using Microsoft.IdentityModel.Tokens;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
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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.Text;
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using System.Threading.Tasks;
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using WIDESEA_DTO.Agv;
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using WIDESEAWCS_Common;
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using WIDESEAWCS_Common.APIEnum;
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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.Agv;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob;
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using WIDESEAWCS_TaskInfoService;
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namespace WIDESEAWCS_Tasks
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{
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public partial class AGVJob
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{
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public void SendAGVTask()
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{
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try
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{
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var newTasksOut = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()) && x.TaskType==TaskTypeEnum.Outbound.ObjToInt() && x.DeviceCode == "AGV").ToList().OrderBy(x => x.Grade).ThenBy(x => x.TaskNum).ToList();
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var newTasksIn = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()) && x.TaskType == TaskTypeEnum.Inbound.ObjToInt() && x.DeviceCode == "AGV").ToList().OrderBy(x => x.Grade).ThenBy(x => x.TaskNum).ToList();
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var taskDownOut = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState > TaskStatusEnum.AGV_Execute.ObjToInt()) && x.TaskType == TaskTypeEnum.Outbound.ObjToInt() && x.DeviceCode == "AGV").OrderBy(x => x.TaskNum).ToList();
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#region 出库任务下发
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if (newTasksOut.Count>0)
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{
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WriteLog.Write_Log("AGV出库任务下发", "出库任务下发接口", "添加任务", $"任务：{newTasksOut.ToJson()}");
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foreach (var GroupTask in newTasksOut.GroupBy(x=>x.NextAddress))
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{
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int taskCount = 6;
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if (GroupTask.ObjToInt() > 201)
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{
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taskCount = 4;
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}
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var tasks = GroupTask.Take(taskCount).ToList();
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TimeSpan span = DateTime.Now - tasks.FirstOrDefault().CreateDate;
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int taskDownCount = taskDownOut.Where(x => x.NextAddress == GroupTask.Key).Count();
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if (taskDownCount < (GroupTask.ObjToInt() > 201 ? 4 : 6) && (tasks.Count >= 4 || (int)span.TotalSeconds >= 20))
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{
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try
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{
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AgvTaskSendDTO agvTaskSend = new AgvTaskSendDTO()
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{
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MissionData = new List<MissionDataItem>()
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};
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string taskGroupId = Guid.NewGuid().ToString().Replace("-", "");
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foreach (var task in tasks)
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{
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//获取目标点货位
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Dt_LocationInfo locationInfoStart = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.CurrentAddress);
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//获取拣选出库站台
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Dt_StationManger stationMangerEnd = _stationMangerRepository.QueryFirst(x => x.PickStationCode == task.NextAddress);
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if (locationInfoStart == null || stationMangerEnd == null) throw new Exception($"未找到任务号${task.TaskNum}起始点{task.CurrentAddress}或目标点{task.NextAddress}位置信息");
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agvTaskSend.RequestId = taskGroupId;
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agvTaskSend.MissionCode = taskGroupId;
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agvTaskSend.ViewBoardType = "W01";
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//料箱子搬运任务
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MissionDataItem missionDataItem = new MissionDataItem()
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{
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Sequence = task.TaskNum,
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BinCode = task.PalletCode,
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StartPosition = locationInfoStart.AgvPoint,
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StartSlotCode = locationInfoStart.LocationCode,
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EndPosition = stationMangerEnd.StationCode,
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EndSlotCode = stationMangerEnd.CraneStationCode,
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TakeActionConfirm = false,
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TakeActionInform = false,
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PutActionConfirm = true,
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PutActionInform = true,
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};
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agvTaskSend.MissionData.Add(missionDataItem);
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}
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if (tasks.OrderByDescending(x => x.Grade).FirstOrDefault()?.Grade == 0)
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{
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agvTaskSend.Priority = 99;
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}
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else
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{
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agvTaskSend.Priority = 99 - tasks.OrderByDescending(x => x.Grade).FirstOrDefault().Grade;
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}
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tasks.ForEach(x =>
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{
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x.GroupId = taskGroupId;
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});
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//发送AGV任务
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WebResponseContent content = _taskService.AgvSendTask(agvTaskSend, APIEnum.AgvSendTask);
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if (!content.Status)
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throw new Exception(content.Message);
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tasks.ForEach(x =>
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{
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x.Dispatchertime = DateTime.Now;
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x.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
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});
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_taskService.UpdateData(tasks);
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Thread.Sleep(500);
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}
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catch (Exception ex)
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{
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tasks.ForEach(x =>
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{
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x.TaskState = TaskStatusEnum.Exception.ObjToInt();
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x.ExceptionMessage = ex.Message;
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});
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_taskService.UpdateData(tasks);
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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 入库任务下发
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if (newTasksIn.Count > 0)
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{
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WriteLog.Write_Log("AGV入库任务下发", "出库任务下发接口", "添加任务", $"任务：{newTasksIn.ToJson()}");
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foreach (var task in newTasksIn)
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{
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try
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{
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AgvTaskSendDTO agvTaskSend = new AgvTaskSendDTO()
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{
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MissionData = new List<MissionDataItem>()
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};
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//获取目标点货位
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Dt_LocationInfo locationInfoEnd = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.NextAddress);
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//获取线体入库站台
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Dt_StationManger stationMangerStart = _stationMangerRepository.QueryFirst(x => x.StationCode == task.CurrentAddress);
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if (locationInfoEnd == null || stationMangerStart == null) throw new Exception($"未找到任务号${task.TaskNum}起始点{task.CurrentAddress}或目标点{task.NextAddress}位置信息");
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agvTaskSend.RequestId = Guid.NewGuid().ToString().Replace("-", "");
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agvTaskSend.MissionCode = task.TaskNum.ToString();
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agvTaskSend.ViewBoardType = "W02";
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if (task.Grade == 0)
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{
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agvTaskSend.Priority = 99;
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}
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else
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{
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agvTaskSend.Priority = 99 - task.Grade;
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}
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//料箱子搬运任务
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MissionDataItem missionDataItem = new MissionDataItem()
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{
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Sequence = task.TaskNum,
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BinCode = task.PalletCode,
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StartPosition = stationMangerStart.StationCode,
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StartSlotCode = stationMangerStart.CraneStationCode,
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EndPosition = locationInfoEnd.AgvPoint,
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EndSlotCode = locationInfoEnd.LocationCode,
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TakeActionConfirm = true,
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TakeActionInform = true,
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PutActionConfirm = false,
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PutActionInform = false,
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};
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agvTaskSend.MissionData.Add(missionDataItem);
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//发送AGV任务
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WebResponseContent content = _taskService.AgvSendTask(agvTaskSend, APIEnum.AgvSendTask);
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if (!content.Status)
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throw new Exception(content.Message);
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task.Dispatchertime = DateTime.Now; task.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
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_taskService.UpdateData(task);
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Thread.Sleep(500);
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}
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catch (Exception ex)
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{
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task.TaskState = TaskStatusEnum.Exception.ObjToInt();
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task.ExceptionMessage = ex.Message;
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_taskService.UpdateData(task);
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}
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}
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}
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#endregion
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}
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catch (Exception ex)
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{
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WriteError(nameof(AGVJob), ex.Message, ex);
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}
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}
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}
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}
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