using Newtonsoft.Json;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.Logical;
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using Quartz;
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using SqlSugar;
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using SqlSugar.Extensions;
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using System.Collections.Generic;
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using System.Diagnostics.CodeAnalysis;
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using System.Threading.Tasks;
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using WIDESEA_Core.Enums;
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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_DTO.Enum;
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using WIDESEAWCS_IBasicInfoRepository;
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using WIDESEAWCS_ISystemRepository;
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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.DTO;
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using WIDESEAWCS_QuartzJob.Models;
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using WIDESEAWCS_QuartzJob.Service;
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using WIDESEAWCS_QuartzJob.StackerCrane;
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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 static Microsoft.EntityFrameworkCore.DbLoggerCategory.Database;
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using ICacheService = WIDESEAWCS_Core.Caches.ICacheService;
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namespace WIDESEAWCS_Tasks
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{
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[DisallowConcurrentExecution]
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public class CommonStackerCraneJob : 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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public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository,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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}
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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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if (commonStackerCrane.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneStatusValue == StackerCraneStatus.Normal)
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{
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commonStackerCrane.CheckStackerCraneTaskCompleted();//检测堆垛机任务完成事件
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if (commonStackerCrane.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Idle)
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{
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if (commonStackerCrane.GetValue<StackerCraneDBName, float>(StackerCraneDBName.Electricity) > 20)
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{
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GetTask(commonStackerCrane);
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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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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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commonStackerCrane.StackerCraneStatusDes,
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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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SourceAddress = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.StartAddress),
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TargetAddress = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.EndAddress),
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Command = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.Command),
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Electricity = commonStackerCrane.GetValue<StackerCraneDBName, float>(StackerCraneDBName.Electricity),
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};
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_noticeService.StackerData(userIds?.FirstOrDefault(), userTokenIds, new { commonStackerCrane.DeviceName, data = obj });
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}
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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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//Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
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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, 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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_taskService.StackCraneTaskCompleted(e.TaskNum);
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commonStackerCrane.SetValue(StackerCraneDBName.TaskCompleted, 1);
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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 void GetTask(CommonStackerCrane commonStackerCrane)
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{
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Dt_Task task;
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task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
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if (task != null)
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{
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if (task.Roadway == "3")
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{
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if (AGVToSandyEdgeRead(commonStackerCrane))
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{
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WriteAGVTask(task, commonStackerCrane);
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}
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else
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{
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AGVToSandyEdge(commonStackerCrane);
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}
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}
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else if (task.Roadway == "2")
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{
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if (AGVToEdgeBandingRead(commonStackerCrane))
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{
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WriteAGVTask(task, commonStackerCrane);
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}
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else
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{
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AGVToEdgeBanding(commonStackerCrane);
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}
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}
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else
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{
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WriteAGVTask(task, commonStackerCrane);
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}
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}
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}
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public void WriteAGVTask(Dt_Task task, CommonStackerCrane commonStackerCrane)
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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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bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
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Thread.Sleep(2000);
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if (ReadReceived(commonStackerCrane) == 1)
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{
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if (Clear(commonStackerCrane))
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{
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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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/// <summary>
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/// 读取AGV收到作业信号
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/// </summary>
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/// <param name="commonStackerCrane"></param>
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/// <returns></returns>
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public int ReadReceived(CommonStackerCrane commonStackerCrane)
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{
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return commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.Received);
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}
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/// <summary>
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/// 调度AGV去封边区域
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/// </summary>
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/// <param name="commonStackerCrane"></param>
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/// <param name="value"></param>
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public void AGVToEdgeBanding(CommonStackerCrane commonStackerCrane)
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{
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DeviceProDTO? devicePro = commonStackerCrane.DeviceProDTOs.Where(x => x.DeviceProParamType == "AreaWrite" && x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "AreaWrite").OrderBy(x => x.DeviceProOffset).FirstOrDefault();
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commonStackerCrane.Communicator.Write(devicePro.DeviceProAddress, true);
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commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 3);
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commonStackerCrane.SetValue(StackerCraneDBName.WriteConfirm, 1);
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Thread.Sleep(1000);
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if (ReadReceived(commonStackerCrane) == 1)
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{
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Clear(commonStackerCrane);
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}
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}
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/// <summary>
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/// 读取AGV是否在砂边
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/// </summary>
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/// <param name="commonStackerCrane"></param>
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/// <returns></returns>
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public bool AGVToSandyEdgeRead(CommonStackerCrane commonStackerCrane)
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{
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DeviceProDTO? devicePro = commonStackerCrane.DeviceProDTOs.Where(x => x.DeviceProParamType == "AreaRead" && x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "AreaRead").OrderBy(x => x.DeviceProOffset).FirstOrDefault();
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if (devicePro == null)
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{
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ConsoleHelper.WriteColorLine($"【未找到配置调度AGV区域协议】", ConsoleColor.Magenta);
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return false;
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}
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string[] x = devicePro.DeviceProAddress.Split('.');
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x[x.Length - 1] = (int.Parse(x[x.Length - 1]) + 1).ToString();
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string DeviceProAddress = string.Join(".", x);
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bool read = commonStackerCrane.Communicator.Read<bool>(DeviceProAddress);
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return read;
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}
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public bool Clear(CommonStackerCrane commonStackerCrane)
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{
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DeviceProDTO? devicePro = commonStackerCrane.DeviceProDTOs.Where(x => x.DeviceProParamType == "WriteConfirm" && x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "WriteConfirm").OrderBy(x => x.DeviceProOffset).FirstOrDefault();
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if (devicePro == null)
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{
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ConsoleHelper.WriteColorLine($"【未找到配置调度AGV区域协议】", ConsoleColor.Magenta);
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return false;
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}
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commonStackerCrane.Communicator.Write(devicePro.DeviceProAddress,Convert.ToInt16(0));
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for (int i = 0; i < 6; i++)
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{
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if (i == 5)
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{
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return false;
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}
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else
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{
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int read = commonStackerCrane.Communicator.Read<int>(devicePro.DeviceProAddress);
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if (read == 0)
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{
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return true;
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}
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else
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{
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commonStackerCrane.Communicator.Write(devicePro.DeviceProAddress, Convert.ToInt16(0));
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}
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}
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}
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return false;
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}
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/// <summary>
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/// 读取AGV是否在封边
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/// </summary>
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/// <param name="commonStackerCrane"></param>
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/// <returns></returns>
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public bool AGVToEdgeBandingRead(CommonStackerCrane commonStackerCrane)
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{
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DeviceProDTO? devicePro = commonStackerCrane.DeviceProDTOs.Where(x => x.DeviceProParamType == "AreaRead" && x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "AreaRead").OrderBy(x => x.DeviceProOffset).FirstOrDefault();
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if (devicePro == null)
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{
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ConsoleHelper.WriteColorLine($"【未找到配置调度AGV区域协议】", ConsoleColor.Magenta);
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return false;
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}
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return commonStackerCrane.Communicator.Read<bool>(devicePro.DeviceProAddress);
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}
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/// <summary>
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/// 调度AGV去砂边区域
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/// </summary>
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/// <param name="commonStackerCrane"></param>
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/// <param name="value"></param>
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public void AGVToSandyEdge(CommonStackerCrane commonStackerCrane)
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{
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DeviceProDTO? devicePro = commonStackerCrane.DeviceProDTOs.Where(x => x.DeviceProParamType == "AreaWrite" && x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "AreaWrite").OrderBy(x => x.DeviceProOffset).FirstOrDefault();
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if (devicePro == null)
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{
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ConsoleHelper.WriteColorLine($"【未找到配置调度AGV区域协议】", ConsoleColor.Magenta);
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return;
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}
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string[] x = devicePro.DeviceProAddress.Split('.');
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x[x.Length - 1] = (int.Parse(x[x.Length - 1]) + 1).ToString();
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string DeviceProAddress = string.Join(".", x);
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commonStackerCrane.Communicator.Write(DeviceProAddress, true);
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commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 4);
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commonStackerCrane.SetValue(StackerCraneDBName.WriteConfirm, 1);
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Thread.Sleep(1000);
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if (ReadReceived(commonStackerCrane) == 1)
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{
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Clear(commonStackerCrane);
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}
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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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var SourceAddress = _stationManagerRepository.QueryFirst(x => x.stationName == task.SourceAddress);
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var TargetAddress = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
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if(SourceAddress == null || TargetAddress == null)
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{
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ConsoleHelper.WriteColorLine($"【任务{JsonConvert.SerializeObject(task)}未找到站台配置】", ConsoleColor.Magenta);
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return null;
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}
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StackerCraneTaskCommand stackerCraneTaskCommand = new StackerCraneTaskCommand();
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stackerCraneTaskCommand.TaskNum = task.TaskNum;
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stackerCraneTaskCommand.WorkType = 1;
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stackerCraneTaskCommand.WriteConfirm = 1;
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stackerCraneTaskCommand.StartAddress = Convert.ToInt16(SourceAddress.stationCode);
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stackerCraneTaskCommand.EndAddress = Convert.ToInt16(TargetAddress.stationCode);
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return stackerCraneTaskCommand;
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}
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}
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}
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