using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Reflection.Metadata;
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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.TaskEnum;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob;
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using WIDESEAWCS_DTO.Agv;
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using SqlSugar;
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using static Dm.net.buffer.ByteArrayBuffer;
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namespace WIDESEAWCS_Tasks
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{
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public partial class AGV_CSJJob
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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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public void SendAGVTask()
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{
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try
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{
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var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt() && !string.IsNullOrEmpty(x.DeviceCode) && nameof(AGV_CSJJob).Contains(x.DeviceCode)).OrderByDescending(x =>x.Grade).OrderBy(x=>x.CreateDate).ToList();
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if (newTasks.Count>0)
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{
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foreach (var agvTask in newTasks)
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{
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try
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{
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AgvTaskDTO taskDTO = new AgvTaskDTO()
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{
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ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
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TaskTyp = AgvTaskType(agvTask.TaskType, agvTask.DeviceCode),
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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="00",
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positionCode=agvTask.CurrentAddress
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},
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new CodePath()
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{
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type="00",
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positionCode=agvTask.NextAddress
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}
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},
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TaskCode = agvTask.AgvTaskNum,
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PodTyp = agvTask.PalletType < 3 ? "ZC" : "DX",
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};
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WebResponseContent content = _taskService.AgvSendTask(taskDTO);
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if (content.Status)
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{
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agvTask.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
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//agvTask.Remark = content.Data.ObjToString();
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_taskService.UpdateTask(agvTask, TaskStatusEnum.AGV_Executing);
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}
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else
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{
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agvTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
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//agvTask.Remark = content.Data.ObjToString();
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agvTask.ExceptionMessage = content.Message;
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}
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}
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catch (Exception ex)
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{
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agvTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
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//agvTask.Remark = content.Data.ObjToString();
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agvTask.ExceptionMessage = ex.Message;
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WriteError(nameof(AGV_CSJJob), ex.Message, ex);
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}
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}
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_taskService.UpdateData(newTasks);
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}
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//出库绑定查询
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Dt_Task outBound = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.Exception.ObjToInt() && nameof(AGV_CSJJob).Contains(x.DeviceCode) && x.TaskType==TaskTypeEnum.Outbound.ObjToInt()).ToList().OrderByDescending(x => x.Grade).ThenBy(x=>x.CreateDate).First();
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if (outBound != null)
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{
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AgvPodBerthAndMatDTO andMatDTO = new AgvPodBerthAndMatDTO()
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{
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ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
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PositionCode=outBound.TargetAddress
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};
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WebResponseContent content = _taskService.AgvPodBerthAndMat(andMatDTO);
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if (content.Status)
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{
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outBound.TaskState = TaskStatusEnum.AGV_Execute.ObjToInt();
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outBound.ExceptionMessage = "";
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//agvTask.Remark = content.Data.ObjToString();
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_taskService.UpdateTask(outBound, TaskStatusEnum.AGV_Execute);
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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_CSJJob), ex.Message, ex);
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}
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}
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/// <summary>
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/// 下发AGV继续执行任务
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/// </summary>
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public void SendAGVWaitToTask()
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{
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try
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{
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var WaitToTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_WaitToExecute.ObjToInt() && nameof(AGV_CSJJob).Contains(x.DeviceCode)).OrderBy(x => x.CreateDate).ToList();
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foreach (var WaitToTask in WaitToTasks)
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{
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if (WaitToTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
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{
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if (WaitToTasks.FirstOrDefault(x=>x.TaskState==TaskStatusEnum.AGV_Puting.ObjToInt() || x.TaskState == TaskStatusEnum.Finish.ObjToInt()) !=null)
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{
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continue;
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}
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Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == WaitToTask.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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bool canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
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bool requestPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.W_PutRequest, stationManger.StationCode);
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if (!requestPut)
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{
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otherDevice.SetValue(GroundStationDBName.W_PutRequest, true, stationManger.StationCode);
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continue;
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}
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else if (!canPut)
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{
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continue;
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}
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}
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else
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{
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Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == WaitToTask.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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bool canTake = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
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bool requestTake = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.W_TakeRequest, stationManger.StationCode);
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if (!requestTake)
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{
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otherDevice.SetValue(GroundStationDBName.W_TakeRequest, true, stationManger.StationCode);
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continue;
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}
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else if (!canTake)
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{
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continue;
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}
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}
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AgvSecureReplyDTO replyDTO = new AgvSecureReplyDTO()
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{
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ReqCode = Guid.NewGuid().ToString().Replace("-", ""), //WaitToTask.TaskNum.ToString(),
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taskCode = WaitToTask.AgvTaskNum,
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};
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WebResponseContent content = _taskService.AgvSecureReply(replyDTO);
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if (content.Status && WaitToTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
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{
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WaitToTask.TaskState = TaskStatusEnum.AGV_Puting.ObjToInt();
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_taskService.UpdateTask(WaitToTask, TaskStatusEnum.AGV_Puting);
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break;
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}
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else if (content.Status && WaitToTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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WaitToTask.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
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_taskService.UpdateTask(WaitToTask, TaskStatusEnum.AGV_Executing);
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}
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else
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{
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WaitToTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
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WaitToTask.ExceptionMessage = content.Message;
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_taskService.UpdateTask(WaitToTask, TaskStatusEnum.Exception);
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}
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}
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_taskService.UpdateData(WaitToTasks);
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Dt_Task? TakeErroeTask = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_TakeError.ObjToInt() && nameof(AGV_CSJJob).Contains(x.DeviceCode)).First();
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if (TakeErroeTask!=null)
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{
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Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == TakeErroeTask.CurrentAddress);
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if (stationManger == null)
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{
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throw new Exception($"未找到站台配置");
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}
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
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if (device == null)
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{
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throw new Exception($"未找到对应设备");
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}
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OtherDevice otherDevice = (OtherDevice)device;
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otherDevice.SetValue(GroundStationDBName.W_TakeFinish, true, stationManger.StationCode);
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Thread.Sleep(1000);
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otherDevice.SetValue(GroundStationDBName.W_TakeFinish, false, stationManger.StationCode);
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_taskService.TaskCompleted(TakeErroeTask.TaskNum);
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}
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}
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catch (Exception ex)
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{
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Console.Out.WriteLine(nameof(AGV_CSJJob) + ":" + ex.Message);
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}
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}
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public string AgvTaskType(int TaskType, string DeviceCode)
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{
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switch (DeviceCode)
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{
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case "AGV_CSJ":
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{
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return TaskType == TaskTypeEnum.ProductionReturn.ObjToInt() ? "23" : "24";
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}
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default:
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throw new Exception($"设备编号错误");
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}
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}
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}
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}
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