using HslCommunication;
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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 System.Threading.Tasks;
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using WIDESEAWCS_BasicInfoRepository;
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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_ITaskInfoRepository;
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using WIDESEAWCS_ITaskInfoService;
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using WIDESEAWCS_Model;
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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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using WIDESEAWCS_Common;
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using WIDESEAWCS_IBasicInfoRepository;
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using WIDESEAWCS_BasicInfoService;
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using WIDESEAWCS_Model.BasicInfo;
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using WIDESEAWCS_Tasks.RGVJob;
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using WIDESEAWCS_Tasks.ConveyorLineJob;
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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 IDt_StationManagerRepository _stationManagerRepository;
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private readonly ICacheService _cacheService;
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private readonly INoticeService _noticeService;
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private readonly IRouterService _routerService;
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public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService, IDt_StationManagerRepository stationManagerRepository, ICacheService cacheService, INoticeService noticeService)
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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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_stationManagerRepository = stationManagerRepository;
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_cacheService = cacheService;
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_noticeService = noticeService;
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_routerService = routerService;
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}
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public Task Execute(IJobExecutionContext context)
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{
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try
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{
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CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
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if (commonStackerCrane != null)
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{
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//if (!commonStackerCrane.IsEventSubscribed)
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//{
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// commonStackerCrane.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
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//}
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//commonStackerCrane.CheckStackerCraneTaskCompleted();//防止任务完成事件监测超时，再手动触发一次
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if (commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.TaskCompleted))
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{
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var x = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.CurrentTaskNum);
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StackerCraneTaskFinish(commonStackerCrane, commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.CurrentTaskNum));
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}
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if (commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.Automatic) && !commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.Fault) && !commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.Running))
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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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Thread.Sleep(1000);
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bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
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if (sendFlag)
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{
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#region
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StringBuilder builder = new StringBuilder();
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builder.AppendLine();
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builder.AppendLine($"【{commonStackerCrane.DeviceName}】堆垛机状态：【{commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.Automatic)}】,时间：【{DateTime.Now}】");
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builder.AppendLine($"【{commonStackerCrane.DeviceName}】是否故障：【{commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.Fault)}】,时间：【{DateTime.Now}】");
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builder.AppendLine($"【{commonStackerCrane.DeviceName}】是否运行：【{commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.Running)}】,时间：【{DateTime.Now}】");
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builder.AppendLine($"【{commonStackerCrane.DeviceName}】下发任务成功,【{JsonConvert.SerializeObject(stackerCraneTaskCommand, Formatting.Indented)}】");
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builder.AppendLine($"时间：【{DateTime.Now}】");
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builder.AppendLine();
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ConsoleHelper.WriteColorLine(builder, ConsoleColor.Blue);
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#endregion
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commonStackerCrane.LastTaskType = task.TaskType;
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_taskService.UpdateTaskStatusToNext(task.TaskNum);
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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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return Task.CompletedTask;
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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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Automatic = commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.Automatic),
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Fault = commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.Fault),
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Running = commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.Running),
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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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//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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#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("CommonStackerStationCraneJob", "test", ex);
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}
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return Task.CompletedTask;
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}
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/// <summary>
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/// 任务完成事件订阅的方法
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void CommonStackerCrane_StackerCraneTaskCompletedEventHandler(object? sender, WIDESEAWCS_QuartzJob.StackerCrane.StackerCraneTaskCompletedEventArgs e)
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{
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CommonStackerStationCrane? commonStackerCrane = sender as CommonStackerStationCrane;
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if (commonStackerCrane != null)
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{
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if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
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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 content = _taskService.StackCraneTaskCompleted(e.TaskNum);
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commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
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var isWorkType = commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
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str = $"{commonStackerCrane.DeviceName}】WMS|WCS任务完成：【{content.Status}】,堆垛机完成信号写入：【{isWorkType}】,任务号：【{e.TaskNum}】时间【{DateTime.Now}】";
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WriteInfo(commonStackerCrane.DeviceName, str);
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ConsoleHelper.WriteColorLine(str, ConsoleColor.Blue);
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}
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}
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}
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public void StackerCraneTaskFinish(CommonStackerCrane commonStackerCrane, int TaskNum)
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{
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if (commonStackerCrane != null)
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{
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#region 日志记录
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ConsoleHelper.WriteColorLine($"【{commonStackerCrane.DeviceName}】堆垛机作业状态：【】时间【{DateTime.Now}】", ConsoleColor.Magenta);
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string str = $"【{commonStackerCrane.DeviceName}】任务完成,任务号：【{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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#endregion
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var task = _taskRepository.QueryFirst(x => x.TaskNum == TaskNum);
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if (task != null)
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{
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var content = _taskService.StackCraneTaskCompleted(TaskNum);
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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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if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
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if (task == null)
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{
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task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
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}
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}
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else
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{
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task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
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}
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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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ConsoleHelper.WriteErrorLine($"任务号：【{task.TaskNum}】出库地址：【{task.NextAddress}】不允许放货");
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task = FindAnotherOutboundTask(commonStackerCrane.DeviceCode, task);
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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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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 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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var stationinfo = _stationManagerRepository.QueryFirst(x => x.stationChildCode==task.NextAddress && x.Roadway == task.Roadway);
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationinfo.stationPLC);
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if (device != null)
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{
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CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
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if (conveyorLine.IsOccupiedx(stationinfo.stationChildCode))//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【{task.NextAddress}】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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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（排除不可出的出库口任务）
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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, Dt_Task task)
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{
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// 先获取所有符合条件（排除不可出的）的出库任务列表
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var allOutboundTasks = _taskService.QueryAllOutboundTasks(deviceCode);
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Console.WriteLine(allOutboundTasks.Count);
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var availableTasks = allOutboundTasks?.Where(t => t.TargetAddress != task.TargetAddress && t.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup).ToList();
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Console.WriteLine("其他出库口任务：" + availableTasks?.Count);
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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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ConsoleHelper.WriteErrorLine($"任务号：【{candidateTask.TaskNum}】出库地址：【{candidateTask.NextAddress}】不允许放货");
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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.TaskNum = (byte)Convert.ToSByte(task.TaskNum);
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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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Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.Roadway == task.Roadway && x.stationChildCode == task.CurrentAddress);
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if (stationManager != null)
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{
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stackerCraneTaskCommand.WorkType = (byte)Convert.ToSByte(17);
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string[] sourceCodes = stationManager.stationLocation.Split("-");
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if (sourceCodes.Length == 3)
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{
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stackerCraneTaskCommand.StartRow = (byte)Convert.ToSByte(sourceCodes[0]);
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stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(sourceCodes[1]);
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stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(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, $"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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string[] targetCodes = task.TargetAddress.Split("-");
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if (targetCodes.Length == 3)
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{
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stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(targetCodes[0]);
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stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(targetCodes[1]);
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stackerCraneTaskCommand.EndLayer = (byte)Convert.ToSByte(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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stackerCraneTaskCommand.WorkType = (byte)Convert.ToSByte(18);
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Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.Roadway == task.Roadway && x.stationChildCode == task.NextAddress);
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if (stationManager != 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 = (byte)Convert.ToSByte(sourceCodes[0]);
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stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(sourceCodes[1]);
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stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(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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string[] targetCodes = stationManager.stationLocation.Split("-");
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if (targetCodes.Length == 3)
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{
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stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(targetCodes[0]);
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stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(targetCodes[1]);
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stackerCraneTaskCommand.EndLayer = (byte)Convert.ToSByte(targetCodes[2]);
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}
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else
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{
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//数据配置错误
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"出库任务起点错误，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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stackerCraneTaskCommand.WorkType = (byte)Convert.ToSByte(20);
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string[] sourceCodes = task.SourceAddress.Split("-");
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if (sourceCodes.Length == 3)
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{
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stackerCraneTaskCommand.StartRow = (byte)Convert.ToSByte(Convert.ToInt16(sourceCodes[0]) % 2 != 0 ? (short)1 : (short)2);
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stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(sourceCodes[1]);
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stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(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, $"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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string[] targetCodes = task.TargetAddress.Split("-");
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if (targetCodes.Length == 3)
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{
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stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(Convert.ToInt16(targetCodes[0]) % 2 != 0 ? (short)1 : (short)2);
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stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(targetCodes[1]);
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stackerCraneTaskCommand.EndLayer = (byte)Convert.ToSByte(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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}
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return stackerCraneTaskCommand;
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}
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}
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}
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