtocolDetailDTOs;
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/// <summary>
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/// 设备状态(空闲/运行中...)
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/// </summary>
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public DeviceStatus Status => GetStatus();
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/// <summary>
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/// 上一次执行的任务号
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/// </summary>
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public int LastTaskNum => _lastTaskNum;
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/// <summary>
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/// 当前正在执行的任务号
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/// </summary>
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public int CurrentTaskNum => GetCurrentTaskNum();
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/// <summary>
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/// 堆垛机状态
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/// </summary>
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public StackerCraneStatus StackerCraneStatusValue => GetStackerCraneStatus();
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/// <summary>
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/// 堆垛机状态中文说明
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/// </summary>
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public string StackerCraneStatusDes => GetEnumDes(StackerCraneStatusValue);
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/// <summary>
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/// 手自动状态
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/// </summary>
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public StackerCraneAutoStatus StackerCraneAutoStatusValue => GetStackerCraneAutoStatus();
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/// <summary>
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/// 手自动状态中文说明
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/// </summary>
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public string StackerCraneAutoStatusDes => GetEnumDes(StackerCraneAutoStatusValue);
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/// <summary>
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/// 作业状态
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/// </summary>
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public StackerCraneWorkStatus StackerCraneWorkStatusValue => GetStackerCraneWorkStatus();
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/// <summary>
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/// 作业状态中文说明
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/// </summary>
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public string StackerCraneWorkStatusDes => GetEnumDes(StackerCraneWorkStatusValue);
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/// <summary>
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/// 设备编号
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/// </summary>
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public string DeviceCode => _deviceCode;
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/// <summary>
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/// 设备名称
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/// </summary>
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public string DeviceName => _deviceName;
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/// <summary>
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/// 堆垛机是否有故障
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/// </summary>
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public bool IsFault => StackerCraneStatusValue == StackerCraneStatus.Fault;
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/// <summary>
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/// 通讯是否已连接
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/// </summary>
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public bool IsConnected => Communicator.IsConnected && _isConnected;
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/// <summary>
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/// 堆垛机任务完成事件
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/// </summary>
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public event EventHandler<StackerCraneTaskCompletedEventArgs> StackerCraneTaskCompletedEventHandler;
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/// <summary>
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/// 堆垛机任务命令对象
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/// </summary>
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public object StackerCraneTaskCommand { get; set; }
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/// <summary>
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/// 堆垛机完成事件是否已订阅
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/// </summary>
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public bool IsEventSubscribed => StackerCraneTaskCompletedEventHandler != null;
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/// <summary>
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/// 堆垛机与MOM连接状态
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/// </summary>
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public bool StackerOnline { get; set; } = false;
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public int? LastTaskType { get; set; } = null;
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#endregion
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#region Constructor Function
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/// <summary>
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/// 构造函数
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/// </summary>
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/// <param name="communicator">堆垛机通讯对象</param>
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/// <param name="deviceProDTOs">堆垛机协议信息</param>
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/// <param name="deviceProtocolDetailDTOs">堆垛机协议明细信息</param>
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/// <param name="deviceCode">设备编号</param>
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/// <param name="deviceName">设备名称</param>
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public CommonStackerCrane(BaseCommunicator communicator, List<DeviceProDTO> deviceProDTOs, List<DeviceProtocolDetailDTO> deviceProtocolDetailDTOs, string deviceCode, string deviceName)
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{
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_communicator = communicator;
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_deviceProDTOs = deviceProDTOs;
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_deviceProtocolDetailDTOs = deviceProtocolDetailDTOs;
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_deviceCode = deviceCode;
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_deviceName = deviceName;
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CheckConnect();
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}
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#endregion
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#region Private Method
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/// <summary>
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/// 根据协议读取堆垛机状态
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/// </summary>
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/// <returns></returns>
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/// <exception cref="Exception"></exception>
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private DeviceStatus GetStatus()
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{
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if (IsFault)
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{
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return DeviceStatus.Fault;
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}
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else if (!IsConnected)
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{
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return DeviceStatus.Offline;
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}
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if (StackerCraneStatusValue == StackerCraneStatus.Normal && StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic)
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{
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if (StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
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{
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return DeviceStatus.Idle;
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}
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else if (StackerCraneWorkStatusValue == StackerCraneWorkStatus.Putting || StackerCraneWorkStatusValue == StackerCraneWorkStatus.PickUp || StackerCraneWorkStatusValue == StackerCraneWorkStatus.PickUpCompleted || StackerCraneWorkStatusValue == StackerCraneWorkStatus.PutCompleted)
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{
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return DeviceStatus.Working;
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}
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}
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return DeviceStatus.Unkonw;
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}
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private int GetCurrentTaskNum()
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{
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DeviceProDTO? devicePro = _deviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == nameof(CurrentTaskNum));
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return devicePro == null ? throw new Exception() : (int)Communicator.ReadAsObj(devicePro.DeviceProAddress, devicePro.DeviceDataType);
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}
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/// <summary>
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/// 获取堆垛机设备状态
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/// </summary>
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/// <returns></returns>
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private StackerCraneStatus GetStackerCraneStatus()
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{
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return Enum.Parse<StackerCraneStatus>(GetStatus(nameof(StackerCraneStatus)));
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}
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/// <summary>
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/// 获取堆垛机手自动状态
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/// </summary>
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/// <returns></returns>
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private StackerCraneAutoStatus GetStackerCraneAutoStatus()
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{
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return Enum.Parse<StackerCraneAutoStatus>(GetStatus(nameof(StackerCraneAutoStatus)));
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}
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/// <summary>
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/// 获取堆垛机工作状态
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/// </summary>
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/// <returns></returns>
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private StackerCraneWorkStatus GetStackerCraneWorkStatus()
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{
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return Enum.Parse<StackerCraneWorkStatus>(GetStatus(nameof(StackerCraneWorkStatus)));
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}
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/// <summary>
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/// 获取枚举说明
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/// </summary>
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/// <typeparam name="T">枚举泛型</typeparam>
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/// <param name="value"></param>
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/// <returns></returns>
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private string GetEnumDes<T>(T value) where T : Enum
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{
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FieldInfo? fieldInfo = typeof(T).GetField(value.ToString());
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if (fieldInfo != null)
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{
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DescriptionAttribute? descriptionAttribute = fieldInfo.GetCustomAttribute<DescriptionAttribute>();
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if (descriptionAttribute != null)
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{
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return descriptionAttribute.Description;
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}
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return "未定义";
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}
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return "未知";
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}
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/// <summary>
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/// 根据协议参数类型获取状态
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/// </summary>
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/// <param name="protocolParamType">协议参数类型</param>
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/// <returns></returns>
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/// <exception cref="Exception"></exception>
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private string GetStatus(string protocolParamType)
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{
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if (Communicator.IsConnected)
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{
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List<DeviceProDTO> devicePros = _deviceProDTOs.Where(x => x.DeviceProParamType == protocolParamType).ToList();
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if (devicePros.Count == 0)
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{
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throw new Exception("未获取到协议信息");
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}
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for (int i = 0; i < devicePros.Count; i++)
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{
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object readStatus = Communicator.ReadAsObj(devicePros[i].DeviceProAddress, devicePros[i].DeviceDataType);
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//todo 协议明细信息未获取到时抛出异常
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DeviceProtocolDetailDTO? deviceProtocolDetail = _deviceProtocolDetailDTOs.FirstOrDefault(x => x.DeviceProParamName == devicePros[i].DeviceProParamName) ?? throw new Exception();
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deviceProtocolDetail = _deviceProtocolDetailDTOs.FirstOrDefault(x => x.DeviceProParamName == devicePros[i].DeviceProParamType && x.ProtocalDetailValue.Equals(readStatus.ToString()));
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if (deviceProtocolDetail != null)
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{
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return deviceProtocolDetail.ProtocolDetailType;
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}
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return StackerCraneStatus.Unkonw.ToString();
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}
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}
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//todo 通讯未连接时抛出异常
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return StackerCraneStatus.Unkonw.ToString();
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}
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/// <summary>
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/// 比较两个值是否相等。
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/// </summary>
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/// <param name="value">第一个值。</param>
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/// <param name="paramValue">第二个值。</param>
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/// <returns>返回比较结果。</returns>
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private bool Compare(object value, object paramValue)
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{
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return value.Equals(paramValue);
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}
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private void CheckConnect()
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{
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Task.Run(() =>
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{
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while (_heartStatr)
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{
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try
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{
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DeviceProDTO? devicePro = _deviceProDTOs.FirstOrDefault();
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if (devicePro == null)
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_isConnected = false;
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else
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Communicator.ReadAsObj(devicePro.DeviceProAddress, devicePro.DeviceDataType);
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_isConnected = true;
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}
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catch (Exception ex)
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{
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_isConnected = false;
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}
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Thread.Sleep(500);
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}
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});
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}
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#endregion
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#region Public Method
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/// <summary>
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/// 发送任务命令
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/// </summary>
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/// <param name="command">任务命令</param>
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/// <returns></returns>
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public bool SendCommand<T>(T command) where T : IDataTransfer, new()
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{
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if (!IsConnected) throw new Exception($"通讯连接错误，请检查网络");
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DeviceProDTO? devicePro = _deviceProDTOs.Where(x => x.DeviceProParamType == nameof(DeviceCommand)).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
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if (devicePro == null)
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{
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return false;
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}
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if (Communicator.WriteCustomer(devicePro.DeviceProAddress, command))
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{
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StackerCraneTaskCommand = command;
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CheckStackerCraneTaskCompleted();
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return true;
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}
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return false;
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}
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/// <summary>
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/// 监测堆垛机任务是否完成(防止任务完成事件监测超时，定义手动触发功能)
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/// </summary>
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public void CheckStackerCraneTaskCompleted()
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{
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if (_isChecked)
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return;
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Task.Run(() =>
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{
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_isChecked = true;
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try
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{
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DeviceProDTO? devicePro = _deviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == nameof(StackerCraneWorkStatus));
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if (devicePro != null)
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{
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DeviceProtocolDetailDTO? deviceProtocolDetail = _deviceProtocolDetailDTOs.FirstOrDefault(x => x.DeviceProParamName == devicePro.DeviceProParamName && x.ProtocolDetailType == StackerCraneWorkStatus.WorkCompleted.ToString());
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if (deviceProtocolDetail != null)
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{
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OperateResult<TimeSpan> operateResult = new OperateResult<TimeSpan>();
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TypeCode typeCode = SiemensDBDataType.GetTypeCode(devicePro.DeviceDataType);
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switch (typeCode)
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{
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case TypeCode.Boolean:
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operateResult = Communicator.Wait(devicePro.DeviceProAddress, 1500, 20 * 6000, Convert.ToBoolean(deviceProtocolDetail.ProtocalDetailValue));
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break;
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case TypeCode.Byte:
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operateResult = Communicator.Wait(devicePro.DeviceProAddress, 1500, 20 * 6000, Convert.ToByte(deviceProtocolDetail.ProtocalDetailValue));
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break;
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case TypeCode.Int16:
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operateResult = Communicator.Wait(devicePro.DeviceProAddress, 1500, 20 * 6000, Convert.ToInt16(deviceProtocolDetail.ProtocalDetailValue));
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break;
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case TypeCode.Int32:
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operateResult = Communicator.Wait(devicePro.DeviceProAddress, 1500, 20 * 6000, Convert.ToInt32(deviceProtocolDetail.ProtocalDetailValue));
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break;
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case TypeCode.UInt16:
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operateResult = Communicator.Wait(devicePro.DeviceProAddress, 1500, 20 * 6000, Convert.ToUInt16(deviceProtocolDetail.ProtocalDetailValue));
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break;
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case TypeCode.UInt32:
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operateResult = Communicator.Wait(devicePro.DeviceProAddress, 1500, 20 * 6000, Convert.ToUInt32(deviceProtocolDetail.ProtocalDetailValue));
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break;
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default:
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break;
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}
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int taskNum = CurrentTaskNum;
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if (operateResult.IsSuccess /*&& LastTaskNum != taskNum*/)
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{
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StackerCraneTaskCompletedEventArgs args = new(taskNum);
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StackerCraneTaskCompletedEventHandler?.Invoke(this, args);
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_lastTaskNum = taskNum;
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}
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}
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}
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}
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catch (Exception ex)
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{
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}
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finally
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{
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_isChecked = false;
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}
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});
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}
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/// <summary>
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/// 根据参数名称读取堆垛机对应的数据。
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/// </summary>
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/// <typeparam name="TEnum">参数名称枚举类型。</typeparam>
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/// <typeparam name="TRsult">读取结果的返回值类型。</typeparam>
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/// <param name="value">参数名称。</param>
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/// <returns>返回读取到的数据。</returns>
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/// <exception cref="Exception"></exception>
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public TRsult GetValue<TEnum, TRsult>(TEnum value) where TEnum : Enum
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{
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if (!IsConnected) throw new Exception($"通讯连接错误，请检查网络");
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DeviceProDTO? devicePro = _deviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == value.ToString());
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return devicePro == null ? throw new Exception() : (TRsult)Communicator.ReadAsObj(devicePro.DeviceProAddress, devicePro.DeviceDataType);
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}
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/// <summary>
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/// 与设备的心跳
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/// </summary>
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public void Heartbeat()
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{
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}
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/// <summary>
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/// 根据参数名称写入堆垛机对应的数据。
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/// </summary>
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/// <typeparam name="TEnum">参数名称枚举类型。</typeparam>
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/// <typeparam name="TValue">要写入的数据类型。</typeparam>
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/// <param name="enum">参数名称。</param>
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/// <param name="value">要写入的数据。</param>
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/// <returns>返回写入成功或失败</returns>
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/// <exception cref="Exception"></exception>
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public bool SetValue<TEnum, TValue>(TEnum @enum, TValue value)
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where TEnum : Enum
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where TValue : notnull
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{
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if (!IsConnected) throw new Exception($"通讯连接错误，请检查网络");
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DeviceProDTO? devicePro = _deviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == @enum.ToString());
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return devicePro == null ? throw new Exception() : Communicator.WriteObj(devicePro.DeviceProAddress, devicePro.DeviceDataType, value);
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}
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public void Dispose()
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{
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_heartStatr = false;
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_communicator.Dispose();
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GC.SuppressFinalize(this);
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}
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#endregion
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}
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}
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