using Mapster;
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using Quartz;
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using System.Diagnostics.CodeAnalysis;
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using WIDESEAWCS_BasicInfoRepository;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core.Caches;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_Core.HttpContextUser;
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using WIDESEAWCS_IProcessRepository;
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using WIDESEAWCS_ITaskInfo_HtyRepository;
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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.Models;
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using WIDESEAWCS_QuartzJob.Service;
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using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
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using WIDESEAWCS_SignalR;
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using WIDESEAWCS_Tasks.ConveyorLineJob;
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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 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 IProcessRepository _processRepository;
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private readonly ICacheService _cacheService;
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private readonly INoticeService _noticeService;
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private readonly IDt_StationManagerRepository _stationManagerRepository;
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private readonly ITask_HtyRepository _htyRepository;
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public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService, IProcessRepository processRepository, ICacheService cacheService, INoticeService noticeService, IDt_StationManagerRepository stationManagerRepository, ITask_HtyRepository htyRepository)
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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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_processRepository = processRepository;
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_cacheService = cacheService;
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_noticeService = noticeService;
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_stationManagerRepository = stationManagerRepository;
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_htyRepository = htyRepository;
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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.GetStackerCraneStatus<StackerCraneAutoStatus>();
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// speStackerCrane.GetStackerCraneStatus<StackerCraneWorkStatus>();
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// speStackerCrane.GetStackerCraneStatus<StackerCraneStatus>();
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CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
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if (commonStackerCrane != null)
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{
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//EqptAlive(commonStackerCrane);
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//Console.Out.WriteLine(commonStackerCrane.DeviceName);
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if (!commonStackerCrane.IsEventSubscribed)
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{
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commonStackerCrane.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
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}
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if (commonStackerCrane.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneStatusValue == StackerCraneStatus.Normal)
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{
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commonStackerCrane.CheckStackerCraneTaskCompleted();//防止任务完成事件监测超时，再手动触发一次
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if (commonStackerCrane.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
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{
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Dt_Task? task = GetTask(commonStackerCrane);
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if (task != null)
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{
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StackerCraneTaskCommand? 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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if (sendFlag)
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{
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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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}
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#region 调用事件总线通知前端
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var tokenInfos = _cacheService.Get<List<UserInfo>>("Cache_UserToken");
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if (tokenInfos != null && tokenInfos.Any())
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{
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var userTokenIds = tokenInfos?.Select(x => x.Token_ID).ToList();
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var userIds = tokenInfos?.Select(x => x.UserId).ToList();
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object obj = new
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{
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commonStackerCrane.StackerCraneStatusDes,
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commonStackerCrane.StackerCraneAutoStatusDes,
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commonStackerCrane.StackerCraneWorkStatusDes,
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commonStackerCrane.DeviceCode,
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commonStackerCrane.DeviceName,
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commonStackerCrane.CurrentTaskNum,
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commonStackerCrane.LastTaskNum,
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};
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_noticeService.StackerData(userIds?.FirstOrDefault(), userTokenIds, new { commonStackerCrane.DeviceName, data = obj });
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}
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#endregion 调用事件总线通知前端
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}
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}
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catch (Exception ex)
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{
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WriteError("CommonConveyorLineJob", "test", ex);
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ConsoleHelper.WriteErrorLine($"{ex.Message}");
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//Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
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}
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//WriteDebug("CommonConveyorLineJob", "test");
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return Task.CompletedTask;
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}
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/// <summary>
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/// 任务完成事件订阅的方法
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void CommonStackerCrane_StackerCraneTaskCompletedEventHandler(object? sender, WIDESEAWCS_QuartzJob.StackerCrane.StackerCraneTaskCompletedEventArgs e)
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{
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CommonStackerCrane? commonStackerCrane = sender as CommonStackerCrane;
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if (commonStackerCrane != null)
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{
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//var x = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType);
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//if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
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{
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//Console.Out.WriteLine("TaskCompleted" + e.TaskNum);
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ConsoleHelper.WriteColorLine($"【{commonStackerCrane.DeviceName}】任务完成,任务号：【{e.TaskNum}】", ConsoleColor.Blue);
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var task = _taskRepository.QueryFirst(x => x.TaskNum == e.TaskNum);
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if (task == null) commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
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if (commonStackerCrane.DeviceCode.Contains("GW") && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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var station = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.TargetAddress);
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == station.stationPLC);
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if (device != null)
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{
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CommonConveyorLine_GW conveyorLine = (CommonConveyorLine_GW)device;
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var isResult = conveyorLine.SetValue(ConveyorLineDBName_After.ConveyorLineBarcode, task.PalletCode, task.TargetAddress);
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if (!isResult)
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{
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var result = conveyorLine.GetValue<ConveyorLineDBName_After, string>(ConveyorLineDBName_After.ConveyorLineBarcode, task.TargetAddress);
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if (result != task.PalletCode)
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{
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conveyorLine.SetValue(ConveyorLineDBName_After.ConveyorLineBarcode, task.PalletCode, task.TargetAddress);
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}
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}
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}
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else
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return;
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}
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_taskService.StackCraneTaskCompleted(e.TaskNum);
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if (commonStackerCrane.DeviceCode.Contains("CH") && task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
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{
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task = _taskRepository.QueryFirst(x => x.TaskNum == e.TaskNum);
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Dt_Task? newTask = _taskService.UpdatePosition(task.TaskNum, task.CurrentAddress);
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}
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if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && task.TargetAddress == "002-021-001")
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{
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var TASKHTY = task.Adapt<Dt_Task_Hty>();
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_taskRepository.DeleteData(task);
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_htyRepository.AddData(TASKHTY);
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}
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commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
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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
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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(CommonStackerCrane commonStackerCrane)
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{
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Dt_Task 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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var lastTaskTypeGroup = commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup();
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if (lastTaskTypeGroup == 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);
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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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// 检查当前出库任务站台是否允许放货
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var occupiedStation = OutTaskStationIsOccupied(task);
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if (occupiedStation == null)
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{
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// 如果当前出库任务站台不允许放货，排除当前任务，查找其他出库任务
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ConsoleHelper.WriteErrorLine($"任务号：【{task.TaskNum}】出库地址：【{task.NextAddress}】不允许放货");
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task = FindAnotherOutboundTask(commonStackerCrane.DeviceCode, task.TaskId);
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}
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else
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{
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return task;
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}
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}
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else if (task == null)
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{
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task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
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}
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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 (task.Roadway.Contains("GW") || task.Roadway.Contains("CW"))
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{
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if (router != null)
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{
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IDevice? device = null;
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if (task.Roadway.Contains("CW"))
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{
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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_GW conveyorLine = (CommonConveyorLine_GW)device;
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if (conveyorLine.IsOccupied(task.NextAddress))//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【{task.NextAddress}】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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}
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else
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{
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IDevice? device = null;
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if (task.Roadway.Contains("GW"))
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{
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device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "1015");
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if (device != null)
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{
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CommonConveyorLine_GW conveyorLine = (CommonConveyorLine_GW)device;
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if (conveyorLine.IsOccupied(task.TargetAddress))//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【{task.TargetAddress}】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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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.TargetAddress}】信息，无法校验站台");
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}
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}
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else
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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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//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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}
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return null;
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}
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/// <summary>
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/// 查找其他出库任务的辅助方法（排除指定任务ID的任务）
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/// </summary>
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/// <param name="deviceCode">设备代码</param>
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/// <param name="excludedTaskId">要排除的任务ID</param>
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/// <returns></returns>
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private Dt_Task? FindAnotherOutboundTask(string deviceCode, int excludedTaskId)
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{
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// 先获取所有符合条件（排除指定任务ID）的出库任务列表
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var allOutboundTasks = _taskService.QueryAllOutboundTasks(deviceCode);
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var availableTasks = allOutboundTasks?.Where(t => excludedTaskId != t.TaskId && t.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup).ToList();
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if (availableTasks == null || availableTasks.Count == 0)
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{
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return null;
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}
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// 遍历可用任务列表，检查任务站台是否允许放货，找到第一个允许放货的任务就返回
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foreach (var candidateTask in availableTasks)
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{
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var occupiedStation = OutTaskStationIsOccupied(candidateTask);
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if (occupiedStation != null)
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{
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return candidateTask;
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}
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ConsoleHelper.WriteErrorLine($"任务号：【{candidateTask.TaskNum}】出库地址：【{candidateTask.NextAddress}】不允许放货");
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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 StackerCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
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{
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StackerCraneTaskCommand stackerCraneTaskCommand = new StackerCraneTaskCommand();
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stackerCraneTaskCommand.Barcode = task.PalletCode;
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stackerCraneTaskCommand.TaskNum = task.TaskNum;
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stackerCraneTaskCommand.WorkType = 1;
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stackerCraneTaskCommand.TrayType = 0;
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stackerCraneTaskCommand.StartCommand = 1;
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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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if (task.SourceAddress == "1359-4" && task.Roadway.Contains("JZ"))
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{
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string[] souredCodes = task.CurrentAddress.Split("-");
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if (souredCodes.Length == 3)
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{
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stackerCraneTaskCommand.StartRow = Convert.ToInt16(souredCodes[0]);
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stackerCraneTaskCommand.StartColumn = Convert.ToInt16(souredCodes[1]);
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stackerCraneTaskCommand.StartLayer = Convert.ToInt16(souredCodes[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, $"入库任务起点错误，起点：【{task.CurrentAddress}】");
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return null;
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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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stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]) % 2 != 0 ? (short)1 : (short)2;
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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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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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stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]) % 2 != 0 ? (short)1 : (short)2;
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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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}
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else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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if (task.Roadway.Contains("GW"))
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{
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string[] endCodes = task.NextAddress.Split("-");
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stackerCraneTaskCommand.EndRow = Convert.ToInt16(endCodes[0]);
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stackerCraneTaskCommand.EndColumn = Convert.ToInt16(endCodes[1]);
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stackerCraneTaskCommand.EndLayer = Convert.ToInt16(endCodes[2]);
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string[] sourceCodes = task.SourceAddress.Split("-");
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stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]) % 2 != 0 ? (short)1 : (short)2;
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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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if (task.TargetAddress == "002-021-001" && task.Roadway.Contains("JZ") && task.TaskType == (int)TaskOutboundTypeEnum.OutTray)
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{
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string[] endCodes = task.NextAddress.Split("-");
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stackerCraneTaskCommand.EndRow = Convert.ToInt16(endCodes[0]);
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stackerCraneTaskCommand.EndColumn = Convert.ToInt16(endCodes[1]);
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stackerCraneTaskCommand.EndLayer = Convert.ToInt16(endCodes[2]);
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string[] sourceCodes = task.SourceAddress.Split("-");
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stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]) % 2 != 0 ? (short)1 : (short)2;
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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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List<Dt_Router> routers = _routerService.QueryNextRoutes(task.Roadway, task.TargetAddress);
|
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);
|
|
string[] sourceCodes = task.CurrentAddress.Split("-");
|
if (sourceCodes.Length == 3)
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{
|
stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]) % 2 != 0 ? (short)1 : (short)2;
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stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
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stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
|
}
|
else
|
{
|
//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}】");
|
return null;
|
}
|
}
|
else
|
{
|
_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");
|
return null;
|
}
|
}
|
}
|
}
|
else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
|
{
|
string[] targetCodes = task.NextAddress.Split("-");
|
if (targetCodes.Length == 3)
|
{
|
stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]) % 2 != 0 ? (short)1 : (short)2;
|
stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
|
stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
|
}
|
else
|
{
|
//数据配置错误
|
_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务终点错误，起点：【{task.NextAddress}】");
|
return null;
|
}
|
string[] sourceCodes = task.CurrentAddress.Split("-");
|
if (sourceCodes.Length == 3)
|
{
|
stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]) % 2 != 0 ? (short)1 : (short)2;
|
stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
|
stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
|
}
|
else
|
{
|
//数据配置错误
|
_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务起点错误，起点：【{task.CurrentAddress}】");
|
return null;
|
}
|
}
|
return stackerCraneTaskCommand;
|
}
|
}
|
}
|
