using AutoMapper;
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using Microsoft.AspNetCore.Components.Routing;
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using Newtonsoft.Json;
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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.Linq;
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using System.Reflection;
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using System.Text;
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using System.Threading.Tasks;
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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.Caches;
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using WIDESEAWCS_Core.Enums;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_DTO.TaskInfo;
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using WIDESEAWCS_IBasicInfoRepository;
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using WIDESEAWCS_ITaskInfoRepository;
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using WIDESEAWCS_ITaskInfoService;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob;
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using WIDESEAWCS_QuartzJob.DeviceBase;
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using WIDESEAWCS_QuartzJob.Models;
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using WIDESEAWCS_QuartzJob.Service;
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using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
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using WIDESEAWCS_Tasks.HoisterJob;
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using WIDESEAWCS_Tasks.StackerCraneJob;
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namespace WIDESEAWCS_Tasks
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{
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[DisallowConcurrentExecution]
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public class StackerCraneJob_CSJ : JobBase, IJob
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{
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private readonly IMapper _mapper;
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private readonly ICacheService _cacheService;
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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 IStationMangerRepository _stationMangerRepository;
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private List<Dt_ApiInfo> apiInfos;
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public StackerCraneJob_CSJ(ITaskService taskService, ICacheService cacheService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService, IStationMangerRepository stationMangerRepository, IMapper mapper)
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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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_stationMangerRepository = stationMangerRepository;
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_cacheService = cacheService;
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_mapper = mapper;
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string? apiInfoStr = _cacheService.Get("apiInfos");
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if (!string.IsNullOrEmpty(apiInfoStr))
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{
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List<Dt_ApiInfo>? infos = JsonConvert.DeserializeObject<List<Dt_ApiInfo>>(apiInfoStr);
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if (infos == null || infos.Count == 0)
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{
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apiInfos = new List<Dt_ApiInfo>();
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}
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else
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{
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apiInfos = infos;
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}
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}
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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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CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
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if (commonStackerCrane != null)
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{
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if (!commonStackerCrane.IsEventSubscribed)
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{
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commonStackerCrane.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
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}
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commonStackerCrane.CheckStackerCraneTaskCompleted();//防止任务完成事件监测超时，再手动触发一次
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if (commonStackerCrane.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneStatusValue == StackerCraneStatus.Normal && commonStackerCrane.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
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{
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Thread.Sleep(1000);
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Dt_Task? task = GetTask(commonStackerCrane);
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if (task != null)
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{
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StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
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if (stackerCraneTaskCommand != null)
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{
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bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
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if (sendFlag)
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{
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commonStackerCrane.LastTaskType = task.TaskType;
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task.Dispatchertime = DateTime.Now;
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task.ExceptionMessage = "";
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_taskService.UpdateTask(task, TaskStatusEnum.SC_Executing);
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//延时1s
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Thread.Sleep(1000);
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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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WriteError(nameof(CommonStackerCraneJob), ex.Message, ex);
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}
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return Task.CompletedTask;
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}
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/// <summary>
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/// 任务完成事件订阅的方法
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void CommonStackerCrane_StackerCraneTaskCompletedEventHandler(object? sender, WIDESEAWCS_QuartzJob.StackerCrane.StackerCraneTaskCompletedEventArgs e)
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{
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CommonStackerCrane? commonStackerCrane = sender as CommonStackerCrane;
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if (commonStackerCrane != null)
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{
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if (e.TaskNum != 0)
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{
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WriteDebug(commonStackerCrane.DeviceCode, $"读取到任务完成,任务号:{e.TaskNum}");
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StackerCraneTaskCompleted(e.TaskNum, commonStackerCrane.DeviceCode);
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commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
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}
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}
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}
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public WebResponseContent StackerCraneTaskCompleted(int taskNum, string deviceCode)
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{
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try
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{
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Dt_Task task = _taskRepository.QueryFirst(x => x.TaskNum == taskNum);
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if (task != null)
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{
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if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.StackerCraneStationCode == task.NextAddress);
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if(stationManger == null)
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{
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_taskExecuteDetailService.AddTaskExecuteDetail(taskNum, $"AGV站点未配置,{task.NextAddress}");
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_taskService.UpdateTaskExceptionMessage(taskNum, $"AGV站点未配置,{task.NextAddress}");
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return WebResponseContent.Instance.Error($"AGV站点未配置,{task.NextAddress}");
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}
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_taskService.UpdateTask(task, TaskStatusEnum.AGV_Execute, deviceCode: "AGV_CSJ", currentAddress: stationManger.AGVStationCode ?? throw new Exception($"agv站点错误"), nextAddress: task.TargetAddress);
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}
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else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup || task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
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{
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_taskService.TaskCompleted(taskNum);
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}
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else
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{
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WriteError(deviceCode, $"未找到该任务类型回调WMS任务完成接口,{task.TaskType}");
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_taskExecuteDetailService.AddTaskExecuteDetail(taskNum, $"未找到该任务类型回调WMS任务完成接口,{task.TaskType}");
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_taskService.UpdateTaskExceptionMessage(taskNum, $"未找到该任务类型回调WMS任务完成接口,{task.TaskType}");
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}
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}
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else
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{
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WriteError(deviceCode, $"未找到任务信息,任务号:{taskNum}");
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return WebResponseContent.Instance.Error($"未找到任务信息,任务号:{taskNum}");
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}
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return WebResponseContent.Instance.OK();
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}
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catch (Exception ex)
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{
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WriteError(deviceCode, $"任务完成错误", ex);
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return WebResponseContent.Instance.Error(ex.Message);
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}
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}
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/// <summary>
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/// 获取任务
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/// </summary>
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/// <param name="commonStackerCrane">堆垛机对象</param>
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/// <returns></returns>
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private Dt_Task? GetTask(CommonStackerCrane commonStackerCrane)
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{
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Dt_Task task;
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if (commonStackerCrane.LastTaskType == null)
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{
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task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
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}
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else
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{
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if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
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if (task == null)
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{
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task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
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}
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}
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else
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{
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task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
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if (task == null)
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{
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task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
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}
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}
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}
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//判断移库
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if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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if (OutTaskStationIsOccupied(task) == null)
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{
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bool flag = false;
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List<string> otherOutStaionCodes = _routerService.QueryNextRoutes(commonStackerCrane.DeviceCode, task.NextAddress,task.TaskType).Select(x => x.ChildPosi).ToList();
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List<Dt_Task> tasks = _taskService.QueryStackerCraneOutTasks(commonStackerCrane.DeviceCode, otherOutStaionCodes);
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foreach (var item in tasks)
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{
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if (OutTaskStationIsOccupied(task) != null)
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{
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flag = true;
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break;
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}
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}
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if (!flag)
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{
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task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
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}
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}
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}
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if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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string? url = apiInfos.FirstOrDefault(x => x.ApiCode == APIEnum.WMSIsReloaction.ToString())?.ApiAddress;
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if (string.IsNullOrEmpty(url))
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{
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_taskExecuteDetailService.AddTaskExecuteDetail(task.TaskNum, $"未找到WMS移库判断接口");
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WriteError(commonStackerCrane.DeviceCode, $"未找到WMS移库判断接口");
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到WMS移库判断接口");
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return null;
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}
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string response = HttpHelper.Post($"{url}?taskNum={task.TaskNum}&locationCode={task.CurrentAddress}", "");//todo 调用WMS任务完成方法
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if (string.IsNullOrEmpty(response))
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{
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_taskExecuteDetailService.AddTaskExecuteDetail(task.TaskNum, $"移库接口调用错误");
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WriteError(commonStackerCrane.DeviceCode, $"移库接口调用错误");
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库接口调用错误");
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return null;
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}
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WebResponseContent? responseContent = JsonConvert.DeserializeObject<WebResponseContent>(response);
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if (responseContent == null || !responseContent.Status)
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{
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_taskExecuteDetailService.AddTaskExecuteDetail(task.TaskNum, $"移库接口调用错误");
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WriteError(commonStackerCrane.DeviceCode, $"移库接口调用错误");
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库接口调用错误");
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return null;
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}
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WMSTaskDTO? taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(responseContent.Data.Serialize());
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if (taskDTO == null)
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{
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_taskExecuteDetailService.AddTaskExecuteDetail(task.TaskNum, $"移库接口调用错误");
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WriteError(commonStackerCrane.DeviceCode, $"移库接口调用错误");
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库接口调用错误");
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return null;
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}
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if (task.TaskNum == taskDTO.TaskNum)
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{
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return task;
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}
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else
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{
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Dt_Task reloTask = _mapper.Map<Dt_Task>(taskDTO);
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//判断移库货位任务是否已存在，如存在先执行
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Dt_Task existTask = _taskService.QueryStackerExistTask(reloTask.PalletCode, reloTask.SourceAddress);
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if (existTask != null && existTask.TaskState == (int)TaskStatusEnum.SC_Execute)
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{
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return existTask;
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}
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else if (existTask != null && existTask.TaskState != (int)TaskStatusEnum.SC_Execute)
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{
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WriteError(commonStackerCrane.DeviceCode, $"任务{task.TaskNum}浅货位任务{existTask.TaskNum}任务状态不为堆垛待执行");
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"任务{task.TaskNum}浅货位任务{existTask.TaskNum}任务状态不为堆垛待执行");
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return null;
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}
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else
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{
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reloTask.TaskState = TaskStatusEnum.SC_Execute.ObjToInt();
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reloTask.CurrentAddress = taskDTO.SourceAddress;
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reloTask.NextAddress = taskDTO.TargetAddress;
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reloTask.DeviceCode = task.DeviceCode;
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reloTask.TaskType = TaskTypeEnum.Relocation.ObjToInt();
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int taskId = _taskRepository.AddData(reloTask);
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reloTask.TaskId = taskId;
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}
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return reloTask;
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}
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}
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return task;
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}
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/// <summary>
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/// 出库任务判断出库站台是否被占用
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/// </summary>
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/// <param name="task">任务实体</param>
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/// <returns>如果未被占用，返回传入的任务信息，否则，返回null</returns>
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private Dt_Task? OutTaskStationIsOccupied([NotNull] Dt_Task task)
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{
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Dt_StationManger? stationManger = _stationMangerRepository.QueryFirst(x => (x.StationCode == task.NextAddress || x.StackerCraneStationCode == task.NextAddress) && x.StackerCraneCode == task.DeviceCode);
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if (stationManger != null)
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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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OtherDevice client = (OtherDevice)device;
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if (client.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanPut, stationManger.StationCode))//出库站台未被占用
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{
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task.NextAddress = stationManger.StackerCraneStationCode;
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_taskRepository.UpdateData(task);
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client.SetValue(GroundStationDBName.R_IsCanPut, true, stationManger.StationCode);
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return task;
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}
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}
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else
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{
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WriteError(task.DeviceCode, $"未找到出库站台【{stationManger.StationDeviceCode}】对应的通讯对象，无法判断出库站台是否被占用");
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到出库站台【{stationManger.StationDeviceCode}】对应的通讯对象，无法判断出库站台是否被占用");
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}
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}
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else
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{
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WriteError(task.DeviceCode, $"未找到站台【{task.NextAddress}】信息，无法校验站台");
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.NextAddress}】信息，无法校验站台");
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}
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return null;
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}
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/// <summary>
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/// 任务实体转换成命令Model
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/// </summary>
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/// <param name="task">任务实体</param>
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/// <returns></returns>
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/// <exception cref="Exception"></exception>
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public StackerCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
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{
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StackerCraneTaskCommand stackerCraneTaskCommand = new StackerCraneTaskCommand();
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stackerCraneTaskCommand.Barcode = task.PalletCode;
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stackerCraneTaskCommand.TaskNum = task.TaskNum;
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stackerCraneTaskCommand.WorkType = 1;
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stackerCraneTaskCommand.TrayType = (Int16)task.PalletType;
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if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)//判断是否是入库任务
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{
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string[] startCodes = task.CurrentAddress.Split("-");
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if (startCodes.Length == 3)
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{
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stackerCraneTaskCommand.StartRow = Convert.ToInt16(startCodes[0]);
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stackerCraneTaskCommand.StartColumn = Convert.ToInt16(startCodes[1]);
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stackerCraneTaskCommand.StartLayer = Convert.ToInt16(startCodes[2]);
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}
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else
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{
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"入库任务起点错误，起点：【{task.CurrentAddress}】");
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WriteError(task.DeviceCode, $"入库任务起点错误，起点：【{task.CurrentAddress}】");
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return null;
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}
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string[] targetCodes = task.NextAddress.Split("-");
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if (targetCodes.Length == 5)
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{
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stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[1]);
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stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[2]);
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stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[3]);
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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，终点：【{task.NextAddress}】");
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WriteError(task.DeviceCode, $"入库任务终点错误，终点：【{task.NextAddress}】");
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return null;
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}
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}
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else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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string[] targetCodes = task.NextAddress.Split("-");
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if (targetCodes.Length == 3)
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{
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stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
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stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
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stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
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}
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else
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{
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//数据配置错误
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"出库任务终点错误，终点：【{task.NextAddress}】");
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WriteError(task.DeviceCode, $"出库任务终点错误，终点：【{task.NextAddress}】");
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return null;
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}
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string[] sourceCodes = task.CurrentAddress.Split("-");
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if (sourceCodes.Length == 5)
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{
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stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[1]);
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stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[2]);
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stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[3]);
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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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WriteError(task.DeviceCode, $"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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}
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else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
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{
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string[] targetCodes = task.NextAddress.Split("-");
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if (targetCodes.Length == 5)
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{
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stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[1]);
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stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[2]);
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stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[3]);
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}
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else
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{
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//数据配置错误
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务终点错误，终点：【{task.NextAddress}】");
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WriteError(task.DeviceCode, $"移库任务终点错误，终点：【{task.NextAddress}】");
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return null;
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}
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string[] sourceCodes = task.CurrentAddress.Split("-");
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if (sourceCodes.Length == 5)
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{
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stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[1]);
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stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[2]);
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stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[3]);
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}
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else
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{
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//数据配置错误
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务起点错误，起点：【{task.CurrentAddress}】");
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WriteError(task.DeviceCode, $"移库任务起点错误，起点：【{task.CurrentAddress}】");
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return null;
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}
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}
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return stackerCraneTaskCommand;
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}
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}
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}
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