using Autofac.Core;
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using HslCommunication;
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using Microsoft.AspNetCore.Components.Routing;
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using Microsoft.AspNetCore.Hosting;
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using Newtonsoft.Json;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
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using Quartz;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics.CodeAnalysis;
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using System.Diagnostics.Eventing.Reader;
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using System.DirectoryServices.Protocols;
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using System.IO.Ports;
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using System.Linq;
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using System.Net;
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using System.Reflection.Metadata;
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using System.Security.Cryptography.Xml;
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using System.Text;
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using System.Threading.Tasks;
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using System.Transactions;
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using WIDESEA_Comm.Http;
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using WIDESEA_Common.Log;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.Enums;
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using WIDESEAWCS_DTO.TaskInfo;
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using WIDESEAWCS_ISystemServices;
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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_Model.Models.System;
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using WIDESEAWCS_QuartzJob;
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using WIDESEAWCS_QuartzJob.DeviceBase;
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using WIDESEAWCS_QuartzJob.DTO;
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using WIDESEAWCS_QuartzJob.Models;
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using WIDESEAWCS_QuartzJob.Service;
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using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
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using WIDESEAWCS_TaskInfoService;
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using WIDESEAWCS_Tasks.StackerCraneJob;
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using static WIDESEAWCS_Model.Models.System.JobError;
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namespace WIDESEAWCS_Tasks
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{
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[DisallowConcurrentExecution]
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public class CommonStackerCraneJob : 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 IDt_PlatformStationService _DtPlatformStationService;
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public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService, IDt_PlatformStationService dt_PlatformStationService)
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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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_DtPlatformStationService = dt_PlatformStationService;
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}
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private static readonly Dictionary<string, bool> _deviceLastStatus = new Dictionary<string, bool>();
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public string urlWMSdeverror = WIDESEAWCS_Core.Helper.AppSettings.Configuration["urlWMSdeverror"];
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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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CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
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if (commonStackerCrane != null)
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{
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WriteLog.Write_Log("堆垛机当前状态信息", $"{commonStackerCrane.DeviceCode}库堆垛机当前状态",
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$"堆垛机设备状态地址:【DB105.2.0】,读取的数据：【{commonStackerCrane.StackerCraneAutoStatusDes}】\n" +
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$"堆垛机工作模式地址:【DB105.3.0】,读取的数据：【{commonStackerCrane.StackerCraneStatusDes}】\n" +
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$"堆垛机作业状态地址:【DB105.22.0】,读取的数据：【{commonStackerCrane.StackerCraneWorkStatusDes}】\n" +
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$"堆垛机当前任务执行中地址:【DB105.18.0】,读取的数据：【{commonStackerCrane.CurrentTaskNum}】\n");
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// 获取当前状态
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bool isFaultNow = commonStackerCrane.StackerCraneStatusDes.Equals("故障");
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string deviceCode = commonStackerCrane.DeviceCode;
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if (!_deviceLastStatus.ContainsKey(deviceCode))
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{
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_deviceLastStatus[deviceCode] = isFaultNow;
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if (isFaultNow)
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{
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SendDevError(commonStackerCrane, "66", "start", ReadStackerFaults(commonStackerCrane));
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}
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}
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else
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{
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bool lastStatus = _deviceLastStatus[deviceCode];
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if (!lastStatus && isFaultNow)
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{
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SendDevError(commonStackerCrane, "66", "start", ReadStackerFaults(commonStackerCrane));
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_deviceLastStatus[deviceCode] = true;
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}
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else if (lastStatus && !isFaultNow)
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{
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SendDevError(commonStackerCrane, "99", "stop", "堆垛机恢复正常");
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_deviceLastStatus[deviceCode] = false;
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}
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}
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UpdateHandShake(commonStackerCrane.CurrentTaskNum, commonStackerCrane.StackerCraneWorkStatusDes);
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//任务完成StackerCraneWorkStatus
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if (commonStackerCrane.StackerCraneWorkStatusValue == StackerCraneWorkStatus.WorkCompleted)
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{
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//判断当前任务是否是盘点
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Dt_Task? currtask = _taskService.CurrtaskInfo(commonStackerCrane.CurrentTaskNum);
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if(currtask != null)
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{
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string PalletCode = "";
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//判断任务类型
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if (currtask.TaskType== (int)TaskTypeEnum.Inventorybound)
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{
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//读取条码，进行配对
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DeviceProDTO? deviceProDTO = commonStackerCrane.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == "SCBarcode");
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byte[] bytes = commonStackerCrane.Communicator.Read(deviceProDTO.DeviceProAddress, 64);
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//读取的托盘条码
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PalletCode = Encoding.ASCII.GetString(bytes).Replace(" ", "");
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}
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WebResponseContent webResponse = _taskService.StackCraneTaskCompleted(commonStackerCrane.CurrentTaskNum, PalletCode);
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if (webResponse.Status)
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{
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Task.Run(() => WriteLog.Write_Log("堆垛机任务上报完成信息", "堆垛机任务上报完成信息", $"【{commonStackerCrane.DeviceCode}】库堆垛机上报任务号:【{commonStackerCrane.CurrentTaskNum}】完成信号！"));
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bool ddjfk = commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
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}
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}
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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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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.Communicator.Write("DB105.52", 1);
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WebResponseContent webResponseContent=_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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}
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}
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catch (Exception ex)
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{
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Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
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WriteLog.Write_Log("堆垛机报错信息", "堆垛机报错信息", $"堆垛机报错信息：【{ex.ToString()}】");
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}
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return Task.CompletedTask;
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}
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/// <summary>
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/// 故障上报（改为await调用，修复异步BUG）
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/// </summary>
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public void SendDevError(CommonStackerCrane crane, string errorcode, string dealType, string errorInfo = "")
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{
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CommandResult commandResult = new CommandResult();
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try
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{
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DeviceErrorRequest deviceErrorRequest = new DeviceErrorRequest
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{
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devErrorJsons = new List<DeviceErrorInfo>
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{
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new DeviceErrorInfo
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{
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devuuid = crane.DeviceCode,
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id = "",
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errorcode = errorcode,
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errorinfo = errorInfo,
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erroraddress = "DB107",
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warehouse = crane.DeviceCode == "B" ? "ZR17":(crane.DeviceCode == "G"?"ZR18":"ZR16"),
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remark = dealType == "start" ? "设备异常" : "设备恢复",
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devname = $"{crane.DeviceCode}库堆垛机",
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}
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},
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dealType = dealType,
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psd = "akjfapjfpadaoif",
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};
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commandResult = HttpHelper.Post<CommandResult>(urlWMSdeverror, deviceErrorRequest, "设备故障回调");
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WriteLog.Write_Log("同步给上游设备故障信息", "设备故障信息", $"设备id：【{crane.DeviceCode}】，成功", $"设备回调状态：【{dealType}】，异常信息：【{errorInfo}】\n" +
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$"调用上游返回结果信息：【{commandResult?.ToJsonString() ?? "返回结果为null"}】");
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}
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catch (Exception ex)
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{
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WriteLog.Write_Log("故障上报失败", "错误", ex.ToString());
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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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try
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{
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//判断当前堆垛机是否有在执行的任务
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if (_taskService.CutStackerCraneTask(commonStackerCrane.DeviceCode) != null) return null;
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List<Dt_Task> task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
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if (task.Count > 0)
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{
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foreach (Dt_Task taskItem in task)
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{
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if (taskItem.TaskType == (int)TaskTypeEnum.Outbound)
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{
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if (OutTaskStationIsOccupied(taskItem.NextAddress,taskItem.Roadway))
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{
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return taskItem;
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}
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}
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else if ((InTaskStationIsOccupied(taskItem.SourceAddress, taskItem.Roadway) && taskItem.TaskType == (int)TaskTypeEnum.Inbound) || taskItem.TaskType == (int)TaskTypeEnum.Inventorybound)
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{
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return taskItem;
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}
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}
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}
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return null;
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}
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catch (Exception ex)
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{
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WriteLog.Write_Log("任务查找", "任务查错误", "错误原因", new { 信息 = ex.Message });
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return null;
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}
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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 bool OutTaskStationIsOccupied(string NextAddress,string Roadway)
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{
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try
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{
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CommonConveyorLine? conveyorLine = null;
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string deviceCode = Roadway == "C" ? "1004" : "1003";
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conveyorLine = Storage.Devices.FirstOrDefault(x => x.DeviceCode == deviceCode) as CommonConveyorLine;
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if (conveyorLine == null) return false;
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DeviceProDTO? deviceProDTO = conveyorLine.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == NextAddress && x.DeviceProParamName == "StationNum");
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DeviceProDTO? HandShakeprodto = conveyorLine.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == NextAddress && x.DeviceProParamName == "HandShake");
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if (deviceProDTO == null || HandShakeprodto == null) return false;
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int StationNum = conveyorLine.Communicator.Read<ushort>(deviceProDTO.DeviceProAddress);
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int HandShake = conveyorLine.Communicator.Read<ushort>(HandShakeprodto.DeviceProAddress);
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WriteLog.Write_Log("出库库口状态信息", "出库库口状态信息", $"库口是【{NextAddress}】，申请状态地址：【{HandShakeprodto.DeviceProAddress}】,读取的数据：【{HandShake}】\n库口是否有货状态地址：【{deviceProDTO.DeviceProAddress}】，读取的数据【{StationNum}】");
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if (Roadway == "C" || Roadway == "G") return StationNum == 0 && HandShake == 0;
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return (StationNum == 1 && HandShake == 0 && Roadway == "B");
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}
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catch (Exception ex)
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{
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Console.WriteLine("读取站台信息错误：" + ex.Message);
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return false;
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}
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}
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/// <summary>
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/// 入库任务库口有货无货状态
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/// </summary>
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public bool InTaskStationIsOccupied(string SourceAddress, string Roadway)
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{
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try
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{
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CommonConveyorLine? conveyorLine = null;
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string deviceCode = Roadway == "C" ? "1004" : "1003";
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conveyorLine = Storage.Devices.FirstOrDefault(x => x.DeviceCode == deviceCode) as CommonConveyorLine;
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if (conveyorLine == null) return false;
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DeviceProDTO? deviceProDTO = conveyorLine.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == SourceAddress && x.DeviceProParamName == "StationNum");
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DeviceProDTO? HandShakeprodto = conveyorLine.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == SourceAddress && x.DeviceProParamName == "HandShake");
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if (deviceProDTO == null || HandShakeprodto == null) return false;
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int StationNum = conveyorLine.Communicator.Read<ushort>(deviceProDTO.DeviceProAddress);
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int HandShake = conveyorLine.Communicator.Read<ushort>(HandShakeprodto.DeviceProAddress);
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WriteLog.Write_Log("入库库口状态信息", "入库库口状态信息", $"库口是【{SourceAddress}】，申请状态地址：【{HandShakeprodto.DeviceProAddress}】,读取的数据：【{HandShake}】\n库口是否有货状态地址：【{deviceProDTO.DeviceProAddress}】，读取的数据【{StationNum}】");
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return StationNum == 1;
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}
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catch (Exception ex)
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{
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Console.WriteLine("读取站台信息错误：" + ex.Message);
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return false;
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}
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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.TaskNum = task.TaskNum;
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stackerCraneTaskCommand.WorkType = 1;
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stackerCraneTaskCommand.TrayType = 0;
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if (task.Roadway == "B" || task.Roadway == "C")
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{
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//判断 task.PalletCode 是不是一个有效的 GUID
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stackerCraneTaskCommand.Barcode = stackerCraneTaskCommand.Barcode = Guid.TryParse(task.PalletCode, out var guid) ? guid.ToString("N")[0..6] : task.PalletCode;
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}
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else if (task.Roadway == "G" )
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{
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if (Guid.TryParse(task.PalletCode, out var palletGuid))
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{
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stackerCraneTaskCommand.Barcode = palletGuid.ToString("N")[0..6];
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// 标准GUID就是36位，所以直接判断长度即可
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stackerCraneTaskCommand.TrayType = (short)(task.PalletCode.Length == 36 ? 1 : 2);
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}
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else
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{
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stackerCraneTaskCommand.Barcode = task.PalletCode;
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stackerCraneTaskCommand.TrayType = 2;
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}
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}
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if (task.TaskType == (int)TaskTypeEnum.Inbound)//判断是否是入库任务
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{
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//获取站台编号
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Dt_PlatformStation dt_Platform = _DtPlatformStationService.getStatiomInfo(task.SourceAddress);
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string[] targetCodest = dt_Platform.Station_storey.Split("-");
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if (targetCodest.Length == 3)
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{
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string StartRow = targetCodest[0].Substring(1);
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stackerCraneTaskCommand.StartRow = Convert.ToInt16(StartRow);
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stackerCraneTaskCommand.StartColumn = Convert.ToInt16(targetCodest[1]);
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stackerCraneTaskCommand.StartLayer = Convert.ToInt16(targetCodest[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, $"入库起点错误，起点：【{task.SourceAddress}】");
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return null;
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}
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string[] EndCodest = task.NextAddress.Split("-");
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if (EndCodest.Length == 3)
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{
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string EndRow = EndCodest[0].Substring(1);
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string SCEndRow = LaneModification(task.Roadway, int.Parse(EndRow));
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stackerCraneTaskCommand.EndRow = Convert.ToInt16(SCEndRow);
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stackerCraneTaskCommand.EndColumn = Convert.ToInt16(EndCodest[1]);
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stackerCraneTaskCommand.EndLayer = Convert.ToInt16(EndCodest[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 if (task.TaskType == (int)TaskTypeEnum.Outbound)
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{
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string[] sourceCodes = task.CurrentAddress.Split("-");
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if (sourceCodes.Length == 3)
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{
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string StartRow = sourceCodes[0].Substring(1);
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string SCStartRow = LaneModification(task.Roadway, int.Parse(StartRow));
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stackerCraneTaskCommand.StartRow = Convert.ToInt16(SCStartRow);
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stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
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stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
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}
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else
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{
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//数据配置错误
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"出库任务起点错误，起点：【{task.CurrentAddress}】");
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return null;
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}
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//获取站台编号
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Dt_PlatformStation dt_Platform = _DtPlatformStationService.getStatiomInfo(task.NextAddress);
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string[] EndCodest = dt_Platform.Station_storey.Split("-");
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if (EndCodest.Length == 3)
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{
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string EndRow = EndCodest[0].Substring(1);
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stackerCraneTaskCommand.EndRow = Convert.ToInt16(EndRow);
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stackerCraneTaskCommand.EndColumn = Convert.ToInt16(EndCodest[1]);
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stackerCraneTaskCommand.EndLayer = Convert.ToInt16(EndCodest[2]);
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}
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else
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{
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//数据配置错误
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"出库任务终点错误，起点：【{task.TargetAddress}】");
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return null;
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}
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}
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else if (task.TaskType == (int)TaskTypeEnum.Inventorybound)
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{
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stackerCraneTaskCommand.WorkType = 6;
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stackerCraneTaskCommand.StartRow = Convert.ToInt16(0);
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stackerCraneTaskCommand.StartColumn = Convert.ToInt16(0);
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stackerCraneTaskCommand.StartLayer = Convert.ToInt16(0);
|
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string[] EndCodest = task.NextAddress.Split("-");
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if (EndCodest.Length == 3)
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{
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string EndRow = EndCodest[0].Substring(1);
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string SCEnRow = LaneModification(task.Roadway, int.Parse(EndRow));
|
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stackerCraneTaskCommand.EndRow = Convert.ToInt16(SCEnRow);
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stackerCraneTaskCommand.EndColumn = (short)(Convert.ToInt16(EndCodest[1]) + 1);
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stackerCraneTaskCommand.EndLayer = Convert.ToInt16(EndCodest[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, $"盘点任务起点错误，起点：【{task.CurrentAddress}】");
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return null;
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}
|
|
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}
|
return stackerCraneTaskCommand;
|
}
|
|
public string LaneModification(string Roadway,int SCRow)
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{
|
if (Roadway == "G")
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{
|
return SCRow == 1 ? "3" : "4";
|
}else if(Roadway == "C")
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{
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return SCRow == 1 ? "5" : "6";
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}
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else
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{
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return SCRow.ToString();
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}
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}
|
/// <summary>
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/// 监测G库、C库出库放货时屏蔽光栅
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/// </summary>
|
/// <param name="taskNum"></param>
|
/// <param name="stackerCraneWorkStatusDes"></param>
|
public void UpdateHandShake(int taskNum, string stackerCraneWorkStatusDes)
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{
|
try
|
{
|
var dtTask = _taskRepository.QueryFirst(x => x.TaskNum == taskNum);
|
if (dtTask == null) return;
|
|
string[] targets = { "G02", "G03", "G04", "C02", "C01" };
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if (dtTask.TaskType != 100 || !targets.Contains(dtTask.TargetAddress)) return;
|
|
short writeValue = stackerCraneWorkStatusDes switch
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{
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"放货中" => 1,
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"任务完成" => 0,
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_ => -1
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};
|
if (writeValue == -1) return;
|
|
CommonConveyorLine? conveyorLine = null;
|
lock (Storage.Devices)
|
{
|
string deviceCode = dtTask.CurrentAddress.StartsWith("C") ? "1004" : "1003";
|
conveyorLine = Storage.Devices.FirstOrDefault(x => x.DeviceCode == deviceCode) as CommonConveyorLine;
|
}
|
if (conveyorLine == null) return;
|
|
var handShake = conveyorLine.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == dtTask.TargetAddress && x.DeviceProParamName == "HandShake");
|
if (handShake == null) return;
|
|
conveyorLine.Communicator.Write<short>(handShake.DeviceProAddress, writeValue);
|
}
|
catch
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{ }
|
}
|
|
/// <summary>
|
/// 读取故障（优化GC）
|
/// </summary>
|
public string ReadStackerFaults(CommonStackerCrane crane)
|
{
|
try
|
{
|
foreach (StackerFault fault in Enum.GetValues(typeof(StackerFault)))
|
{
|
try
|
{
|
bool isFault = crane.Communicator.Read<bool>(fault.ToPlcAddress());
|
if (isFault)
|
return fault.GetDesc();
|
}
|
catch { }
|
}
|
}
|
catch (Exception ex)
|
{
|
WriteLog.Write_Log("DB107故障读取异常", "错误", ex.ToString());
|
}
|
return string.Empty;
|
}
|
}
|
}
|
