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.ServiceLog;
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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_DTO.TaskInfo;
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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.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 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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private readonly ILocationInfoRepository _locationInfoRepository;
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public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService, 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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_locationInfoRepository = locationInfoRepository;
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}
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public Task Execute(IJobExecutionContext context)
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{
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WriteDebug("大堆垛机运行日志", "开始时间" + DateTime.Now);
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WriteDebug("大堆垛机运行日志", $"大堆垛机任务执行中...");
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//CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
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CommonStackerCrane commonStackerCrane = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "SC01") as CommonStackerCrane;
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try
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{
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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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Dt_Task? task = GetTask(commonStackerCrane);
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if (task != null)
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{
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WriteDebug("大堆垛机运行日志", $"大堆垛机任务号{task.TaskNum}");
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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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if (sendFlag)
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{
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if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
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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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}
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else if(task.TaskType == (int)TaskOutboundTypeEnum.OutInventory|| task.TaskType == (int)TaskOutboundTypeEnum.OutPick|| task.TaskType == (int)TaskRelocationTypeEnum.Relocation)
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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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}
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else
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{
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, "堆垛机执行任务命令失败！");
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WriteDebug(nameof(CommonStackerCraneJob), "堆垛机执行任务命令失败！");
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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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WriteError(nameof(CommonStackerCraneJob), "大堆垛机执行任务异常！",ex);
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}
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//查询提升机/组立机信号
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//Task.Run(delegate
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//{
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try
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{
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if (commonStackerCrane != null)
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{
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Dt_Task? task1001 = _taskService.QueryStackerCraneTaskByAGVRequest("SC01");
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if (task1001 != null)
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{
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//读取提升机信号，确定是否可以进入
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int IsAllow = 0;
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if (task1001.SourceAddress == "SC01-002-000-001")//WMS 1001站点
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{
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IsAllow = commonStackerCrane.Communicator.Read<short>("DB2.0.0");
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}
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else if (task1001.SourceAddress == "SC01-002-000-002")//WMS 1002站点
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{
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IsAllow = commonStackerCrane.Communicator.Read<short>("DB2.8.0");
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}
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if (IsAllow == 1)//如果为1，则允计AGV进入，回传WMS
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{
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MESSendCMD sendcmd = new MESSendCMD { cmd = 2001, task_id = task1001.TaskNum, status = 6 };
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MESResponse res = ApiInvoke.SendTaskCMD(sendcmd);
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if (res != null && res.code != 0)
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{
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WriteDebug(nameof(CommonStackerCraneJob), $"提升机提升完成，回传WMS失败！任务号{task1001.TaskNum}");
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}
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}
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}
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Dt_Task? task3001 = _taskService.QueryStackerCraneTaskByAGVPutFinish("SC01");
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if (task3001 != null)
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{
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int IsFinish = 0;
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int IsWriteOne = 0;
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int IsWriteTwo = 0;
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if (task3001.SourceAddress == "SC01-002-000-001")//WMS 1001站点
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{
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//提升机是否处于就绪状态
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int IsReady= commonStackerCrane.Communicator.Read<short>("DB2.0.0");
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//写入提升信息
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IsWriteOne = commonStackerCrane.Communicator.Read<short>("DB1.0.0");
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if(IsWriteOne == 0&& IsReady == 1)
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{
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commonStackerCrane.Communicator.Write<short>("DB1.0.0", 1);
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}
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//读取提升机信号，确定是否提升完成
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IsFinish= commonStackerCrane.Communicator.Read<short>("DB2.2.0");
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}
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else if (task3001.SourceAddress == "SC01-002-000-002")//WMS 1002站点
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{
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//提升机是否处于就绪状态
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int IsReady = commonStackerCrane.Communicator.Read<short>("DB2.0.0");
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//写入提升信息
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IsWriteTwo = commonStackerCrane.Communicator.Read<short>("DB1.6.0");
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if (IsWriteTwo == 0 && IsReady == 1)
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{
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commonStackerCrane.Communicator.Write<short>("DB1.6.0", 1);
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}
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//读取提升机信号，确定是否提升完成
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IsFinish = commonStackerCrane.Communicator.Read<short>("DB2.10.0");
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}
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if (IsFinish == 1)//如果为1，则表示提升完成，回传WMS
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{
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MESSendCMD sendcmd = new MESSendCMD { cmd = 2002, task_id = task3001.TaskNum, status = 6 };
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MESResponse res = ApiInvoke.SendTaskCMD(sendcmd);
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string inparam = JsonConvert.SerializeObject(sendcmd);
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WriteDebug(nameof(CommonStackerCraneJob), $"提升机提升完成，回传WMS,入参：{inparam}");
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if (res != null && res.code != 0)
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{
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WriteDebug(nameof(CommonStackerCraneJob), $"提升机提升完成，回传WMS失败！任务号{task3001.TaskNum}");
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}
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}
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}
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//小堆垛机出库完成任务
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Dt_Task? taskSmall = _taskService.QueryStackerCraneFinishTask();
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if(taskSmall != null)
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{
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//根据任务源地址确定写入PLC位置 Depth
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Dt_LocationInfo location = _locationInfoRepository.QueryFirst(x=>x.LocationCode==taskSmall.SourceAddress);
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if(location != null)
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{
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string[] Levels = taskSmall.Remark.Split("-");
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if (Levels.Length == 2)
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{
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if (!string.IsNullOrEmpty(Levels[0]) && !string.IsNullOrEmpty(Levels[1]))
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{
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int level = Convert.ToInt16(Levels[0]) - Convert.ToInt16(Levels[1]);
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//剩余层数写入
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bool issuccess = commonStackerCrane.Communicator.Write<short>("DB28." + location.Depth + ".0", Convert.ToInt16(level));
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WriteDebug(nameof(CommonStackerCraneJob), $"剩余层数信号写入{level}-任务号{taskSmall.TaskNum}");
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//如果当前提取层数等于总层数，则表示料车所有的层数取完
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if (level == 0)
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{
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//源地址（暂存位）对应的目标地址（组立机）location.Remark
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if (!string.IsNullOrEmpty(location.Remark))
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{
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//根据目标地址查询组立机站点信息，获取写入整车完成的DB块 Depth
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Dt_LocationInfo location2 = _locationInfoRepository.QueryFirst(x => x.LocationCode == location.Remark);
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//整车完成写入层数
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int sn = 0;
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if(taskSmall.SourceAddress== "SC01-001-006-001"|| taskSmall.SourceAddress == "SC01-001-012-001"|| taskSmall.SourceAddress == "SC01-001-018-001" || taskSmall.SourceAddress == "SC01-001-022-001"|| taskSmall.SourceAddress == "SC01-001-026-001")
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{
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sn = 1;
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}
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else if(taskSmall.SourceAddress == "SC01-001-007-001" || taskSmall.SourceAddress == "SC01-001-013-001" || taskSmall.SourceAddress == "SC01-001-019-001" || taskSmall.SourceAddress == "SC01-001-023-001" || taskSmall.SourceAddress == "SC01-001-027-001")
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{
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sn = 2;
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}
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else
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{
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sn = 3;
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}
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bool issuccess2 = commonStackerCrane.Communicator.Write<short>("DB28." + location2.Depth+".0", Convert.ToInt16(sn));
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if (issuccess2&&issuccess)
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{
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_taskService.UpdateTaskStatus(taskSmall.TaskId, (int)TaskOutStatusEnum.OutFinish);
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_taskExecuteDetailService.AddTaskExecuteDetail(taskSmall.TaskId, $"出库任务完成");
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}
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else
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{
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WriteDebug(nameof(CommonStackerCraneJob), $"整车完成信号写入失败！任务号{taskSmall.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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if (issuccess)
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{
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_taskService.UpdateTaskStatus(taskSmall.TaskId, (int)TaskOutStatusEnum.OutFinish);
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_taskExecuteDetailService.AddTaskExecuteDetail(taskSmall.TaskId, $"出库任务完成");
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}
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else
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{
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WriteDebug(nameof(CommonStackerCraneJob), $"剩余层数信号写入失败！任务号{taskSmall.TaskNum}");
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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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WriteError(nameof(CommonStackerCraneJob), "查询或写入PLC状态失败！", ex);
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}
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WriteDebug("大堆垛机运行日志", "结束时间" + DateTime.Now);
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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(commonStackerCrane.DeviceCode);
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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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stackerCraneTaskCommand.TrayType = 0;
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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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