using HslCommunication;
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using System.ComponentModel;
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using System.Reflection;
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using WIDESEAWCS_Communicator;
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using WIDESEAWCS_QuartzJob;
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using WIDESEAWCS_QuartzJob.DTO;
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using WIDESEAWCS_QuartzJob.StackerCrane;
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using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
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namespace WIDESEAWCS_Tasks.StackerCraneJob
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{
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public class GetStackerObject
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{
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private SpeStackerCrane _speStackerCrane;
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public GetStackerObject(SpeStackerCrane speStackerCrane)
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{
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_speStackerCrane = speStackerCrane;
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}
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/// <summary>
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/// 设备状态
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/// </summary>
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/// <param name="speStackerCrane"></param>
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/// <returns></returns>
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public RgvEquipmentStatus RgvCraneStatusValue => GetRgvCraneStatus();
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/// <summary>
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/// 工作模式（1联机 0脱机）
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/// </summary>
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/// <param name="speStackerCrane"></param>
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/// <returns></returns>
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public RgvCraneAutoStatus RgvCraneAutoStatusValue => GetRgvCraneAutoStatus();
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/// <summary>
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/// 工作状态
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/// </summary>
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/// <param name="speStackerCrane"></param>
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/// <returns></returns>
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public RgvWorkStatus RgvCraneWorkStatusValue => GetRgvCraneWorkStatus();
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/// <summary>
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/// 作业状态
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/// </summary>
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/// <param name="speStackerCrane"></param>
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/// <returns></returns>
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public RgvJobCraneStatus StaclerkJobJobStatusValue => GetRgvJobCraneWorkStatus();
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/// <summary>
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/// 任务完成
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/// </summary>
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/// <param name="speStackerCrane"></param>
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/// <returns></returns>
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public StackerCraneTaskCompleted StackerCraneTaskCompletedValue => GetStackerCraneTaskCompleted();
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/// <summary>
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/// 作业命令
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/// </summary>
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/// <param name="speStackerCrane"></param>
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/// <returns></returns>
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public int WorkCommandValue() => _speStackerCrane.GetValue<RgvCraneDBName, short>(RgvCraneDBName.WorkCommand);
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/// <summary>
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/// 获取RGV设备状态
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/// </summary>
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/// <returns></returns>
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private RgvEquipmentStatus GetRgvCraneStatus()
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{
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return Enum.Parse<RgvEquipmentStatus>(GetStatus(nameof(RgvEquipmentStatus)));
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}
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/// <summary>
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/// 获取rgv手自动状态
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/// </summary>
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/// <returns></returns>
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private RgvCraneAutoStatus GetRgvCraneAutoStatus()
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{
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return Enum.Parse<RgvCraneAutoStatus>(GetStatus(nameof(RgvCraneAutoStatus)));
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}
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/// <summary>
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/// 获取rgv工作状态
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/// </summary>
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/// <returns></returns>
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private RgvWorkStatus GetRgvCraneWorkStatus()
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{
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return Enum.Parse<RgvWorkStatus>(GetStatus(nameof(RgvWorkStatus)));
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}
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/// <summary>
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/// 获取rgv作业状态
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/// </summary>
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/// <returns></returns>
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private RgvJobCraneStatus GetRgvJobCraneWorkStatus()
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{
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return Enum.Parse<RgvJobCraneStatus>(GetStatus(nameof(RgvJobCraneStatus)));
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}
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/// <summary>
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/// 获取堆垛机任务状态
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/// </summary>
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/// <returns></returns>
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private StackerCraneTaskCompleted GetStackerCraneTaskCompleted()
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{
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return Enum.Parse<StackerCraneTaskCompleted>(GetStatus(nameof(StackerCraneTaskCompleted)));
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}
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private string GetEnumDes<T>(T value) where T : Enum
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{
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FieldInfo? fieldInfo = typeof(T).GetField(value.ToString());
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if (fieldInfo != null)
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{
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DescriptionAttribute? descriptionAttribute = fieldInfo.GetCustomAttribute<DescriptionAttribute>();
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if (descriptionAttribute != null)
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{
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return descriptionAttribute.Description;
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}
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return "未定义";
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}
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return "未知";
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}
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private string GetStatus(string protocolParamType)
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{
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List<DeviceProDTO> devicePros = _speStackerCrane.DeviceProDTOs.Where(x => x.DeviceProParamType == protocolParamType).ToList();
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if (devicePros.Count == 0)
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{
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throw new Exception("未获取到协议信息");
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}
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for (int i = 0; i < devicePros.Count; i++)
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{
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object readStatus = _speStackerCrane.Communicator.ReadAsObj(devicePros[i].DeviceProAddress, devicePros[i].DeviceDataType);
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DeviceProtocolDetailDTO? deviceProtocolDetail = _speStackerCrane.DeviceProtocolDetailDTOs.FirstOrDefault(x => x.DeviceProParamName == devicePros[i].DeviceProParamName) ?? throw new Exception();
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deviceProtocolDetail = _speStackerCrane.DeviceProtocolDetailDTOs.FirstOrDefault(x => x.DeviceProParamName == devicePros[i].DeviceProParamType && x.ProtocalDetailValue.Equals(readStatus.ToString()));
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if (deviceProtocolDetail != null)
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{
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return deviceProtocolDetail.ProtocolDetailType;
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}
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return StackerCraneStatus.Unkonw.ToString();
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}
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return StackerCraneStatus.Unkonw.ToString();
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}
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/// <summary>
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/// 堆垛机任务完成事件
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/// </summary>
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public event EventHandler<StackerCraneTaskCompletedEventArgs> StackerCraneTaskCompletedEventHandler;
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/// <summary>
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/// 堆垛机完成事件是否已订阅
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/// </summary>
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public bool IsEventSubscribed => StackerCraneTaskCompletedEventHandler != null;
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private bool _isChecked = false;
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/// <summary>
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/// 监测堆垛机任务是否完成
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/// </summary>
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public void CheckStackerCraneTaskCompleted()
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{
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if (_isChecked)
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return;
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Task.Run(() =>
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{
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_isChecked = true;
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try
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{
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DeviceProDTO? devicePro = _speStackerCrane.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == nameof(StackerCraneTaskCompleted));
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if (devicePro != null)
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{
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DeviceProtocolDetailDTO? deviceProtocolDetail = _speStackerCrane.DeviceProtocolDetailDTOs.FirstOrDefault(x => x.DeviceProParamName == devicePro.DeviceProParamName && x.ProtocolDetailType == StackerCraneTaskCompleted.WorkCompleted.ToString());
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if (deviceProtocolDetail != null)
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{
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OperateResult<TimeSpan> operateResult = new OperateResult<TimeSpan>();
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TypeCode typeCode = SiemensDBDataType.GetTypeCode(devicePro.DeviceDataType);
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switch (typeCode)
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{
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case TypeCode.Boolean:
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operateResult = _speStackerCrane.Communicator.Wait(devicePro.DeviceProAddress, 500, 10 * 6000, Convert.ToBoolean(deviceProtocolDetail.ProtocalDetailValue));
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break;
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case TypeCode.Byte:
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operateResult = _speStackerCrane.Communicator.Wait(devicePro.DeviceProAddress, 500, 10 * 6000, Convert.ToByte(deviceProtocolDetail.ProtocalDetailValue));
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break;
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case TypeCode.Int16:
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operateResult = _speStackerCrane.Communicator.Wait(devicePro.DeviceProAddress, 500, 10 * 6000, Convert.ToInt16(deviceProtocolDetail.ProtocalDetailValue));
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break;
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case TypeCode.Int32:
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operateResult = _speStackerCrane.Communicator.Wait(devicePro.DeviceProAddress, 500, 10 * 6000, Convert.ToInt32(deviceProtocolDetail.ProtocalDetailValue));
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break;
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case TypeCode.UInt16:
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operateResult = _speStackerCrane.Communicator.Wait(devicePro.DeviceProAddress, 500, 10 * 6000, Convert.ToUInt16(deviceProtocolDetail.ProtocalDetailValue));
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break;
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case TypeCode.UInt32:
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operateResult = _speStackerCrane.Communicator.Wait(devicePro.DeviceProAddress, 500, 10 * 6000, Convert.ToUInt32(deviceProtocolDetail.ProtocalDetailValue));
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break;
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default:
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break;
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}
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int taskNum = _speStackerCrane.CurrentTaskNum;
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if (operateResult.IsSuccess)
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{
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StackerCraneTaskCompletedEventArgs args = new(taskNum);
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StackerCraneTaskCompletedEventHandler?.Invoke(_speStackerCrane, args);
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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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}
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finally
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{
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_isChecked = false;
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}
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});
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}
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public bool SendCommand(RgvCraneTaskCommand command)
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{
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try
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{
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if(_speStackerCrane.IsConnected)
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{
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_speStackerCrane.SetValue(RgvCraneDBName.TaskNo, command.TaskNo);
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_speStackerCrane.SetValue(RgvCraneDBName.WorkType, command.WorkType);
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_speStackerCrane.SetValue(RgvCraneDBName.GoodsType, command.GoodsType);
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_speStackerCrane.SetValue(RgvCraneDBName.StartPos, command.StartPos);
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_speStackerCrane.SetValue(RgvCraneDBName.EndPos, command.EndPos);
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return true;
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}
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return false;
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}
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catch (Exception ex)
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{
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return false;
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}
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}
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}
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}
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