using Masuit.Tools.Systems;
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using Newtonsoft.Json;
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using Quartz;
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using System.Diagnostics.CodeAnalysis;
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using System.Text;
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using System.Threading.Tasks;
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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_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.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 CommonStackerStationCraneJob : 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 IProcessRepository _processRepository;
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private readonly IDt_StationManagerRepository _stationManagerRepository;
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private readonly ICacheService _cacheService;
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private readonly INoticeService _noticeService;
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public CommonStackerStationCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService, IProcessRepository processRepository, IDt_StationManagerRepository stationManagerRepository, ICacheService cacheService, INoticeService noticeService)
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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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_processRepository = processRepository;
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_stationManagerRepository = stationManagerRepository;
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_cacheService = cacheService;
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_noticeService = noticeService;
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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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CommonStackerStationCrane commonStackerCrane = (CommonStackerStationCrane)context.JobDetail.JobDataMap.Get("JobParams");
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if (commonStackerCrane != null)
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{
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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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Thread.Sleep(1000);
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bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
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if (sendFlag)
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{
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//StringBuilder builder = new StringBuilder();
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//builder.AppendLine();
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//builder.AppendLine($"【{commonStackerCrane.DeviceName}】堆垛机状态：【{commonStackerCrane.StackerCraneStatusDes}】,时间：【{DateTime.Now}】");
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//builder.AppendLine($"【{commonStackerCrane.DeviceName}】手自动状态：【{commonStackerCrane.StackerCraneAutoStatusDes}】,时间：【{DateTime.Now}】");
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//builder.AppendLine($"【{commonStackerCrane.DeviceName}】作业状态：【{commonStackerCrane.StackerCraneWorkStatusDes}】,时间：【{DateTime.Now}】");
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//builder.AppendLine($"【{commonStackerCrane.DeviceName}】下发任务成功,【{JsonConvert.SerializeObject(stackerCraneTaskCommand, Formatting.Indented)}】");
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//builder.AppendLine($"时间：【{DateTime.Now}】");
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//builder.AppendLine();
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//ConsoleHelper.WriteColorLine(builder, ConsoleColor.Blue);
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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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//throw new Exception(commonStackerCrane.DeviceName + "缓存中未找到Token缓存");
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return Task.CompletedTask;
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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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#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("CommonStackerStationCraneJob", "test", ex);
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}
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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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CommonStackerStationCrane? commonStackerCrane = sender as CommonStackerStationCrane;
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if (commonStackerCrane != null)
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{
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if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
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{
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ConsoleHelper.WriteColorLine($"【{commonStackerCrane.DeviceName}】堆垛机作业状态：【{(int)commonStackerCrane.StackerCraneWorkStatusValue}】时间【{DateTime.Now}】", ConsoleColor.Magenta);
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string str = $"【{commonStackerCrane.DeviceName}】任务完成,任务号：【{e.TaskNum}】时间【{DateTime.Now}】";
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WriteInfo(commonStackerCrane.DeviceName, str);
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ConsoleHelper.WriteColorLine(str, ConsoleColor.Blue);
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var content = _taskService.StackCraneTaskCompletedByStation(e.TaskNum);
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commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
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var isWorkType = commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
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str = $"{commonStackerCrane.DeviceName}】WMS|WCS任务完成：【{content.Status}】,堆垛机完成信号写入：【{isWorkType}】,任务号：【{e.TaskNum}】时间【{DateTime.Now}】";
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WriteInfo(commonStackerCrane.DeviceName, str);
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ConsoleHelper.WriteColorLine(str, ConsoleColor.Blue);
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if (content.Status)
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{
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var task = content.Data as Dt_Task;
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if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.TargetAddress == "001-000-001")
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{
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Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.Roadway == task.Roadway && x.stationLocation == task.TargetAddress);
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManager.stationPLC);
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if (device != null)
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{
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str = $"写入完成，给线体写入下降信号";
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WriteInfo(commonStackerCrane.DeviceName, str);
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ConsoleHelper.WriteColorLine(str, ConsoleColor.Blue);
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// 获取输送线对象
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CommonConveyorLine_After conveyorLine = (CommonConveyorLine_After)device;
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// 获取协议地址
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var proAddress = conveyorLine.DeviceProDTOs
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.FirstOrDefault(x => x.DeviceChildCode == stationManager.stationChildCode && x.DeviceProParamName == ConveyorLineDBName_After.InteractiveSignal.ToString())
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?.DeviceProAddress;
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if (proAddress == null)
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{
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str = "未找到协议地址";
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WriteInfo(commonStackerCrane.DeviceName, str);
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ConsoleHelper.WriteColorLine(str, ConsoleColor.Red);
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return;
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}
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string address = proAddress.Contains(".0") ? proAddress : proAddress + ".0";
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// 写入 false 信号
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WriteSignal(conveyorLine, address, false, commonStackerCrane.DeviceName);
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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，无法清除出库站台顶升状态");
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}
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}
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}
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}
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}
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}
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/// <summary>
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/// 获取任务
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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(CommonStackerStationCrane commonStackerCrane)
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{
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Dt_Task task;
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task = _taskService.QueryOutFireAlarmTask(commonStackerCrane.DeviceCode);
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if (task != null)
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{
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return task;
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}
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task = _taskService.QueryRelocationTask(commonStackerCrane.DeviceCode);
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if (task != null)
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{
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return task;
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}
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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);
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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 (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.TargetAddress == "001-000-001")
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{
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Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.Roadway == task.Roadway && x.stationLocation == task.TargetAddress);
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManager.stationPLC);
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if (device != null)
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{
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CommonConveyorLine_After conveyorLine = (CommonConveyorLine_After)device;
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var proAddress = conveyorLine.DeviceProDTOs.Where(x => x.DeviceChildCode == stationManager.stationChildCode).Where(x => x.DeviceProParamName == ConveyorLineDBName_After.InteractiveSignal.ToString()).FirstOrDefault().DeviceProAddress;
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string? str = proAddress;
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if (!proAddress.Contains(".0"))
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{
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str = proAddress + ".0";
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}
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conveyorLine.Communicator.Write(str, true);
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}
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else
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{
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到出库站台【{task.NextAddress}】对应的通讯对象，无法判断出库站台是否被占用");
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return null;
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}
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}
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// 检查当前出库任务站台是否允许放货
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var occupiedStation = OutTaskStationIsOccupied(task);
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if (occupiedStation == null)
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{
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// 如果当前出库任务站台不允许放货，排除当前任务，查找其他出库任务
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ConsoleHelper.WriteErrorLine($"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);
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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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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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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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var stationinfo = _stationManagerRepository.QueryFirst(x => x.stationLocation == task.TargetAddress && x.Roadway == task.Roadway);
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationinfo.stationPLC);
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if (device != null)
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{
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CommonConveyorLine_After conveyorLine = (CommonConveyorLine_After)device;
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if (conveyorLine.IsOccupied(stationinfo.stationChildCode))//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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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（排除不可出的出库口任务）
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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, Dt_Task task)
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{
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// 先获取所有符合条件（排除不可出的）的出库任务列表
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var allOutboundTasks = _taskService.QueryAllOutboundTasks(deviceCode);
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Console.WriteLine(allOutboundTasks.Count);
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var availableTasks = allOutboundTasks?.Where(t => t.TargetAddress != task.TargetAddress && t.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup).ToList();
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Console.WriteLine("其他出库口任务：" + availableTasks?.Count);
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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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stackerCraneTaskCommand.FireCommand = Convert.ToInt16(task.TaskType == (int)TaskOutboundTypeEnum.OutFireAlarm ? 2 : 0);
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string[] sourceCodes = task.SourceAddress.Split("-");
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if (sourceCodes.Length == 3)
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{
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stackerCraneTaskCommand.StartRow = (short)(Convert.ToInt16(sourceCodes[0]) % 2 == 0 ? 2 : 1);
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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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string[] targetCodes = task.TargetAddress.Split("-");
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if (targetCodes.Length == 3)
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{
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stackerCraneTaskCommand.EndRow = (short)(Convert.ToInt16(targetCodes[0]) % 2 == 0 ? 2 : 1);
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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, $"任务终点错误，起点：【{task.NextAddress}】");
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return null;
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}
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return stackerCraneTaskCommand;
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}
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/// <summary>
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/// 写入信号并验证写入结果
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/// </summary>
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/// <param name="conveyorLine">输送线对象</param>
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/// <param name="address">协议地址</param>
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/// <param name="signal">信号值</param>
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/// <param name="deviceName">设备名称</param>
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void WriteSignal(CommonConveyorLine_After conveyorLine, string address, bool signal, string deviceName)
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{
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string str = string.Empty;
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// 写入信号
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conveyorLine.Communicator.Write(address, signal);
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// 验证写入结果，最多重试5次
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for (int i = 0; i < 5; i++)
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{
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var isWrite = conveyorLine.Communicator.Read<bool>(address);
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if (isWrite == signal)
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{
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break;
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}
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conveyorLine.Communicator.Write(address, signal);
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}
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// 最终验证写入结果
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var finalWrite = conveyorLine.Communicator.Read<bool>(address);
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if (finalWrite == signal)
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{
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str = $"{address}-写入{signal}成功";
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ConsoleHelper.WriteColorLine(str, ConsoleColor.Blue);
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WriteInfo(deviceName, str);
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}
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else
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{
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str = $"{address}-写入{signal}失败";
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ConsoleHelper.WriteColorLine(str, ConsoleColor.Red);
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WriteInfo(deviceName, str);
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}
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}
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}
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}
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