using HslCommunication;
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using Microsoft.AspNetCore.Components.Routing;
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using Newtonsoft.Json;
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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.Text;
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using System.Threading.Tasks;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Communicator;
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using WIDESEAWCS_Core.Enums;
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using WIDESEAWCS_IBasicRepository;
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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.Repository;
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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_TaskInfoService;
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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 DoubleStackerCraneJob : 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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private readonly IDeviceInfoService _deviceInfoService;
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private readonly IDeviceInfoRepository _deviceInfoRepository;
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private readonly ILocationInfoRepository _locationInfoRepository;
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public DoubleStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService, IDeviceInfoService deviceInfoService, IDeviceInfoRepository deviceInfoRepository, ILocationInfoRepository locationInfoRepository)
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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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_deviceInfoService = deviceInfoService;
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_deviceInfoRepository = deviceInfoRepository;
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_locationInfoRepository = locationInfoRepository;
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}
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public Task Execute(IJobExecutionContext context)
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{
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CommonStackerCrane? stackerCraneOne = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "SC02") as CommonStackerCrane;
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CommonStackerCrane? stackerCraneTwo = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "SC03") as CommonStackerCrane;
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try
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{
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Dt_Task? task = GetTask();
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if (task != null)
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{
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CommonStackerCrane? StackerCrane = GetStrackerCrane(task, stackerCraneOne, stackerCraneTwo);
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if (StackerCrane != null)
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{
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WriteDebug(nameof(DoubleStackerCraneJob), $"小堆垛机任务号{task.TaskNum}--{StackerCrane.DeviceCode}");
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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 = StackerCrane.SendCommand(stackerCraneTaskCommand); ;
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if (sendFlag)
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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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}
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else
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{
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, "堆垛机发送任务命令失败！");
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WriteDebug(nameof(DoubleStackerCraneJob), $"堆垛机发送任务命令失败！{task.TaskNum}");
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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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WriteDebug(nameof(DoubleStackerCraneJob), "未查询到当前可以执行上料任务的小堆垛机！");
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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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WriteError(nameof(DoubleStackerCraneJob), "小堆垛机执行任务异常！", ex);
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}
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try
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{
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if (stackerCraneOne != null)//SC02
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{
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byte IsOver = stackerCraneOne.Communicator.Read<byte>("DB106.22");
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int tasknum = stackerCraneOne.Communicator.Read<int>("DB106.18");
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WriteDebug(nameof(DoubleStackerCraneJob), $"小堆垛机SC02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 (stackerCraneOne.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
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{
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_taskService.StackCraneTaskCompleted(tasknum);
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Console.Out.WriteLine("TaskCompleted" + tasknum);
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bool issuccess = stackerCraneOne.SetValue(StackerCraneDBName.WorkType, 5);
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}
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}
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}
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if (stackerCraneTwo != null)//SC03
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{
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//读取堆垛机任务号和任务完成确认状态
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byte IsOver = stackerCraneTwo.Communicator.Read<byte>("DB106.22");
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int tasknum = stackerCraneTwo.Communicator.Read<int>("DB106.18");
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WriteDebug(nameof(DoubleStackerCraneJob), $"小堆垛机SC03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 (stackerCraneTwo.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
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{
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_taskService.StackCraneTaskCompleted(tasknum);
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Console.Out.WriteLine("TaskCompleted" + tasknum);
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bool issuccess = stackerCraneTwo.SetValue(StackerCraneDBName.WorkType, 5);
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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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WriteError(nameof(DoubleStackerCraneJob), "执行异常！", ex);
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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()
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{
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Dt_Task task;
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task = _taskService.QueryStackerCraneTask();
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return task;
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}
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/// <summary>
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/// 查询上料的堆垛机,先查询默认堆垛机，如果不正常，再查询另外一台堆垛机，如果都不正常返回null
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/// </summary>
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/// <returns></returns>
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private CommonStackerCrane? GetStrackerCrane(Dt_Task task, CommonStackerCrane stackerCraneOne, CommonStackerCrane stackerCraneTwo)
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{
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if(task.Roadway=="SC02")
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{
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if (stackerCraneOne != null)
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{
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if (stackerCraneOne.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && stackerCraneOne.StackerCraneStatusValue == StackerCraneStatus.Normal)
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{
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if (stackerCraneOne.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
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{
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return stackerCraneOne;
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}
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}
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else//SC02不能正常工作状态,这里需要判断sc02是否禁用，如果已禁用，才可以启动sc03
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{
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Dt_DeviceInfo deviceSC02 = _deviceInfoRepository.QueryFirst(x => x.DeviceCode == "SC02");
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if (deviceSC02.DeviceStatus=="0"&& stackerCraneTwo != null)
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{
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//if (!stackerCraneTwo.IsEventSubscribed)
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//{
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// stackerCraneTwo.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
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//}
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if (stackerCraneTwo.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && stackerCraneTwo.StackerCraneStatusValue == StackerCraneStatus.Normal)
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{
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//stackerCraneTwo.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 (stackerCraneTwo.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
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{
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//todo:任务表中的RoadWay切换为SC03
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return stackerCraneTwo;
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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
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{
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if(stackerCraneTwo != null)
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{
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if (stackerCraneTwo.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && stackerCraneTwo.StackerCraneStatusValue == StackerCraneStatus.Normal)
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{
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if (stackerCraneTwo.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
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{
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//todo:任务表中的RoadWay切换为SC03
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return stackerCraneTwo;
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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 (task.Roadway=="SC03")
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{
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if (stackerCraneTwo != null)
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{
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// if (!stackerCraneTwo.IsEventSubscribed)
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// {
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// stackerCraneTwo.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
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// }
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if (stackerCraneTwo.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && stackerCraneOne.StackerCraneStatusValue == StackerCraneStatus.Normal)
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{
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//stackerCraneTwo.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 (stackerCraneTwo.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
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{
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return stackerCraneTwo;
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}
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}
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else//SC03不能正常工作状态,这里需要判断sc03是否禁用，如果已禁用，才可以启动sc02
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{
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Dt_DeviceInfo deviceSC03 = _deviceInfoRepository.QueryFirst(x => x.DeviceCode == "SC03");
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if (deviceSC03.DeviceStatus=="0"&&stackerCraneOne != null)
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{
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//if (!stackerCraneOne.IsEventSubscribed)
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//{
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// stackerCraneOne.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
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//}
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if (stackerCraneOne.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && stackerCraneTwo.StackerCraneStatusValue == StackerCraneStatus.Normal)
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{
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//stackerCraneOne.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 (stackerCraneOne.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
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{
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//todo：任务表中的RoadWay切换为SC03
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return stackerCraneOne;
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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
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{
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if(stackerCraneOne != null)
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{
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if (stackerCraneOne.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && stackerCraneOne.StackerCraneStatusValue == StackerCraneStatus.Normal)
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{
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if (stackerCraneOne.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
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{
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return stackerCraneOne;
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}
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}
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}
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}
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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(string.IsNullOrEmpty(task.Remark))//总层数和层数是否为空
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{
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return null;
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}
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string[] Levels = task.Remark.Split("-");
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if (Levels.Length == 2)
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{
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//托盘类型 1:9层 2:4层
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if (!string.IsNullOrEmpty(Levels[0]))
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{
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if (Levels[0].ToString()=="9")
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{
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stackerCraneTaskCommand.TrayType = 1;
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}
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else
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{
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stackerCraneTaskCommand.TrayType = 2;
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}
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}
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//料车具体的层数
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if (!string.IsNullOrEmpty(Levels[1]))
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{
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stackerCraneTaskCommand.StartLayer =Convert.ToInt16(Levels[1]);
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}
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}
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else
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{
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return null;
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}
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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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