using Mapster;
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using Newtonsoft.Json;
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using Quartz;
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using System.Diagnostics.CodeAnalysis;
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using System.Text;
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using WIDESEAWCS_BasicInfoRepository;
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using WIDESEAWCS_Common;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core.Caches;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_Core.HttpContextUser;
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using WIDESEAWCS_IBasicInfoRepository;
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using WIDESEAWCS_ISystemServices;
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using WIDESEAWCS_ITaskInfoRepository;
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using WIDESEAWCS_ITaskInfoService;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_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_SignalR;
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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 CommonStackerCraneJob : JobBase, IJob
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{
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private readonly ITaskService _taskService;
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private readonly ITaskExecuteDetailService _taskExecuteDetailService;
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private readonly ITaskRepository _taskRepository;
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private readonly IRouterService _routerService;
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private readonly ICacheService _cacheService;
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private readonly INoticeService _noticeService;
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private readonly IDt_StationManagerRepository _stationManagerRepository;
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private readonly ITask_HtyRepository _htyRepository;
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private readonly ISys_ConfigService _sys_ConfigService;
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private static List<string>? userTokenIds;
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private static List<int>? userIds;
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public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService, ICacheService cacheService, INoticeService noticeService, IDt_StationManagerRepository stationManagerRepository, ITask_HtyRepository htyRepository, ISys_ConfigService sys_ConfigService)
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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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_cacheService = cacheService;
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_noticeService = noticeService;
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_stationManagerRepository = stationManagerRepository;
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_htyRepository = htyRepository;
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_sys_ConfigService = sys_ConfigService;
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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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if (commonStackerCrane.StackerCraneAutoStatusValue == StackerCraneAutoStatus.ComputerMode)
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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.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
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{
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Dt_Task? task = GetTask(commonStackerCrane);
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if (task != null)
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{
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StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
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if (stackerCraneTaskCommand != null)
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{
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bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
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if (sendFlag)
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{
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commonStackerCrane.LastTaskType = task.TaskType;
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_taskService.UpdateTaskStatusToNext(task.TaskNum);
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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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#region 调用事件总线通知前端
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var tokenInfos = _cacheService.Get<List<UserInfo>>("Cache_UserToken");
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if (tokenInfos != null && tokenInfos.Any())
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{
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var userTokenIds = tokenInfos?.Select(x => x.Token_ID).ToList();
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var userIds = tokenInfos?.Select(x => x.UserId).ToList();
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object obj = new
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{
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commonStackerCrane.StackerCraneAutoStatusDes,
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commonStackerCrane.StackerCraneWorkStatusDes,
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commonStackerCrane.DeviceCode,
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commonStackerCrane.DeviceName,
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StackerAlarm = StackerCraneAlarm(commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.Alarm)),
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commonStackerCrane.CurrentTaskNum,
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commonStackerCrane.LastTaskNum,
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};
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_noticeService.StackerData(userIds?.FirstOrDefault(), userTokenIds, new { commonStackerCrane.DeviceName, data = obj });
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}
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#endregion 调用事件总线通知前端
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}
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}
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catch (Exception ex)
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{
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WriteError("CommonStackerCraneJob", "test", ex);
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ConsoleHelper.WriteErrorLine($"{ex.Message}");
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}
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return Task.CompletedTask;
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}
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#region 报警代码转换成文字说明
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public string StackerCraneAlarm(short alarm) => alarm switch
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{
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1 => "左超限",
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2 => "右超限",
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3 => "前超限",
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4 => "后超限",
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5 => "高超限",
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6 => "取货载货台有货",
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7 => "放货载货台无货",
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8 => "取货左货格无货",
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9 => "取货右货格无货",
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10 => "放货左一有货",
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11 => "放货右一有货",
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12 => "取左二货格无货",
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13 => "取右二货格无货",
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14 => "放货左二货格有货",
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15 => "放货右二货格有货",
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16 => "左二取货左一有货",
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17 => "右二取货右一有货",
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18 => "左取货失败",
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19 => "右取货失败",
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20 => "左放货失败",
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21 => "右放货失败",
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22 => "货叉运行超时",
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23 => "货叉断路器跳闸",
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24 => "货叉变频器报警",
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25 => "货叉编码器故障",
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26 => "货叉伸叉故障",
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27 => "层运行货叉不在中位",
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28 => "列运行货叉不在中位",
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29 => "货叉中位开关故障",
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30 => "货叉变频器通讯故障",
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31 => "货叉编码器通讯故障",
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32 => "伸叉超出左极限",
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33 => "伸又超出右极限",
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34 => "入左二货格货时左一货格有货",
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35 => "入右二货格货时右一货格有货",
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36 => "货叉右侧回中停止位置错误",
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37 => "货叉左侧回中停止位置错误",
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38 => "货叉左侧极限停止位置错误",
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39 => "货叉右侧极限停止位置错误",
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40 => "面板急停",
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41 => "远程急停",
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42 => "主接触器控制回路故障",
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43 => "超重保护",
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44 => "松绳保护",
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45 => "限速保护",
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46 => "层停止位置错误",
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47 => "列停止位置错误",
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48 => "接收任务错误",
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49 => "接收列超限",
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50 => "接收层超限",
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51 => "行走前进极限",
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52 => "行走后退极限",
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53 => "提升上极限",
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54 => "提升下极限",
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55 => "行走运行超时",
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56 => "提升运行超时",
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57 => "行走断路器跳闸",
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58 => "提升断路器跳闸",
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59 => "行走变频器故障",
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60 => "提升变频器故障",
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61 => "行走测距/条码故障",
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62 => "提升测距/条码故障",
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63 => "行走测距/条码被挡",
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64 => "提升测距/条码被挡",
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65 => "上升减速光电故障",
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66 => "下降减速光电故障",
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67 => "提升原点光电故障",
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68 => "行走前减速光电故障",
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69 => "行走后减速光电故障",
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70 => "行走原点光电故障",
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71 => "与输送机通讯故障",
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72 => "升降超出最小层",
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73 => "升降超出最大层",
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74 => "行走超出最小列",
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75 => "行走超出最大列",
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76 => "接收排错误",
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77 => "起始站货格被禁用",
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78 => "目的站货格被禁用",
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79 => "行走抱闸故障",
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80 => "提升抱闸故障",
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81 => "安全门打开故障",
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_ => $"未知报警({alarm})"
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};
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#endregion
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/// <summary>
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/// 任务完成事件订阅的方法
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void CommonStackerCrane_StackerCraneTaskCompletedEventHandler(object? sender, WIDESEAWCS_QuartzJob.StackerCrane.StackerCraneTaskCompletedEventArgs e)
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{
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CommonStackerCrane? commonStackerCrane = sender as CommonStackerCrane;
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if (commonStackerCrane != null)
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{
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if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.FinishConfirm) != 1)
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{
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ConsoleHelper.WriteColorLine($"【{commonStackerCrane.DeviceName}】堆垛机作业状态：【{(int)commonStackerCrane.StackerCraneWorkStatusValue}】时间【{DateTime.Now}】", ConsoleColor.Magenta);
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string str = $"【{commonStackerCrane.DeviceName}】任务完成,任务号：【{e.TaskNum}】时间【{DateTime.Now}】";
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WriteInfo(commonStackerCrane.DeviceName, str);
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ConsoleHelper.WriteColorLine(str, ConsoleColor.Blue);
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var task = _taskRepository.QueryFirst(x => x.TaskNum == e.TaskNum);
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if (task == null) commonStackerCrane.SetValue(StackerCraneDBName.FinishConfirm, 1);
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var content = _taskService.StackCraneTaskCompleted(e.TaskNum);
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var isWorkType = commonStackerCrane.SetValue(StackerCraneDBName.FinishConfirm, 1);
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str = $"{commonStackerCrane.DeviceName}】WMS|WCS任务完成：【{content.Status}{content.Message}】,堆垛机完成信号写入：【{isWorkType}】,任务号：【{e.TaskNum}】时间【{DateTime.Now}】";
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WriteInfo(commonStackerCrane.DeviceName, str);
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ConsoleHelper.WriteColorLine(str, ConsoleColor.Blue);
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}
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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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task = _taskService.QueryRelocationTask(commonStackerCrane.DeviceCode);
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if (task != null)
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{
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return task;
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}
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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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var lastTaskTypeGroup = commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup();
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if (lastTaskTypeGroup == 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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}
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}
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if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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// 检查当前出库任务站台是否允许放货
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var occupiedStation = OutTaskStationIsOccupied(task);
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if (occupiedStation == null)
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{
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// 如果当前出库任务站台不允许放货，排除当前任务，查找其他出库任务
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var log = $"任务号：【{task.TaskNum}】出库地址：【{task.NextAddress}】不允许放货";
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ConsoleHelper.WriteErrorLine(log);
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_noticeService.Logs(userTokenIds, new { commonStackerCrane.DeviceName, log = log, time = DateTime.Now.ToString("G"), color = "red" });
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WriteInfo(commonStackerCrane.DeviceName, log);
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task = FindAnotherOutboundTask(commonStackerCrane.DeviceCode, task.TaskId);
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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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else
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{
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return task;
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}
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}
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else if (task == null)
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{
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task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
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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_Router? router = _routerService.QueryNextRoutes(task.Roadway, task.NextAddress).FirstOrDefault();
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if (router != null)
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{
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CommonConveyorLine? conveyorLine = Storage.Devices.FirstOrDefault(x => x.DeviceCode == router.ChildPosiDeviceCode) as CommonConveyorLine;
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if (conveyorLine != null)
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{
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if (conveyorLine.IsOccupiedx(router.ChildPosi))//出库站台未被占用
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{
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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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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到出库站台【{router.ChildPosiDeviceCode}】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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_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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/// 查找其他出库任务的辅助方法（排除指定任务ID的任务）
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/// </summary>
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/// <param name="deviceCode">设备代码</param>
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/// <param name="excludedTaskId">要排除的任务ID</param>
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/// <returns></returns>
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private Dt_Task? FindAnotherOutboundTask(string deviceCode, int excludedTaskId)
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{
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// 先获取所有符合条件（排除指定任务ID）的出库任务列表
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var allOutboundTasks = _taskService.QueryAllOutboundTasks(deviceCode);
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var availableTasks = allOutboundTasks?.Where(t => excludedTaskId != t.TaskId && t.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup).ToList();
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if (availableTasks == null || availableTasks.Count == 0)
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{
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return null;
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}
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// 遍历可用任务列表，检查任务站台是否允许放货，找到第一个允许放货的任务就返回
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foreach (var candidateTask in availableTasks)
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{
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var occupiedStation = OutTaskStationIsOccupied(candidateTask);
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if (occupiedStation != null)
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{
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return candidateTask;
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}
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var log = $"任务号：【{candidateTask.TaskNum}】出库地址：【{candidateTask.NextAddress}】不允许放货";
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ConsoleHelper.WriteErrorLine(log);
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_noticeService.Logs(userTokenIds, new { deviceCode, log = log, time = DateTime.Now.ToString("G"), color = "red" });
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WriteInfo(deviceCode, log);
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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.StartCommand = 1;
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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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List<Dt_Router> routers = _routerService.QueryNextRoutes(task.CurrentAddress, task.Roadway);
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if (routers.Count > 0)
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{
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stackerCraneTaskCommand.StartRow = Convert.ToInt16(routers.FirstOrDefault().SrmRow);
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stackerCraneTaskCommand.StartColumn = Convert.ToInt16(routers.FirstOrDefault().SrmColumn);
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stackerCraneTaskCommand.StartLayer = Convert.ToInt16(routers.FirstOrDefault().SrmLayer);
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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]) % 2 != 0 ? (short)1 : (short)2;
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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, $"入库任务终点错误，起点：【{task.NextAddress}】");
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return null;
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}
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}
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else
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{
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.NextAddress}】信息，无法获取对应的堆垛机取货站台信息");
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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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List<Dt_Router> routers = _routerService.QueryNextRoutes(task.Roadway, task.TargetAddress);
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if (routers.Count > 0)
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{
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stackerCraneTaskCommand.EndRow = Convert.ToInt16(routers.FirstOrDefault().SrmRow);
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stackerCraneTaskCommand.EndColumn = Convert.ToInt16(routers.FirstOrDefault().SrmColumn);
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stackerCraneTaskCommand.EndLayer = Convert.ToInt16(routers.FirstOrDefault().SrmLayer);
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string[] sourceCodes = task.CurrentAddress.Split("-");
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if (sourceCodes.Length == 3)
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{
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stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]) % 2 != 0 ? (short)1 : (short)2;
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stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
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stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
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}
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else
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{
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//数据配置错误
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"出库任务起点错误，起点：【{task.CurrentAddress}】");
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return null;
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}
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}
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else
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{
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.NextAddress}】信息，无法获取对应的堆垛机放货站台信息");
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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 == 3)
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{
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stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]) % 2 != 0 ? (short)1 : (short)2;
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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, $"移库任务终点错误，起点：【{task.NextAddress}】");
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return null;
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}
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string[] sourceCodes = task.CurrentAddress.Split("-");
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if (sourceCodes.Length == 3)
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{
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stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]) % 2 != 0 ? (short)1 : (short)2;
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stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
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stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
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}
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else
|
{
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//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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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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