using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using Quartz;
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using WIDESEAWCS_QuartzJob;
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using WIDESEAWCS_Tasks.DBname;
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using HslCommunication.WebSocket;
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using Newtonsoft.Json;
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using WIDESEAWCS_Tasks.Command;
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using WIDESEAWCS_Core.BaseRepository;
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using WIDESEAWCS_Model.Models.TaskInfo;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_ITaskInfoService;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_Core;
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using Autofac.Core;
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using WIDESEAWCS_DTO.Stock;
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using WIDESEAWCS_Tasks.DBName;
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using WIDESEAWCS_Core.LogHelper;
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namespace WIDESEAWCS_Tasks
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{
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[DisallowConcurrentExecution]
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public class StackerCraneJob : JobBase, IJob
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{
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public static int R_HeartBeat = 0;
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public static string InorOut = "In";
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//public static CommandData CommandData = new CommandData();
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WebSocketServer _webSocketServer;
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private readonly IRepository<Dt_Task> _taskRepository;
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private readonly ITaskService _TaskService;
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//存储信号
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private readonly Commands comm = new Commands();
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public StackerCraneJob(WebSocketServer webSocketServer, IRepository<Dt_Task> taskRepository, ITaskService TaskService)
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{
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_webSocketServer = webSocketServer;
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_taskRepository = taskRepository;
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_TaskService = TaskService;
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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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Thread.Sleep(3000);
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//连接堆垛机
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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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//判断信号
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int R_TaskPhases = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.R_TaskPhases);
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int R_OrderNo = commonStackerCrane.GetValue<StackerCraneDBName, int>(StackerCraneDBName.R_OrderNo);
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int R_ControlMode = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.R_ControlMode);
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int R_TaskStatus = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.R_TaskStatus);
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int R_LoadStatus = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.R_LoadStatus);
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//Commands.CommandData.R_LoadStatus
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//信号赋值
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comm.R_TaskPhases((short)R_TaskPhases);
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comm.R_OrderNo(R_OrderNo);
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comm.R_ControlMode((short)R_ControlMode);
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comm.R_TaskStatus((short)R_TaskStatus);
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comm.R_LoadStatus((short)R_LoadStatus);
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comm.R_FireStatus(commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.R_FireStatus));
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comm.R_FaultCode(commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.R_FaultCode));
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//任务完成
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if (R_TaskPhases == 5)
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{
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//根据设备返回的任务号查询任务
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Dt_Task tasks = _taskRepository.QueryFirst(x => x.TaskNum == R_OrderNo);
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if (tasks != null)
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{
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Stock result = _TaskService.TaskAccomplish(R_OrderNo);
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if (result.MaterialCode1 != null)
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{
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//连接输送线
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OtherDevice CL = (OtherDevice)Storage.Devices.Find(v => v.DeviceName == "输送线");
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if (CL.Communicator.IsConnected)
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{
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//发送物料编号
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CL.SetValue(ConveyorLineName.W_NumberAD, result.MaterialCode1);
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CL.SetValue(ConveyorLineName.W_NumberBD, result.MaterialCode2);
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CL.SetValue(ConveyorLineName.W_NumberCD, result.MaterialCode3);
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CL.SetValue(ConveyorLineName.W_NumberDD, result.MaterialCode4);
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}
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//commonStackerCrane.SetValue(StackerCraneDBName.W_Accomplish, true);
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}
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}
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}
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//修改任务状态
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else if (R_TaskPhases == 1 || R_TaskPhases == 2 || R_TaskPhases == 4)
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{
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Dt_Task tasks = _TaskService.UpdateTaskStatus(R_OrderNo, R_TaskPhases);
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if (tasks != null)
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{
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//同步WMS
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string address = AppSettings.Get("WMSApiAddress");
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if (!string.IsNullOrEmpty(address))
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{
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HttpHelper.Post($"{address}/api/Task/WCSTaskState", tasks.Serialize());
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}
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}
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else
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{
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WriteInfo("堆垛机：", $"堆垛机修改状态找不到任务");
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}
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}
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//判断是否为自动模式
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if (R_ControlMode == 2 && R_TaskStatus == 2 && R_LoadStatus != 2 && (R_TaskPhases == 0 || R_TaskPhases == 5))
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{
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WriteInfo("堆垛机信号", $"{R_ControlMode+"||"+ R_TaskStatus + "||"+R_LoadStatus+"||"+R_TaskPhases}");
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//判断是否有执行中的任务
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Dt_Task tasking = _taskRepository.QueryFirst(x => (x.TaskState == (int)TaskStatusEnum.InNew && x.TaskState == (int)TaskStatusEnum.OutNew) || x.TaskState == (int)TaskStatusEnum.Task_Put || x.TaskState == (int)TaskStatusEnum.Task_fetch);
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if (tasking == null)
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{
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//获取任务
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Dt_Task? task = GetTask(InorOut);
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if (task != null)
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{
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//任务实体转命令Model
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StackerCraneCommand? StackerCommand = ConvertToStackerCommand(task);
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if (StackerCommand != null)
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{
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//发送命令
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commonStackerCrane.SetValue(StackerCraneDBName.W_SourceRow, StackerCommand.W_SourceRow);
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commonStackerCrane.SetValue(StackerCraneDBName.W_SourceColumn, StackerCommand.W_SourceColumn);
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commonStackerCrane.SetValue(StackerCraneDBName.W_SourceLayer, StackerCommand.W_SourceLayer);
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commonStackerCrane.SetValue(StackerCraneDBName.W_TargeRow, StackerCommand.W_TargeRow);
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commonStackerCrane.SetValue(StackerCraneDBName.W_TargeColumn, StackerCommand.W_TargeColumn);
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commonStackerCrane.SetValue(StackerCraneDBName.W_TargeLayer, StackerCommand.W_TargeLayer);
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commonStackerCrane.SetValue(StackerCraneDBName.W_TaskType, StackerCommand.W_TaskType);
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commonStackerCrane.SetValue(StackerCraneDBName.W_TaskMode, StackerCommand.W_TaskMode);
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commonStackerCrane.SetValue(StackerCraneDBName.W_DataCheckSum, StackerCommand.W_DataCheckSum);
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commonStackerCrane.SetValue(StackerCraneDBName.W_OrderNo, StackerCommand.W_OrderNo);
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commonStackerCrane.SetValue(StackerCraneDBName.W_Start, StackerCommand.W_Start);
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WriteInfo("堆垛机执行任务：", $"{StackerCommand.W_OrderNo}");
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}
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}
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}
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}
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//心跳
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if (R_HeartBeat == 0)
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{
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commonStackerCrane.SetValue(StackerCraneDBName.W_HearBeat, 1);
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R_HeartBeat = 1;
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}
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else
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{
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commonStackerCrane.SetValue(StackerCraneDBName.W_HearBeat, 0);
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R_HeartBeat = 0;
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}
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//WebSocket状态数据发送给前端
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string ohtData = JsonConvert.SerializeObject(comm.CommandDatas());
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_webSocketServer.PublishAllClientPayload(ohtData);
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}
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}
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catch (Exception ex)
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{
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//WebSocket状态数据发送给前端
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string ohtData = JsonConvert.SerializeObject(comm.CommandDatas());
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_webSocketServer.PublishAllClientPayload(ohtData);
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WriteError(nameof(StackerCraneJob), ex.Message);
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}
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return Task.CompletedTask;
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}
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//获取任务
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public Dt_Task? GetTask(string InorOuts)
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{
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Dt_Task task;
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task = _TaskService.TaskInorOut(InorOuts);
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if (task != null)
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{
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//满桶出库
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if (task.TaskType == (int)TaskTypeEnum.Outfull)
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{
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int pick = comm.GETR_PickD();
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int status = comm.GETR_StatusD();
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if (pick != 1 || status != 1)
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{
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WriteInfo("堆垛机执行满桶出库任务：", $"{"输送线出库信号异常" + pick + "//" + status}");
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return null;
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}
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WriteInfo("堆垛机执行满桶出库任务：", $"{"输送线出库信号正常" + pick + "//" + status}");
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}
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//空桶出库
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else if(task.TaskType == (int)TaskTypeEnum.OutEmpty)
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{
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int pick = comm.GETR_PickB();
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int status = comm.GETR_StatusB();
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if (pick != 1 || status != 1)
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{
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WriteInfo("堆垛机执行空桶出库任务：", $"{"输送线出库信号异常" + pick + "//" + status}");
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return null;
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}
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WriteInfo("堆垛机执行空桶出库任务：", $"{"输送线出库信号正常" + pick + "//" + status}");
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}
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}
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//一入一出
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if (task != null && (task.TaskState == (int)TaskStatusEnum.InNew || task.TaskState == (int)TaskStatusEnum.OutNew))
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{
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if (task.TaskType == (int)TaskTypeEnum.InEmpty || task.TaskType == (int)TaskTypeEnum.Infull)
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{
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InorOut = "Out";
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}
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else
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{
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InorOut = "In";
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}
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}
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else
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{
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if (InorOut.Equals("In"))
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{
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InorOut = "Out";
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}
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else
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{
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InorOut = "In";
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}
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}
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return task;
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}
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//任务实体转命令Model
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public StackerCraneCommand? ConvertToStackerCommand(Dt_Task task)
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{
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StackerCraneCommand stackerCraneCommand = new StackerCraneCommand();
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string[] TargetAddress = task.TargetAddress.Split('-');
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string[] SourceAddress = task.SourceAddress.Split('-');
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//入库
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if (task.TaskType == (int)TaskTypeEnum.InEmpty || task.TaskType == (int)TaskTypeEnum.Infull)
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{
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stackerCraneCommand.W_SourceRow = (short)int.Parse(SourceAddress[0]);
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stackerCraneCommand.W_SourceColumn = (short)int.Parse(SourceAddress[1]);
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stackerCraneCommand.W_SourceLayer = (short)int.Parse(SourceAddress[2]);
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stackerCraneCommand.W_TargeRow = (short)int.Parse(TargetAddress[0]);
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stackerCraneCommand.W_TargeColumn = (short)int.Parse(TargetAddress[1]);
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stackerCraneCommand.W_TargeLayer = (short)int.Parse(TargetAddress[2]);
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stackerCraneCommand.W_TaskType = 1;
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stackerCraneCommand.W_TaskMode = 1;
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//缺少货物大小
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stackerCraneCommand.W_DataCheckSum = task.TaskNum + stackerCraneCommand.W_SourceRow + stackerCraneCommand.W_SourceColumn + stackerCraneCommand.W_SourceLayer + stackerCraneCommand.W_TargeRow + stackerCraneCommand.W_TargeColumn + stackerCraneCommand.W_TargeLayer + stackerCraneCommand.W_TaskType + stackerCraneCommand.W_TaskMode;
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stackerCraneCommand.W_OrderNo = task.TaskNum;
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}
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//出库
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else if (task.TaskType == (int)TaskTypeEnum.OutEmpty || task.TaskType == (int)TaskTypeEnum.Outfull)
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{
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stackerCraneCommand.W_SourceRow = (short)int.Parse(SourceAddress[0]);
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stackerCraneCommand.W_SourceColumn = (short)int.Parse(SourceAddress[1]);
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stackerCraneCommand.W_SourceLayer = (short)int.Parse(SourceAddress[2]);
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stackerCraneCommand.W_TargeRow = (short)int.Parse(TargetAddress[0]);
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stackerCraneCommand.W_TargeColumn = (short)int.Parse(TargetAddress[1]);
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stackerCraneCommand.W_TargeLayer = (short)int.Parse(TargetAddress[2]);
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stackerCraneCommand.W_TaskType = 1;
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stackerCraneCommand.W_TaskMode = 1;
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//缺少货物大小
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stackerCraneCommand.W_DataCheckSum = task.TaskNum + stackerCraneCommand.W_SourceRow + stackerCraneCommand.W_SourceColumn + stackerCraneCommand.W_SourceLayer + stackerCraneCommand.W_TargeRow + stackerCraneCommand.W_TargeColumn + stackerCraneCommand.W_TargeLayer + stackerCraneCommand.W_TaskType + stackerCraneCommand.W_TaskMode;
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stackerCraneCommand.W_OrderNo = task.TaskNum;
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}
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//确认下发信号
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if (task.TaskState == (int)TaskStatusEnum.InNew || task.TaskState == (int)TaskStatusEnum.OutNew)
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{
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stackerCraneCommand.W_Start = 1;
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}
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else
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{
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stackerCraneCommand.W_Start = 0;
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}
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return stackerCraneCommand;
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}
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}
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}
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