using HslCommunication;
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using Newtonsoft.Json;
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using Newtonsoft.Json.Linq;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.Information;
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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.ComponentModel;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using WIDESEAWCS_Common;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_DTO.TaskInfo;
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using WIDESEAWCS_DTO.WMS;
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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_Tasks.ConveyorLineJob;
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using WIDESEAWCS_Tasks.ElevatorJob;
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namespace WIDESEAWCS_Tasks
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{
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[DisallowConcurrentExecution]
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public class CommonAGVJob : JobBase, IJob
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{
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private readonly ITaskRepository _taskRepository;
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private readonly ITaskService _taskService;
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private readonly ISys_ConfigService _sys_ConfigService;
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public CommonAGVJob(ITaskRepository taskRepository,ITaskService taskService,ISys_ConfigService configService)
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{
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_taskRepository = taskRepository;
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_taskService = taskService;
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_sys_ConfigService = configService;
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}
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public Task Execute(IJobExecutionContext context)
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{
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var RelocationTask = _taskRepository.QueryData(x => _taskService.TaskAcrossFloorboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
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if (RelocationTask.Count > 0)
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{
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foreach (var item in RelocationTask)
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{
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AGVSendTask(item);
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}
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}
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#region AGV跨楼层任务
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var AcrossFloorTask = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
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if (AcrossFloorTask != null)
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{
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var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskAcrossFloorStatusEnum.CarryNew && x.TaskState < (int)TaskAcrossFloorStatusEnum.EndAddressExecuting);
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if(task == null)
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{
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CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ1") as CommonElevator;
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if (elevator != null)
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{
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if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
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{
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Relocation(AcrossFloorTask);
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if (AcrossFloorTask.Floor == "1F")
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{
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elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(1));
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elevator.SetValue(ElevatorDBName.StartFloor, Convert.ToInt16(1));
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elevator.SetValue(ElevatorDBName.EdnFloor, Convert.ToInt16(2));
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Thread.Sleep(1000);
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elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));
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_taskService.SendAgvTask("AAA", AcrossFloorTask.TaskNum);
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AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
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_taskRepository.UpdateData(AcrossFloorTask);
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}
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else
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{
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elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(1));
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elevator.SetValue(ElevatorDBName.StartFloor, Convert.ToInt16(2));
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elevator.SetValue(ElevatorDBName.EdnFloor, Convert.ToInt16(1));
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Thread.Sleep(1000);
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elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));
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_taskService.SendAgvTask("DDD", AcrossFloorTask.TaskNum);
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AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
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_taskRepository.UpdateData(AcrossFloorTask);
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}
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}
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}
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}
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}
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#endregion
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#region AGV同层搬运任务
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Dt_Task Carry = _taskRepository.QueryFirst(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
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if (Carry != null)
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{
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Relocation(Carry);
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AGVSendTask(Carry);
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}
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#endregion
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#region 1楼AGV入库任务
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var InTask = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskInStatusEnum.InNew);
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if (InTask != null)
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{
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var OutTask = _taskRepository.QueryFirst(x => x.TaskState >= (int)TaskOutStatusEnum.OutNew && x.TaskState <(int)TaskOutStatusEnum.AGV_OutExecuting);
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var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskInStatusEnum.InNew && x.TaskState < (int)TaskInStatusEnum.SC_InExecuting);
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if (OutTask == null && task == null)
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{
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CommonConveyorLine? conveyorLine = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "1001") as CommonConveyorLine;
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if (conveyorLine != null)
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{
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bool IsWrite = false;
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short InteractiveSignal = conveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.InteractiveSignal, "LK001");
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var structs = BitConverter.GetBytes(InteractiveSignal).Reverse().ToArray().ToBoolArray();
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if (structs[0])
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{
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IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", 0);
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Thread.Sleep(1000);
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IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", 9999);
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if (!IsWrite)
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{
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return Task.CompletedTask;
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}
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Relocation(InTask);
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_taskService.SendAgvTask("LIFANG", InTask.TaskNum);
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_taskService.UpdateTaskStatusToNext(InTask.TaskNum);
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}
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}
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}
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}
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#endregion
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return Task.CompletedTask;
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}
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public void AGVSendTask(Dt_Task task)
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{
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if (task.SourceAddress.Contains("XB001") || task.TargetAddress.Contains("XB001"))
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{
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_taskService.SendAgvTask("cattleCarry1", task.TaskNum);
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task.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryExecuting;
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_taskRepository.UpdateData(task);
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}
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else if (task.Floor == "1F")
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{
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_taskService.SendAgvTask("forkAutoTemplate1", task.TaskNum);
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task.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryExecuting;
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_taskRepository.UpdateData(task);
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}
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else
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{
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_taskService.SendAgvTask("cattleCarry1", task.TaskNum);
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task.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryExecuting;
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_taskRepository.UpdateData(task);
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}
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}
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public void Relocation(Dt_Task? task)
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{
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var taskDto = new RequestTaskDto()
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{
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Position = task.SourceAddress,
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PalletCode = task.PalletCode,
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TaskNum = task.TaskNum
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};
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// 获取WMSip地址
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var configz = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
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var wmsBasez = configz.Where(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE).FirstOrDefault()?.ConfigValue;
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var requestLocation = configz.Where(x => x.ConfigKey == SysConfigKeyConst.AGVIsNeedRelocation).FirstOrDefault()?.ConfigValue;
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if (wmsBasez == null || requestLocation == null)
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{
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throw new InvalidOperationException("WMS IP 未配置");
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}
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var wmsIpAddrss = wmsBasez + requestLocation;
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var result = HttpHelper.PostAsync(wmsIpAddrss, taskDto.ToJsonString()).Result;
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WebResponseContent content = JsonConvert.DeserializeObject<WebResponseContent>(result);
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if (!content.Status)
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{
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task.ExceptionMessage = content.Message;
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_taskRepository.UpdateData(task);
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return;
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}
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// 反序列化任务数据
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var taskDTO = JsonConvert.DeserializeObject<List<WMSTaskDTO>>(content.Data.ToString());
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bool IsAddTask = false;
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foreach (var t in taskDTO)
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{
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if (t.TaskNum == task.TaskNum)
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{
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IsAddTask = false;
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break;
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}
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else
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{
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IsAddTask = true;
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}
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}
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if (IsAddTask)
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_taskService.ReceiveWMSTask(taskDTO);
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var taskNew = _taskRepository.QueryData(x => _taskService.TaskRelocationboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
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if (taskNew.Count > 0)
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{
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if (taskNew[0].Floor == "2F")
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{
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foreach (var item in taskNew.OrderBy(x => x.Grade).ToList())
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{
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AGVSendTask(item);
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}
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}
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else
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{
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foreach (var item in taskNew.OrderByDescending(x => x.Grade).ToList())
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{
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AGVSendTask(item);
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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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