using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Net;
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using System.Text;
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using System.Threading.Tasks;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_DTO;
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using WIDESEAWCS_Model.Models;
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namespace WIDESEAWCS_Tasks
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{
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public partial class TaskJob
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{
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#region 下发任务
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/// <summary>
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/// 下发任务
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/// </summary>
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public void SendNewTask()
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{
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try
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{
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var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.New).ToList();
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if (newTasks.Count > 0)
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{
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#region 查找凯乐士任务
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//var Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.MLInbound || x.TaskType == (int)TaskTypeEnum.MLOutbound).OrderByDescending(x => x.Grade).ToList();
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//if (Tasks.Count > 0) SendGALAXISTask(Tasks);
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#endregion
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#region 查找RGV任务
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var Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.CPInbound).OrderByDescending(x => x.Grade).ToList();
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if (Tasks.Count > 0) SendRGVNewInTask(Tasks);
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Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.CPOutbound).OrderByDescending(x => x.Grade).ToList();
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if (Tasks.Count > 0) IsMoveTask(Tasks);
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#endregion
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//#region 查找海康AGV任务
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//Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.F01 || x.TaskType == (int)TaskTypeEnum.RK3F || x.TaskType == (int)TaskTypeEnum.CK3F || x.TaskType == (int)TaskTypeEnum.Q1TSJ4 || x.TaskType == (int)TaskTypeEnum.STU0003 || x.TaskType == (int)TaskTypeEnum.F02 || x.TaskType == (int)TaskTypeEnum.CHUKU1 || x.TaskType == (int)TaskTypeEnum.Q3RK || x.TaskType == (int)TaskTypeEnum.Q3CK).OrderByDescending(x => x.Grade).ToList();
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//if (Tasks.Count > 0) HIKROBOTTask(Tasks);
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//#endregion
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#region 下发海康1到6楼的AGV任务/下发海康6到1楼的AGV任务
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Tasks = newTasks.Where(x => (x.TaskType == (int)TaskTypeEnum.Q3CK) || x.TaskType == (int)TaskTypeEnum.Q3RK||x.TaskType==(int)TaskTypeEnum.F01).OrderByDescending(x => x.Grade).ToList();
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if (Tasks.Count > 0) SendAGVTask(Tasks);
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#endregion
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}
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}
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catch (Exception ex)
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{
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WriteError(nameof(TaskJob), ex.Message, ex);
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}
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}
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#endregion
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#region 下发待执行任务
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/// <summary>
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/// 下发待执行任务
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/// </summary>
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public void SendWaitToTask()
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{
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try
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{
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var ExecutTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState != (int)TaskStatusEnum.New).ToList();
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if (ExecutTasks.Count > 0)
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{
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#region 下发待外形检测任务
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var Tasks = ExecutTasks.Where(x => x.TaskType == (int)TaskTypeEnum.CPInbound && x.TaskState == (int)TaskStatusEnum.WaiCheckShape).OrderByDescending(x => x.Grade).ToList();
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if (Tasks.Count > 0) SendRGVCheckShapeTask(Tasks);
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#endregion
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#region 下发外形检测通过的四向车任务
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Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.CheckShapeingOk && string.IsNullOrEmpty(x.ExceptionMessage)).OrderByDescending(x => x.Grade).ToList();
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if (Tasks.Count > 0) SendCheckShapeingOkTask(Tasks);
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#endregion
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#region 下发外形检测失败的四向车任务
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Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.CheckShapeingNG).OrderByDescending(x => x.Grade).ToList();
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if (Tasks.Count > 0) SendCheckShapeingNGTask(Tasks);
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Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.CheckShapeingOk && x.ExceptionMessage.Contains("未找到终点库区")).ToList();
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if (Tasks.Count > 0) SendCheckShapeingNGTask(Tasks);
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#endregion
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#region 下发四向车批量移库任务
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Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.RGV_NewMoveTask).ToList();
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if (Tasks.Count > 0) SendMoveTasks(Tasks);
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#endregion
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#region 处理待移库后四向车出库任务
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Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.RGV_WaitMoveToExecute).OrderByDescending(x => x.Grade).ToList();
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if (Tasks.Count > 0) MoveToExecuteTask(Tasks);
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#endregion
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#region 下发四向车出库任务
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Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.RGV_WaitSend).OrderByDescending(x => x.Grade).ToList();
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if (Tasks.Count > 0) SendOutTask(Tasks);
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#endregion
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#region 下发外设允许进入的海康AGV任务
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//Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.AGV_WaitToExecute).OrderByDescending(x => x.Grade).ToList();
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//if (Tasks.Count > 0) SendAGVWaitToExecuteTask(Tasks);
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#endregion
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#region 下发托盘确认完成的海康AGV任务
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//Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.CheckPalletCodeFinish).OrderByDescending(x => x.Grade).ToList();
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//if (Tasks.Count > 0) SendAGVWaitToExecuteTask(Tasks);
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#endregion
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#region 处理agv待空车搬运任务
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Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.HkTransportCompleted).OrderByDescending(x => x.Grade).ToList();
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if (Tasks.Count > 0) SendHKWaitTask(Tasks);
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#endregion
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}
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}
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catch (Exception ex)
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{
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WriteError(nameof(TaskJob), ex.Message, ex);
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}
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}
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#endregion
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}
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}
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