using HslCommunication;
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using Microsoft.EntityFrameworkCore;
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using System;
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using System.Linq;
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using System.Threading;
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using System.Threading.Tasks;
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using WIDESEA_Common;
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using WIDESEA_Common.DBHelper;
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using WIDESEA_Common.Tools;
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using WIDESEA_Core.EFDbContext;
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using WIDESEA_Entity.DomainModels;
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using WIDESEA_Services.IRepositories;
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using WIDESEA_Services.Repositories;
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using WIDESEA_WCS.EquipBaseInfo;
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using WIDESEA_WCS.WCSClient;
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namespace WIDESEA_WCS.SchedulerExecute.AGV
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{
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public partial class AGVSchedulerExecute
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{
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private static int _readSendAGVTaskSignalso = 0;
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private static bool isTrue1 = false;
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private static string name1 = "";
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public static void SendAGVTask1(PLCClient plcClient)
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{
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try
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{
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if (plcClient == null) { return; }
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VOLContext context = new VOLContext();
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Idt_agvtaskRepository agvtaskRepository = new dt_agvtaskRepository(context);
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Ibase_ware_locationRepository locationRepository = new base_ware_locationRepository(context);
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int TaskInteractive = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskInteractiveR.ToString()));//1收到
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int TaskInteractiveW = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskInteractiveW.ToString()));//0初始/1下发/2取消/3更改
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int resetTaskInteractiveW = Convert.ToInt32(plcClient.ReadValue(TaskDBName.resetTaskInteractiveW.ToString()));
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if (TaskInteractive == 0 && TaskInteractiveW == 0)
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{
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dt_agvtask agvTask = agvtaskRepository.Find(r => r.agv_taskstate == "Create" && r.agv_code == plcClient.PLCName && r.agv_tasktype.Contains("TaskType_Outbound")).OrderBy(r => r.agv_createtime).OrderByDescending(r => r.agv_grade).FirstOrDefault();
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if (null != agvTask)
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{
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//写入任务信息
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string rel = AGVBaseInfo.TaskWrite(plcClient, agvTask, AGVJobEnum.newTaskEnum);
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if (string.IsNullOrEmpty(rel))
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{
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Thread.Sleep(500);
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for (int i = 0; i < 5; i++)
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{
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Thread.Sleep(200);
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string taskId = plcClient.ReadValue(TaskDBName.taskID.ToString()).ToString();
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if (taskId != agvTask.agv_tasknum)
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{
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if (i < 4)
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AGVBaseInfo.TaskWrite(plcClient, agvTask, AGVJobEnum.newTaskEnum);
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else
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return;
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}
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else
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{
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break;
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}
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}
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//写入任务确认1
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bool taskInteractiveW = plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 1);
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for (int i = 0; i < 5; i++)
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{
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Thread.Sleep(200);
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object readValue = plcClient.ReadValue(TaskDBName.taskInteractiveW.ToString());
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if (readValue != null && readValue.ToString() == "1")
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{
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break;
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}
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else
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{
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 1);
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}
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}
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}
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}
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}
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else if (TaskInteractive == 11 && TaskInteractiveW == 1)
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{
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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for (int i = 0; i < 5; i++)
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{
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Thread.Sleep(200);
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object readValue = plcClient.ReadValue(TaskDBName.taskInteractiveW.ToString());
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if (readValue != null && readValue.ToString() == "0")
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{
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break;
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}
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else
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{
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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}
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}
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}
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else if (1 == TaskInteractive && TaskInteractiveW == 1)
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{
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string taskId = plcClient.ReadValue(TaskDBName.taskID.ToString()).ToString();
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var agvTask = agvtaskRepository.FindFirst(x => x.agv_tasknum == taskId);
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if (agvTask != null)
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{
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if (agvTask.agv_taskstate != AGVTaskStateEnum.SendOut.ToString())
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agvTask.agv_taskstate = AGVTaskStateEnum.SendOut.ToString();
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agvTask.agv_realesstime = DateTime.Now;
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agvtaskRepository.Update(agvTask, true);
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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for (int i = 0; i < 5; i++)
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{
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Thread.Sleep(200);
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object readValue = plcClient.ReadValue(TaskDBName.taskInteractiveW.ToString());
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if (readValue != null && readValue.ToString() == "0")
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{
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break;
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}
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else
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{
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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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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//throw new Exception(ex.Message);
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WriteLog.Info($"{plcClient.PLCName}SendAGVTask").Write(ex.Message, $"{plcClient.PLCName}SendAGVTask");
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}
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}
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private static void updateloction(dt_agvtask aTask, Ibase_ware_locationRepository locationRepository, Idt_agvtaskRepository agvtaskRepository)
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{
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if (aTask != null)
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{
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if (aTask.agv_toaddress.Contains("HCJ") && aTask.agv_fromaddress.Contains("SB"))
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{
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if (aTask.agv_remark.Contains("辊分下料任务"))
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{
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if (aTask.agv_toaddress.Contains("ZJ-GFHCJ10-"))
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{
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string NUM = aTask.agv_toaddress.Remove(11) + "4";
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base_ware_location location = locationRepository.FindFirst(x => x.upper_code == NUM);
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if (location != null)
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{
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string lotionCode = aTask.agv_toaddress.Remove(11);
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dt_agvtask Agvtask = agvtaskRepository.FindFirst(d => d.agv_tasknum != aTask.agv_tasknum && d.agv_toaddress.Contains(lotionCode));
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if (Agvtask == null)
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{
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location.logic_col = 0;
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location.logic_row = "0";
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location.task = 2;
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locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task }, true);
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}
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}
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}
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else
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{
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string NUM = aTask.agv_toaddress.Remove(10) + "4";
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base_ware_location location = locationRepository.FindFirst(x => x.upper_code == NUM);
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if (location != null)
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{
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string lotionCode = aTask.agv_toaddress.Remove(10);
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dt_agvtask Agvtask = agvtaskRepository.FindFirst(d => d.agv_tasknum != aTask.agv_tasknum && d.agv_toaddress.Contains(lotionCode));
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if (Agvtask == null)
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{
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location.logic_col = 0;
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location.logic_row = "0";
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location.task = 2;
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locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task }, true);
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}
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}
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}
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}
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else
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{
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base_ware_location location = locationRepository.FindFirst(x => x.upper_code == aTask.agv_toaddress);
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location.logic_col = 0;
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location.logic_row = "0";
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location.task = 2;
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locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task }, true);
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}
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}
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else if (aTask.agv_toaddress.Contains("SB") && aTask.agv_fromaddress.Contains("HCJ"))
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{
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base_ware_location location = locationRepository.FindFirst(x => x.upper_code == aTask.agv_fromaddress);
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location.logic_col = 0;
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location.logic_row = "0";
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location.task = 2;
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locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task }, true);
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}
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else if (aTask.agv_toaddress.Contains("HCJ") && aTask.agv_fromaddress.Contains("HCJ"))
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{
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base_ware_location location = locationRepository.FindFirst(x => x.upper_code == aTask.agv_toaddress);
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location.logic_col = 0;
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location.logic_row = "0";
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location.task = 2;
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locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task }, true);
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base_ware_location location1 = locationRepository.FindFirst(x => x.upper_code == aTask.agv_fromaddress);
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location1.logic_col = 0;
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location1.logic_row = "0";
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location1.task = 2;
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var entry = locationRepository.DbContext.ChangeTracker.Entries<base_ware_location>().FirstOrDefault();
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if (entry != null)
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{
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entry.State = EntityState.Detached;
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}
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int a = locationRepository.Update(location1, x => new { x.logic_col, x.logic_row, x.task }, true);
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if (a != 1)
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{
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////WriteLog.Info("AGV任务反馈5").Write($"任务号:{aTask.agv_tasknum},起点地址:{aTask.agv_fromaddress},修改失败：{a}，时间: {DateTime.Now}", "AGV任务反馈5");
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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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