using Microsoft.AspNetCore.Components.Routing;
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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.Diagnostics.CodeAnalysis;
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using System.Linq;
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using System.Security.Policy;
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using System.Text;
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using System.Threading.Tasks;
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using WIDESEAWCS_Common.Http;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.Enums;
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using WIDESEAWCS_Core.Helper;
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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_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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public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService)
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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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}
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public string url = AppSettings.Configuration["WMS"];
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public Task Execute(IJobExecutionContext context)
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{
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CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
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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.Automatic && commonStackerCrane.StackerCraneStatusValue == StackerCraneStatus.Normal)
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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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WriteDebug(nameof(CommonStackerCraneJob), $"堆垛机开始执行，获取任务号");
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Dt_Task? task = GetTask(commonStackerCrane);
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if (task != null)
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{
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WriteDebug(nameof(CommonStackerCraneJob), $"堆垛机开始执行，任务号：{task.TaskNum}");
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StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
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int isIn = commonStackerCrane.Communicator.Read<byte>("DB106.12.0");
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if((task.TaskType == (int)TaskOutboundTypeEnum.Outbound|| task.TaskType == (int)TaskOutboundTypeEnum.OutInventory) &&isIn==1)//如果在入库中，不允计下发出库任务
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{
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WriteDebug(nameof(CommonStackerCraneJob), $"出库校验，在入库中，不允计下发出库类型任务，任务号：{task.TaskNum}");
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return Task.CompletedTask;
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}
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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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if (task.TaskType == (int)TaskInboundTypeEnum.Inbound|| task.TaskType == (int)TaskInboundTypeEnum.InInventory||task.TaskType==(int)TaskInboundTypeEnum.InPick)
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{
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_taskService.UpdateTaskStatus(task.TaskId, (int)TaskInStatusEnum.SC_InExecuting);
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_taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机入库执行中");
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WriteDebug(nameof(CommonStackerCraneJob), $"WCS堆垛机入库执行中，开始回写WMS任务状态，任务号：{task.TaskNum}");
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var response = HttpHelpers.Post<WebResponseContent>(url.Replace("PDA", "Task") + "UpdateTaskStatus?taskNum=" + task.TaskNum, "", "更新任务状态");
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if(response.Status==true)
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{
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WriteDebug(nameof(CommonStackerCraneJob), $"WCS堆垛机入库执行中，回写WMS任务状态成功，任务号：{task.TaskNum}");
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}
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else
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{
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WriteDebug(nameof(CommonStackerCraneJob), $"WCS堆垛机入库执行中，回写WMS任务状态失败，任务号：{task.TaskNum}，失败原因{response.Message}");
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}
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}
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else if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound|| task.TaskType == (int)TaskOutboundTypeEnum.OutInventory)
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{
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_taskService.UpdateTaskStatus(task.TaskId, (int)TaskOutStatusEnum.SC_OutExecuting);
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_taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库执行中");
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var response = HttpHelpers.Post<WebResponseContent>(url.Replace("PDA", "Task") + "UpdateTaskStatus?taskNum=" + task.TaskNum, "", "更新任务状态");
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if (response.Status == true)
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{
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WriteDebug(nameof(CommonStackerCraneJob), $"WCS堆垛机入库执行中，回写WMS任务状态成功，任务号：{task.TaskNum}");
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}
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else
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{
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WriteDebug(nameof(CommonStackerCraneJob), $"WCS堆垛机入库执行中，回写WMS任务状态失败，任务号：{task.TaskNum}，失败原因{response.Message}");
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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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}
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}
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}
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catch (Exception ex)
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{
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WriteDebug(nameof(CommonStackerCraneJob), $"堆垛机执行异常，{ex.Message}");
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}
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if (commonStackerCrane != null)
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{
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//读取大堆垛机任务号和任务完成确认状态（因为封装的事件经常不触发，所以加个直接读的逻辑，以免出现堆垛机一直接处于等待wcs确认）
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byte IsOver = commonStackerCrane.Communicator.Read<byte>("DB106.22");
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int tasknum = commonStackerCrane.Communicator.Read<int>("DB106.18");
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//WriteDebug(nameof(CommonStackerCraneJob), $"大堆垛机SC01任务号堆垛机任务号：{tasknum}状态：{IsOver}");
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if (IsOver == 6)
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{
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if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
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{
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_taskService.StackCraneTaskCompleted(tasknum);
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WriteDebug(nameof(CommonStackerCraneJob), $"堆垛机WCS任务执行完成，任务号：{tasknum}");
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Console.Out.WriteLine("TaskCompleted" + tasknum);
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bool issuccess = commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
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if (issuccess)
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{
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WriteDebug(nameof(CommonStackerCraneJob), $"堆垛机任务号：{tasknum},堆垛机回写5成功");
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}
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}
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}
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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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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.WorkType) != 5)
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{
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Console.Out.WriteLine("TaskCompleted" + e.TaskNum);
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_taskService.StackCraneTaskCompleted(e.TaskNum);
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commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
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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.QueryStackerCraneTask("R01");
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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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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == router.ChildPosiDeviceCode);
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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.IsOccupied(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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/// 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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if(task.PalletCode.Substring(0,1)=="B")
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{
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stackerCraneTaskCommand.TrayType = 2;
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}
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else
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{
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stackerCraneTaskCommand.TrayType = 1;
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}
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//stackerCraneTaskCommand.TrayType = 1;
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string[] SourceCodes = task.SourceAddress.Split("-");
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if (SourceCodes.Length == 4)
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{
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stackerCraneTaskCommand.StartRow = Convert.ToInt16(SourceCodes[1]);
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stackerCraneTaskCommand.StartColumn = Convert.ToInt16(SourceCodes[2]);
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stackerCraneTaskCommand.StartLayer = Convert.ToInt16(SourceCodes[3]);
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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, $"任务源地址配置错误！");
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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 == 4)
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{
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stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[1]);
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stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[2]);
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stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[3]);
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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, $"任务目标地址配置错误");
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return null;
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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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