using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
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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 WIDESEA_DTO.Agv;
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using WIDESEAWCS_Common.APIEnum;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_DTO.Agv;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob;
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namespace WIDESEAWCS_Tasks
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{
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public partial class AGV_CPJob
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{
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public void SendAGVTask()
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{
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try
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{
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var AllTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (nameof(AGV_CPJob).Contains(x.DeviceCode))).ToList();
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var stationMangers = _stationMangerRepository.QueryData();
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#region 入库任务推送
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{
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var newTasksIn = AllTasks.Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()) && x.TaskType>=TaskTypeEnum.Inbound.ObjToInt() && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode) && x.TaskType!=999).ToList().OrderByDescending(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
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if (newTasksIn.Count>0)
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{
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SendAgvTasks(newTasksIn);
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}
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}
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#endregion
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DateTime _taskStartTime = DateTime.Today;
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#region 出库推送任务1线
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{
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//按时间查找
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var timeTasksOut1 = AllTasks.Where(x => (x.TaskState == TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5236" && x.CreateDate<= _taskStartTime).OrderByDescending(x => x.Grade).ThenBy(x => x.CreateDate).Take(5).ToList();
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//新创建任务
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var newTasksOut1 = AllTasks.Where(x => (x.TaskState == TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress=="5236").OrderByDescending(x => x.Grade).ThenBy(x => x.CreateDate).Take(5).ToList();
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var pushTasks1= timeTasksOut1.Count<=0 ? newTasksOut1 : timeTasksOut1;
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//当前线体任务
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var downTasksOut1 = AllTasks.Where(x => (x.TaskState > TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5236").ToList();
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Dt_StationManger? stationManger = stationMangers.FirstOrDefault(x => x.AGVStationCode == "5236");
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
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if (device != null)
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{
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OtherDevice otherDevice = (OtherDevice)device;
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short stationCurrentStatus = device.Communicator.Read<short>("DB29.112");
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if (pushTasks1.Count > 0 && downTasksOut1.Count <= 0 && stationCurrentStatus == 1)
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{
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SendAgvTasks(pushTasks1);
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WriteInfo("5236", $"1线5236无任务，状态{stationCurrentStatus}可下发，下发任务：{pushTasks1.Select(x => x.TaskNum)}");
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}
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}
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}
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#endregion
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#region 出库推送任务2线
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{
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//按时间查找
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var timeTasksOut2 = AllTasks.Where(x => (x.TaskState == TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5243" && x.CreateDate <= _taskStartTime).OrderByDescending(x => x.Grade).ThenBy(x => x.CreateDate).Take(5).ToList();
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//新创建任务
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var newTasksOut2 = AllTasks.Where(x => (x.TaskState == TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5243").OrderByDescending(x => x.Grade).ThenBy(x => x.CreateDate).Take(5).ToList();
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var pushTasks2 = timeTasksOut2.Count <= 0 ? newTasksOut2 : timeTasksOut2;
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//当前线体任务
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var downTasksOut2 = AllTasks.Where(x => (x.TaskState > TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5243").ToList();
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Dt_StationManger? stationManger = stationMangers.FirstOrDefault(x => x.AGVStationCode == "5243");
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
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if (device != null)
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{
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OtherDevice otherDevice = (OtherDevice)device;
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short stationCurrentStatus = device.Communicator.Read<short>("DB29.126");
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if (pushTasks2.Count > 0 && downTasksOut2.Count <= 0 && stationCurrentStatus == 1)
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{
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SendAgvTasks(pushTasks2);
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WriteInfo("5243", $"2线5243无任务，状态{stationCurrentStatus}可下发，下发任务：{pushTasks2.Select(x => x.TaskNum)}");
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}
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}
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}
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#endregion
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#region 出库推送任务3线
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{
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//按时间查找
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var timeTasksOut3 = AllTasks.Where(x => (x.TaskState == TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5250" && x.CreateDate <= _taskStartTime).OrderByDescending(x => x.Grade).ThenBy(x => x.CreateDate).Take(5).ToList();
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//新创建任务
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var newTasksOut3 = AllTasks.Where(x => (x.TaskState == TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5250").OrderByDescending(x => x.Grade).ThenBy(x => x.CreateDate).Take(5).ToList();
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var pushTasks3 = timeTasksOut3.Count <= 0 ? newTasksOut3 : timeTasksOut3;
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//当前线体任务
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var downTasksOut3 = AllTasks.Where(x => (x.TaskState > TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5250").ToList();
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Dt_StationManger? stationManger = stationMangers.FirstOrDefault(x => x.AGVStationCode == "5250");
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
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if (device != null)
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{
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OtherDevice otherDevice = (OtherDevice)device;
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short stationCurrentStatus = device.Communicator.Read<short>("DB29.140");
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if (pushTasks3.Count > 0 && downTasksOut3.Count <= 0 && stationCurrentStatus == 1)
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{
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SendAgvTasks(pushTasks3);
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WriteInfo("5250", $"3线5250无任务，状态{stationCurrentStatus}可下发，下发任务：{pushTasks3.Select(x => x.TaskNum)}");
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}
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}
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}
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#endregion
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#region 空框搬运
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{
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var newTasksLocations = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.New.ObjToInt() && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode) && x.Remark == "测试空框").ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
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if (newTasksLocations.Count>0)
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{
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foreach (var task in newTasksLocations)
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{
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try
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{
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string CurrentAddress = GetAGVAddress(task.CurrentAddress);
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string NextAddress = GetAGVAddress(task.NextAddress);
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AgvTaskDTO taskDTO = new AgvTaskDTO()
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{
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TaskCode = task.AgvTaskNum,
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ReqCode = DateTime.Now.ToString("yyMMdd") + task.AgvTaskNum,
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TaskTyp = "CP",
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ctnrCode = task.PalletCode,
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PositionCodePath = new List<CodePath>()
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{
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new CodePath()
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{
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type="05",
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positionCode=CurrentAddress
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},
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new CodePath()
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{
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type="05",
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positionCode=NextAddress
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}
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},
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};
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//发送AGV任务
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WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_CPSendTask);
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if (!content.Status)
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throw new Exception(content.Message);
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task.TaskState = TaskStatusEnum.AGV_Takeing.ObjToInt();
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task.CurrentAddress = CurrentAddress;
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task.NextAddress = NextAddress;
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_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
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}
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catch (Exception ex)
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{
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task.TaskState = TaskStatusEnum.Exception.ObjToInt();
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task.ExceptionMessage = ex.Message;
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}
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}
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}
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}
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#endregion
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}
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catch (Exception ex)
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{
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WriteError(nameof(AGV_CPJob), ex.Message, ex);
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}
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}
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/// <summary>
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/// AGV取放货回调
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/// </summary>
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public void ContinueAGVTask()
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{
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try
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{
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//获取是否有安全申请中的任务
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var continueTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_WaitToExecute.ObjToInt()) && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
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foreach (var continueTask in continueTasks)
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{
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//取货回调
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if (continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
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{
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Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == continueTask.CurrentAddress || x.StationCode == continueTask.CurrentAddress);
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if (stationManger == null)
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{
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continue;
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}
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
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if (device == null)
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{
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continue;
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}
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OtherDevice otherDevice = (OtherDevice)device;
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short canTake = otherDevice.GetValue<GroundStationDBName, short>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
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if (canTake != 1)
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{
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continue;
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}
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}
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else//放货回调
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{
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Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == continueTask.NextAddress);
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if (stationManger == null)
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{
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continue;
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}
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
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if (device == null)
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{
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continue;
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}
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OtherDevice otherDevice = (OtherDevice)device;
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short canPut = otherDevice.GetValue<GroundStationDBName, short>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
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if (canPut != 1)
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{
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continue;
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}
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}
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//获取调入参数
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AGVBoxApplyPassDTO boxApplyPassDTO = new AGVBoxApplyPassDTO()
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{
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ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
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ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
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TaskCode = continueTask.AgvTaskNum
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};
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if (continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
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{
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boxApplyPassDTO.Type = "1";
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}
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else
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{
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boxApplyPassDTO.Type = "2";
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}
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//请求料箱回调接口
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WebResponseContent content = _taskService.AgvBoxApplyPass(boxApplyPassDTO);
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if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup && boxApplyPassDTO.TaskCode == continueTask.AgvTaskNum)
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{
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_taskService.UpdateTask(continueTask, TaskStatusEnum.AGV_Executing);
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}
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else if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && boxApplyPassDTO.TaskCode== continueTask.AgvTaskNum)
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{
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_taskService.UpdateTask(continueTask, TaskStatusEnum.AGV_Puting);
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}
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else
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{
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continueTask.ExceptionMessage = content.Message;
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_taskService.UpdateTask(continueTask, TaskStatusEnum.Exception);
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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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WriteError(nameof(AGV_CPJob), ex.Message, ex);
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}
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}
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/// <summary>
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/// 下发AGV任务
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/// </summary>
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/// <param name="tasks"></param>
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public void SendAgvTasks(List<Dt_Task> tasks)
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{
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foreach (var task in tasks)
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{
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try
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{
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if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
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else
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task.NextAddress = GetAGVAddress(task.NextAddress);
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AgvTaskDTO taskDTO = new AgvTaskDTO()
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{
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TaskCode = task.AgvTaskNum,
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ReqCode = DateTime.Now.ToString("yyMMdd") + task.AgvTaskNum,
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TaskTyp = task.TaskType < TaskTypeEnum.Inbound.ObjToInt() ? "CPC" : "CPR",
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ctnrCode = task.PalletCode,
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PositionCodePath = new List<CodePath>()
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{
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new CodePath()
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{
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type = "05",
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positionCode = task.CurrentAddress
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},
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new CodePath()
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{
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type = "05",
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positionCode = task.NextAddress
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}
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}
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};
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if (taskDTO.TaskTyp == "CPC")
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{
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taskDTO.Priority = task.Grade.ToString();
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}
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if (task.GroupId.IsNotEmptyOrNull())
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{
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taskDTO.GroupId = task.GroupId;
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}
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if (task.TaskType == TaskTypeEnum.OutMesRworkProduct.ObjToInt())
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{
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taskDTO.Priority = "127";
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}
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//发送AGV任务
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WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_CPSendTask);
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if (!content.Status)
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throw new Exception(content.Message);
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if (taskDTO.TaskTyp == "CPC")
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{
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task.Dispatchertime = DateTime.Now;
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_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
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}
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else
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{
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task.Dispatchertime = DateTime.Now;
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_taskService.UpdateTask(task, TaskStatusEnum.AGV_Takeing);
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}
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}
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catch (Exception ex)
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{
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task.TaskState = TaskStatusEnum.Exception.ObjToInt();
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task.ExceptionMessage = ex.Message;
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_taskService.UpdateTask(task, TaskStatusEnum.Exception);
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}
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}
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}
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/// <summary>
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/// 获取AGV地址
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/// </summary>
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/// <param name="Address"></param>
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/// <returns></returns>
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public static string GetAGVAddress(string Address)
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{
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string[] targetCodes = Address.Split("-");
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if (targetCodes.Length == 5)
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{
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var Row = Convert.ToInt16(targetCodes[1]);
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var Column = Convert.ToInt16(targetCodes[2]);
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var Layer = Convert.ToInt16(targetCodes[3]);
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var a = Row switch
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{
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1 => "A",
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2 => "B",
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3 => "C",
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4 => "D",
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5 => "E",
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_ => throw new Exception($"未定义的排,地址:【{Address}】"),
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};
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var b = Layer > 9 ? "" + Layer : "0" + Layer;
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var c = Column > 9 ? "" + Column : "0" + Column;
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if (Column == 10) c = "010";
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Address = a + b + c;
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}
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else
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{
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throw new Exception($"地址有误,地址:【{Address}】");
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}
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return Address;
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}
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}
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}
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