using Autofac.Core;
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using Microsoft.AspNetCore.Components.Routing;
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using Newtonsoft.Json;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
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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.IdentityModel.Tokens.Jwt;
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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 WIDESEAWCS_Common;
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using WIDESEAWCS_Common.Helper;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Communicator;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.BaseServices;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_IBasicInfoRepository;
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using WIDESEAWCS_IPackInfoRepository;
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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.ConveyorLine.Enum;
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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_TaskInfoRepository;
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using WIDESEAWCS_Tasks.ConveyorLineJob;
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using WIDESEAWCS_Tasks.DBNames;
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using ICacheService = WIDESEAWCS_Core.Caches.ICacheService;
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namespace WIDESEAWCS_Tasks
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{
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[DisallowConcurrentExecution]
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public class MDJob5_CP : JobBase, IJob
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{
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private readonly ICacheService _cacheService;
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private readonly IStationMangerRepository _stationMangerRepository;
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private readonly IPackaxisRepository _packaxisRepository;
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private readonly IPackaxisTaskRepository _packaxisTaskRepository;
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private readonly IPackaxisTaskService _packaxisTaskService;
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private readonly IStationPackInfoRepository _stationPackInfoRepository;
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private readonly List<Dt_WarehouseDevice> warehouseDevices;
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public MDJob5_CP(ICacheService cacheService, IStationMangerRepository stationMangerRepository, IPackaxisRepository packaxisRepository, IPackaxisTaskRepository packaxisTaskRepository,IPackaxisTaskService packaxisTaskService, IStationPackInfoRepository stationPackInfoRepository)
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{
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_cacheService = cacheService;
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_stationMangerRepository = stationMangerRepository;
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_packaxisRepository = packaxisRepository;
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string? warehouseDevicesStr = _cacheService.Get<string>(nameof(Dt_WarehouseDevice));
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if (!string.IsNullOrEmpty(warehouseDevicesStr))
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{
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warehouseDevices = JsonConvert.DeserializeObject<List<Dt_WarehouseDevice>>(warehouseDevicesStr) ?? new List<Dt_WarehouseDevice>();
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}
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else
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{
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warehouseDevices = new List<Dt_WarehouseDevice>();
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}
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_packaxisTaskRepository = packaxisTaskRepository;
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_packaxisTaskService = packaxisTaskService;
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_stationPackInfoRepository = stationPackInfoRepository;
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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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bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
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if (flag && value != null)
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{
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OtherDevice device = (OtherDevice)value;
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if (!device.IsConnected)
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{
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return Task.CompletedTask;
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}
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List<Dt_StationManger> stationMangers = _stationMangerRepository.QueryData(x => x.StackerCraneCode == device.DeviceCode && x.StationType == StationTypeEnum.StationType_InStartAndOutEnd.ObjToInt());
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//获取协议
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DeviceProDTO? deviceProRead = device.DeviceProDTOs.Where(x => x.DeviceChildCode == device.DeviceCode && x.DeviceProParamType == nameof(R_MDDB)).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
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DeviceProDTO? deviceProWrite = device.DeviceProDTOs.Where(x => x.DeviceChildCode == device.DeviceCode && x.DeviceProParamType == nameof(W_MDDB)).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
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if (deviceProRead != null && deviceProWrite != null)
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{
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foreach (var item in stationMangers)
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{
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short Allow = device.GetValue<R_MDDB, short>(R_MDDB.R_MDAllow, item.StackerCraneCode);
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#region 读取工位状态
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short R_MDStatus1 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus1, item.StackerCraneCode);
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short R_MDStatus2 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus2, item.StackerCraneCode);
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short R_MDStatus3 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus3, item.StackerCraneCode);
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short R_MDStatus4 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus4, item.StackerCraneCode);
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short ReceiveDoneState = device.GetValue<W_MDDB, short>(W_MDDB.W_MDReceiveDone, item.StackerCraneCode);
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#endregion
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//码垛状态
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short PackState = device.GetValue<R_MDDB, short>(GetPackStateEnum(item.StackerCraneStationCode), item.StackerCraneCode);
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short PackSendState = device.GetValue<W_MDDB, short>(GetPackSendEnum(item.StackerCraneStationCode), item.StackerCraneCode);
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//码垛数量
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short PackNum = device.GetValue<R_MDDB, short>(GetPackNumEnum(item.StackerCraneStationCode), item.StackerCraneCode);
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if ((R_MDStatus1 == 1 || R_MDStatus2 == 1 || R_MDStatus3 == 1 || R_MDStatus4 == 1) && Allow == 4)
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{
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Thread.Sleep(200);
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if (ReceiveDoneState != 0)
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{
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device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDReceiveDone.ToString()).DeviceProDataBlock, 0);
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WriteInfo(item.StackerCraneCode, $"{item.StackerCraneCode}工位任务下发标识值为：{ReceiveDoneState},机器人读取状态为：{Allow}，1工位{R_MDStatus1}，2工位{R_MDStatus2}，3工位{R_MDStatus3}，4工位{R_MDStatus4}，码垛清除下发标识信号");
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}
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continue;
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}
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if (PackState == 2 && PackSendState == 2)
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{
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Thread.Sleep(200);
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device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == GetPackSendEnum(item.StackerCraneStationCode).ToString()).DeviceProDataBlock, 4);
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WriteInfo(item.StationName, $"{item.StationName}写入清托信号");
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continue;
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}
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if (PackState == 4 && PackSendState == 4)
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{
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Thread.Sleep(200);
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device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == GetPackSendEnum(item.StackerCraneStationCode).ToString()).DeviceProDataBlock, 0);
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WriteInfo(item.StationName, $"{item.StationName}清托信号复位");
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continue;
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}
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//获取当前工位码垛执行中数据
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Dt_StationPackInfo stationPackInfo = _stationPackInfoRepository.QueryFirst(x => x.StationCode == item.StationCode && x.AssignNum > 0);
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if (stationPackInfo!=null)
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{
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var axis = _packaxisRepository.QueryFirst(x => x.DeviceCode == item.StackerCraneCode && x.StationCode == stationPackInfo.StationCode && x.PackType== stationPackInfo.PackType);
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if (axis != null)
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{
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//强制结托
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if (PackState == 2 && Convert.ToInt32(PackNum) < axis.PackNum)
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{
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WebResponseContent responseContent = _packaxisTaskService.BoxingInBound(item.StationCode);
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if (responseContent.Status)
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{
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device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == GetPackSendEnum(item.StackerCraneStationCode).ToString()).DeviceProDataBlock, 2);
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WriteInfo(item.StationName, $"{item.StationName}写入工位强制结托信号");
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}
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else
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{
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WriteError(item.StationName, $"{responseContent.Message}");
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}
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continue;
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}
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//进行结托
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if (Convert.ToInt32(PackNum) == axis.PackNum)
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{
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WebResponseContent responseContent = _packaxisTaskService.BoxingInBound(item.StationCode);
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if (responseContent.Status)
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{
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device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == GetPackSendEnum(item.StackerCraneStationCode).ToString()).DeviceProDataBlock, 2);
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WriteInfo(item.StationName, $"{item.StationName}写入工位结托信号");
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}
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else
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{
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WriteError(item.StationName, $"{responseContent.Message}");
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}
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continue;
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}
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//码垛申请
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if (Allow == 3 || Allow == 7)
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{
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//获取当前任务
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Dt_PackaxisTask packaxisTask = _packaxisTaskRepository.QueryFirst(x => x.NextAddress == item.StationCode && x.DeviceCode == item.StackerCraneCode && x.PackType == stationPackInfo.PackType && x.TaskState == TaskStatusEnum.MD_Executing.ObjToInt());
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if (packaxisTask != null)
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{
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//写入工位号
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device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDSendID.ToString()).DeviceProDataBlock, Convert.ToInt16(item.StackerCraneStationCode));
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//写入工位允许码垛
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device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == GetPackSendEnum(item.StackerCraneStationCode).ToString()).DeviceProDataBlock, 1);
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#region 获取写入码垛X、Y、Z坐标
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(int, int, int) result = GetAxis(PackNum, axis, item.StackerCraneStationCode);
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device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDX.ToString()).DeviceProDataBlock, result.Item1);
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device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDY.ToString()).DeviceProDataBlock, result.Item2);
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device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDZ.ToString()).DeviceProDataBlock, result.Item3);
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WriteInfo(item.StationName, $"码垛数量【{PackNum}】，下发码垛坐标X、Y、Z【{result.Serialize()}】");
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#endregion
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device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDA.ToString()).DeviceProDataBlock, 1);
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//写入下发标识
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device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDReceiveDone.ToString()).DeviceProDataBlock, 3);
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packaxisTask.TaskState = TaskStatusEnum.Finish.ObjToInt();
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_packaxisTaskRepository.UpdateData(packaxisTask);
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//任务完成
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WebResponseContent webResponse = _packaxisTaskService.TaskCompleted(packaxisTask: packaxisTask);
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if (!webResponse.Status)
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{
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WriteError(item.StationName, $"任务号{packaxisTask.PackTaskNum}码垛完成错误{webResponse.Message}");
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}
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else
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{
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WriteInfo(item.StationName, $"任务号{packaxisTask.PackTaskNum}码垛完成");
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}
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Thread.Sleep(800);
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return Task.CompletedTask;
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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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WriteError(item.StationName, $"未找到该工位{item.StationName}的坐标信息，请核对数据");
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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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WriteError(device.DeviceCode, $"未找到设备{device.DeviceCode}的协议信息");
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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(MDJob5_CP),ex.Message);
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}
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return Task.CompletedTask;
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}
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/// <summary>
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/// 码垛数量
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/// </summary>
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public R_MDDB GetPackNumEnum(string StationCode)
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{
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switch (StationCode)
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{
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case "1":
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return R_MDDB.R_MDQtys1;
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case "2":
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return R_MDDB.R_MDQtys2;
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case "3":
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return R_MDDB.R_MDQtys3;
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case "4":
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return R_MDDB.R_MDQtys4;
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default:
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throw new Exception("未定义工位");
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}
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}
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/// <summary>
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/// 码垛状态
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/// </summary>
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public R_MDDB GetPackStateEnum(string StationCode)
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{
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switch (StationCode)
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{
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case "1":
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return R_MDDB.R_MDStatus1;
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case "2":
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return R_MDDB.R_MDStatus2;
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case "3":
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return R_MDDB.R_MDStatus3;
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case "4":
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return R_MDDB.R_MDStatus4;
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default:
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throw new Exception("未定义工位");
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}
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}
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/// <summary>
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/// 码垛工位
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/// </summary>
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public W_MDDB GetPackSendEnum(string StationCode)
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{
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switch (StationCode)
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{
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case "1":
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return W_MDDB.W_MDSend1;
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case "2":
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return W_MDDB.W_MDSend2;
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case "3":
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return W_MDDB.W_MDSend3;
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case "4":
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return W_MDDB.W_MDSend4;
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default:
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throw new Exception("未定义工位");
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}
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}
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public (int, int ,int) GetAxis(int PackNum, Dt_Packaxis axis, string StationCode)
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{
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int X = PackNum / axis.AxisYCount % axis.AxisXCount;
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int Y = PackNum % axis.AxisYCount;
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int Z = PackNum / (axis.AxisYCount * axis.AxisXCount) % axis.AxisZCount;
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int axisx = 0;
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int axisy = 0;
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int axisz = 0;
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if (axis == null)
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{
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throw new Exception("未找到坐标值");
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}
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switch (StationCode)
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{
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case "1":
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return (axisx = axis.AxisX - X * axis.AxisXSpacing, axisy = axis.AxisY + Y * axis.AxisYSpacing,axisz= axis.AxisZ + Z * axis.AxisZSpacing);
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case "2":
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return (axisx = axis.AxisX - X * axis.AxisXSpacing, axisy = axis.AxisY - Y * axis.AxisYSpacing, axisz = axis.AxisZ + Z * axis.AxisZSpacing);
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case "3":
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return (axisx = axis.AxisX + X * axis.AxisXSpacing, axisy = axis.AxisY + Y * axis.AxisYSpacing, axisz = axis.AxisZ + Z * axis.AxisZSpacing);
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case "4":
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return (axisx = axis.AxisX + X * axis.AxisXSpacing, axisy = axis.AxisY - Y * axis.AxisYSpacing, axisz = axis.AxisZ + Z * axis.AxisZSpacing);
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default:
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throw new Exception("未定义工位");
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}
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}
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}
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}
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