using Microsoft.AspNetCore.Components.Routing;
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using Microsoft.AspNetCore.Hosting;
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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.Reflection.Metadata;
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using System.Text;
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using System.Threading.Tasks;
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using WIDESEA_Common.Log;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.Enums;
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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.Models;
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using WIDESEAWCS_QuartzJob.Service;
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using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
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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 : 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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public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService)
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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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}
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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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CommonConveyorLine conveyorLine = (CommonConveyorLine)context.JobDetail.JobDataMap.Get("JobParams");
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Signalinteraction(conveyorLine, commonStackerCrane);
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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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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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commonStackerCrane.LastTaskType = task.TaskType;
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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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}
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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, 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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if (commonStackerCrane.LastTaskType == null)
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{
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task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
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}
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else
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{
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if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
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if (task == null)
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{
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task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
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}
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}
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else
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{
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task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
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}
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}
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if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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string[] targetCodes = task.SourceAddress.Split("-");
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if (targetCodes[4] == "02")
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{
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task = OutTaskMovelibrary(task);
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if (task != null)
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{
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return task;
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}
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}
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if (OutTaskStationIsOccupied(task) != null)
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{
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return task;
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}
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else
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{
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List<string> otherOutStaionCodes = _routerService.QueryNextRoutes(commonStackerCrane.DeviceCode, task.NextAddress).Select(x => x.ChildPosi).ToList();
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List<Dt_Task> tasks = _taskService.QueryStackerCraneOutTasks(commonStackerCrane.DeviceCode, otherOutStaionCodes);
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foreach (var item in tasks)
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{
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if (OutTaskStationIsOccupied(task) != null)
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{
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return task;
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}
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}
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task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
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}
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}
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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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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "1002");
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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(task.TargetAddress))//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【{task.TargetAddress}】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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return null;
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}
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/// <summary>
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/// 出库任务判断是否需要进行移库Move the library
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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? OutTaskMovelibrary([NotNull] Dt_Task task)
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{
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try
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{
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string[] targetCodes = task.SourceAddress.Split("-");
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if (targetCodes[1] == "001")
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{
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targetCodes[1] = "002";
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}
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else if (targetCodes[1] == "004")
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{
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targetCodes[1] = "003";
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}
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targetCodes[4] = "01";
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string SourceAddress = string.Join("-", targetCodes); //组装浅库位地址
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Dt_Task? tasks = _taskService.QueryStationIsOccupiedOutTasks(task.Roadway, SourceAddress).FirstOrDefault();
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if (tasks != null)
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{
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return task;
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}
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else
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{
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//向wms申请判断浅库位是否有货，是否需要进行移库
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Dt_Task? taskst = _taskService.RequestWMSTaskMovelibrary(task);
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if (taskst != null)
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{
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return taskst;
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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;
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}
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return null;
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}
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public void Signalinteraction(CommonConveyorLine conveyorLine, CommonStackerCrane commonStackerCrane)
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{
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//入库信号交互
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int B_Event = conveyorLine.Communicator.Read<int>("PLC_WCS_B.01_EVENT");
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int B_Event2 = conveyorLine.Communicator.Read<int>("PLC_WCS_C.03_EVENT");
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if (B_Event == 1 || B_Event2 == 1)
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{
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Stackerstatic(conveyorLine,commonStackerCrane);
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}
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//出库信号交互
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//Stackerstatic2(conveyorLine, commonStackerCrane);
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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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if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)//判断是否是入库任务
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{
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string[] targetCodest = task.SourceAddress.Split("-");
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if (targetCodest.Length == 5)
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{
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stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodest[1]);
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stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodest[2]);
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stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodest[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, $"入库起点错误，起点：【{task.SourceAddress}】");
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return null;
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}
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string[] targetCodes = task.NextAddress.Split("-");
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if (targetCodes.Length == 5)
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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, $"入库任务终点错误，起点：【{task.NextAddress}】");
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return null;
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}
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}
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else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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string[] sourceCodes = task.CurrentAddress.Split("-");
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if (sourceCodes.Length == 5)
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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, $"出库任务起点错误，起点：【{task.CurrentAddress}】");
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return null;
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}
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string[] sourceCodest = task.TargetAddress.Split("-");
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if (sourceCodest.Length == 5)
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{
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stackerCraneTaskCommand.EndRow = Convert.ToInt16(sourceCodest[1]);
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stackerCraneTaskCommand.EndColumn = Convert.ToInt16(sourceCodest[2]);
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stackerCraneTaskCommand.EndLayer = Convert.ToInt16(sourceCodest[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, $"出库任务终点错误，起点：【{task.TargetAddress}】");
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return null;
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}
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}
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else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
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{
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string[] targetCodes = task.NextAddress.Split("-");
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if (targetCodes.Length == 5)
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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, $"移库任务终点错误，起点：【{task.NextAddress}】");
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return null;
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}
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string[] sourceCodes = task.CurrentAddress.Split("-");
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if (sourceCodes.Length == 5)
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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, $"移库任务起点错误，起点：【{task.CurrentAddress}】");
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return null;
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}
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}
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return stackerCraneTaskCommand;
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}
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/// <summary>
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/// 根据站台名称写入
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/// </summary>
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/// <param name="commonStackerCrane"></param>
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/// <param name="platform"></param>
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public void Stackerstatic(CommonConveyorLine conveyorLine,CommonStackerCrane commonStackerCrane)
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{
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// 调用方法处理不同 SourceAddress 的任务
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Dt_Task task = _taskService.IngStackerCraneTask(commonStackerCrane.DeviceName);
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if (task.SourceAddress == "R01-003-027-001-01")
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{
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HandleStackerCraneTask(conveyorLine,commonStackerCrane,task, StackerCraneDBName.Requestpickup.ToString(), StackerCraneDBName.toRequestpickup.ToString(), "WCS_PLC_B.01_WCS_TAKE");
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}
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else if (task.SourceAddress == "R01-003-041-001-01")
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{
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HandleStackerCraneTask(conveyorLine, commonStackerCrane,task, StackerCraneDBName.Requestpickuptwo.ToString(), StackerCraneDBName.toRequestpickuptwo.ToString(), "WCS_PLC_C.03_WCS_TAKE");
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}
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}
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/// <summary>
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/// 出库信息交互
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/// </summary>
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/// <param name="commonStackerCrane"></param>
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/// <param name="platform"></param>
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public void Stackerstatic2(CommonConveyorLine conveyorLine, CommonStackerCrane commonStackerCrane)
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{
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//读取堆垛机两个站台是否有放货申请
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// 检查堆垛机是否请求放货信号
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if (commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.Requestpickupout))
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{
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LogSignalStatus("读取到堆垛机申请放货信号", "R01-002-027-001-01");
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Dt_Task? task = _taskService.IngStackerCraneTask(commonStackerCrane.DeviceName);
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WriteLogAndHandleConveyorSignal(conveyorLine, commonStackerCrane, task, StackerCraneDBName.toRequestpickupout, "R01-002-027-001-01");
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}
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// 判断不同的站台
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/*if (task.SourceAddress == "R01-002-027-001-01")
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{
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HandleStackerCraneForAddress027001(conveyorLine, commonStackerCrane, task);
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}
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else if (task.SourceAddress == "R01-002-041-001-01")
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{
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HandleStackerCraneForAddress041001(conveyorLine, commonStackerCrane, task);
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}*/
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}
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// 封装入库站台
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// 定义一个方法来处理重复的堆垛机与PLC交互操作
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private void HandleStackerCraneTask(CommonConveyorLine conveyorLine, CommonStackerCrane commonStackerCrane,Dt_Task task, string requestSignal, string completionSignal, string writeAddress)
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{
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// 将 completionSignal 转换为 StackerCraneDBName 枚举值
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if (Enum.TryParse(completionSignal, out StackerCraneDBName completionEnum))
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{
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// 获取堆垛机完成信号
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if (commonStackerCrane.GetValue<StackerCraneDBName, bool>(completionEnum))
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{
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WriteLog.GetLog("堆垛机与plc交互信号").Write($"读取到堆垛机完成信号为 true，站台编号：{task.SourceAddress}", "站台信息");
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// 向输送线写入取货完成信号
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if (conveyorLine.Communicator.Write(writeAddress, 1))
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{
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WriteLog.GetLog("堆垛机与plc交互信号").Write($"写入输送线取货完成信号成功，1，站台编号：{task.SourceAddress}", "站台信息");
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}
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else
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{
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WriteLog.GetLog("堆垛机与plc交互信号").Write($"写入输送线取货完成信号失败，站台编号：{task.SourceAddress}", "站台信息");
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}
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}
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else
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{
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WriteLog.GetLog("堆垛机与plc交互信号").Write($"读取到堆垛机完成信号为 false，站台编号：{task.SourceAddress}", "站台信息");
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}
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}
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else
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{
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WriteLog.GetLog("堆垛机与plc交互信号").Write($"无法将completionSignal字符串{completionSignal}转换为有效的枚举值", "站台信息");
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}
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if(Enum.TryParse(requestSignal, out StackerCraneDBName completionEnum2)){
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// 写入请求信号
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if (commonStackerCrane.SetValue(completionEnum2, true))
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{
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WriteLog.GetLog("堆垛机与plc交互信号").Write($"写入信号成功，{requestSignal}", "站台信息");
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}
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else
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{
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WriteLog.GetLog("堆垛机与plc交互信号").Write($"写入信号失败，{requestSignal}", "站台信息");
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}
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}
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else
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{
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WriteLog.GetLog("堆垛机与plc交互信号").Write($"无法将completionSignal字符串{completionSignal}转换为有效的枚举值", "站台信息");
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}
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}
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private void HandleStackerCraneForAddress027001(CommonConveyorLine conveyorLine, CommonStackerCrane commonStackerCrane, Dt_Task task)
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{
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// 检查堆垛机是否请求放货信号
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if (commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.Requestpickupout))
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{
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WriteLogAndHandleConveyorSignal(conveyorLine, commonStackerCrane, task, StackerCraneDBName.toRequestpickupout, "R01-002-027-001-01");
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}
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else
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{
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LogSignalStatus("未读取到堆垛机申请放货信号", task.SourceAddress);
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}
|
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// 检查堆垛机完成信号
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if (commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.toRequestpickup))
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{
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WriteLogAndHandleConveyorSignal(conveyorLine, commonStackerCrane, task, StackerCraneDBName.toRequestpickup, "R01-002-027-001-01");
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}
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else
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{
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LogSignalStatus("读取到堆垛机完成信号为，false", task.SourceAddress);
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}
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}
|
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private void HandleStackerCraneForAddress041001(CommonConveyorLine conveyorLine, CommonStackerCrane commonStackerCrane, Dt_Task task)
|
{
|
if (commonStackerCrane.SetValue(StackerCraneDBName.Requestpickuptwo, true))
|
{
|
WriteLog.GetLog("堆垛机与plc交互信号").Write($"写入信号成功，Requestpickup", "站台信息");
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}
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else
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{
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WriteLog.GetLog("堆垛机与plc交互信号").Write($"写入信号失败，Requestpickup", "站台信息");
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}
|
|
// 检查堆垛机完成信号
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if (commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.toRequestpickuptwo))
|
{
|
WriteLogAndHandleConveyorSignal(conveyorLine, commonStackerCrane, task, StackerCraneDBName.toRequestpickuptwo, "R01-002-041-001-01");
|
}
|
else
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{
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LogSignalStatus("读取到堆垛机完成信号为，false", task.SourceAddress);
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}
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}
|
|
private void WriteLogAndHandleConveyorSignal(CommonConveyorLine conveyorLine, CommonStackerCrane commonStackerCrane, Dt_Task task, StackerCraneDBName signalType, string sourceAddress)
|
{
|
// 读取输送线信号
|
int events = conveyorLine.Communicator.Read<int>("PLC_WCS_B.01_EVENT");
|
if (events == 0)
|
{
|
LogSignalStatus("读取到输送线允许放货信号", sourceAddress);
|
|
// 写入堆垛机信号
|
if (commonStackerCrane.SetValue(signalType, true))
|
{
|
LogSignalStatus($"写入堆垛机允许放货信号", sourceAddress);
|
}
|
else
|
{
|
LogSignalStatus($"未写入堆垛机允许放货信号", sourceAddress);
|
}
|
}
|
else
|
{
|
LogSignalStatus($"未读取到输送线允许放货信号", sourceAddress);
|
}
|
|
// 写入取货完成信号
|
if (conveyorLine.Communicator.Write("WCS_PLC_B.01_WCS_TAKE", 1))
|
{
|
LogSignalStatus($"写入输送线取货完成信号成功", sourceAddress);
|
}
|
else
|
{
|
LogSignalStatus($"写入输送线取货完成信号失败", sourceAddress);
|
}
|
}
|
|
private void LogSignalStatus(string message, string sourceAddress)
|
{
|
WriteLog.GetLog("堆垛机与plc交互信号").Write($"{message}，站台编号：{sourceAddress}", "站台信息");
|
}
|
}
|
}
|
