using Microsoft.AspNetCore.Components.Routing;
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using Microsoft.IdentityModel.Tokens;
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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.Linq;
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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_Core;
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using WIDESEAWCS_Core.Caches;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_IBasicInfoRepository;
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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.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_Tasks.ConveyorLineJob;
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namespace WIDESEAWCS_Tasks
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{
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[DisallowConcurrentExecution]
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public class RGVJob_CP : JobBase, IJob
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{
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private readonly ICacheService _cacheService;
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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 IStationMangerRepository _stationMangerRepository;
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private readonly IRouterRepository _routerRepository;
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private readonly IRouterService _routerService;
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private readonly IRouterExtension _routerExtension;
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private readonly List<Dt_WarehouseDevice> warehouseDevices;
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public RGVJob_CP(ICacheService cacheService, ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IStationMangerRepository stationMangerRepository, IRouterRepository routerRepository, IRouterService routerService, IRouterExtension routerExtension)
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{
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_cacheService = cacheService;
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_taskService = taskService;
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_taskExecuteDetailService = taskExecuteDetailService;
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_taskRepository = taskRepository;
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_stationMangerRepository = stationMangerRepository;
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_routerRepository = routerRepository;
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_routerService = routerService;
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_routerExtension = routerExtension;
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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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}
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public Task Execute(IJobExecutionContext context)
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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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DeviceProDTO? deviceProRead = device.DeviceProDTOs.Where(x => x.DeviceChildCode == device.DeviceCode && x.DeviceProParamType == nameof(R_RgvCPDB)).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
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DeviceProDTO? deviceProWrite = device.DeviceProDTOs.Where(x => x.DeviceChildCode == device.DeviceCode && x.DeviceProParamType == nameof(W_RgvCPDB)).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
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Console.WriteLine(DateTime.Now.ToString("yyyy-mm-ddd HH:mm:ss"));
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if (deviceProRead != null && deviceProWrite != null)
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{
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R_RGVCPInfo rgvInfoRead = device.Communicator.ReadCustomer<R_RGVCPInfo>(deviceProRead.DeviceProAddress);
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W_RGVCPInfo rgvInfoWrite = device.Communicator.ReadCustomer<W_RGVCPInfo>(deviceProWrite.DeviceProAddress);
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if ((rgvInfoRead.Mode == 5 || rgvInfoRead.Mode == 4) && rgvInfoRead.State == 0 && rgvInfoRead.TaskDone==1)
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{
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List<Dt_Task> tasks = _taskRepository.QueryData(x => _taskService.TaskInboundTypes.Contains(x.TaskType) && x.TaskState != TaskStatusEnum.RGV_Execute.ObjToInt() && x.DeviceCode == device.DeviceCode);
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//获取任务
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Dt_Task? task1 = tasks.FirstOrDefault(x => x.HeightType == 1);
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Dt_Task? task2 = tasks.FirstOrDefault(x => x.HeightType == 2);
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Dt_Task? task3 = tasks.FirstOrDefault(x => x.HeightType == 3);
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List<Dt_Task> tasksDown = _taskRepository.QueryData(x => _taskService.TaskInboundTypes.Contains(x.TaskType) && x.TaskState == TaskStatusEnum.RGV_Execute.ObjToInt() && x.DeviceCode == device.DeviceCode).OrderBy(x=>x.CreateDate).Take(3).ToList();
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//分配RGV工位任务
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if (tasksDown.Count>=2)
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{
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device.SetValue(W_RgvCPDB.TaskType, 4);
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//占用两个工位
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if (tasksDown.Count==2)
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{
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device.SetValue(W_RgvCPDB.WorkStation, 4);
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if (task1 == null)
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{
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device.SetValue(W_RgvCPDB.WcsTask1, tasksDown[0].TaskNum);
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device.SetValue(W_RgvCPDB.Qu1, tasksDown[0].CurrentAddress);
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device.SetValue(W_RgvCPDB.Fang1, tasksDown[0].NextAddress);
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tasksDown[0].HeightType = 1;
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_taskService.UpdateTask(tasksDown[0], TaskStatusEnum.RGV_Executing);
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}
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if (task2 == null)
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{
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device.SetValue(W_RgvCPDB.WcsTask2, tasksDown[1].TaskNum);
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device.SetValue(W_RgvCPDB.Qu2, tasksDown[1].CurrentAddress);
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device.SetValue(W_RgvCPDB.Fang2, tasksDown[1].NextAddress);
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tasksDown[1].HeightType = 2;
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_taskService.UpdateTask(tasksDown[1], TaskStatusEnum.RGV_Executing);
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}
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}
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else //占用三个工位
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{
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device.SetValue(W_RgvCPDB.WorkStation, 7);
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if ( task1 == null)
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{
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device.SetValue(W_RgvCPDB.WcsTask1, tasksDown[0].TaskNum);
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device.SetValue(W_RgvCPDB.Qu1, tasksDown[0].CurrentAddress);
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device.SetValue(W_RgvCPDB.Fang1, tasksDown[0].NextAddress);
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tasksDown[0].HeightType = 1;
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_taskService.UpdateTask(tasksDown[0], TaskStatusEnum.RGV_Executing);
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}
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if (task2 == null)
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{
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device.SetValue(W_RgvCPDB.WcsTask2, tasksDown[1].TaskNum);
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device.SetValue(W_RgvCPDB.Qu2, tasksDown[1].CurrentAddress);
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device.SetValue(W_RgvCPDB.Fang2, tasksDown[1].NextAddress);
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tasksDown[1].HeightType = 2;
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_taskService.UpdateTask(tasksDown[1], TaskStatusEnum.RGV_Executing);
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}
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if (task3 == null)
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{
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device.SetValue(W_RgvCPDB.WcsTask3, tasksDown[2].TaskNum);
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device.SetValue(W_RgvCPDB.Qu3, tasksDown[2].CurrentAddress);
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device.SetValue(W_RgvCPDB.Fang3, tasksDown[2].NextAddress);
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tasksDown[2].HeightType = 3;
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_taskService.UpdateTask(tasksDown[2], TaskStatusEnum.RGV_Executing);
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}
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}
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device.SetValue(W_RgvCPDB.TaskReceivedDone, 1);
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}
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}
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else if((rgvInfoRead.Mode == 5 || rgvInfoRead.Mode == 4) && rgvInfoRead.TaskDone == 3)
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{
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//获取任务
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Dt_Task task = _taskRepository.QueryFirst(x =>x.TaskNum==rgvInfoRead.RgvTask && _taskService.TaskInboundTypes.Contains(x.TaskType) && x.TaskState == TaskStatusEnum.RGV_Executing.ObjToInt() && x.DeviceCode == device.DeviceCode);
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if (task != null)
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{
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//获取下一个节点的路由
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Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.StationCode == task.NextAddress);
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task.CurrentAddress = task.NextAddress;
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task.NextAddress = "";
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task.DeviceCode = stationManger.StationDeviceCode;
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device.SetValue(W_RgvCPDB.TaskReceivedDone, 2);
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_taskService.UpdateTask(task, TaskStatusEnum.Line_Execute);
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WriteError(device.DeviceName, $"RGV任务完成,任务号{rgvInfoRead.RgvEndTask}");
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}
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else
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{
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WriteError(device.DeviceName, $"未找到RGV对应的结束任务{rgvInfoRead.RgvEndTask}");
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}
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}
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else if (rgvInfoRead.TaskDone == 2 && rgvInfoWrite.TaskReceivedDone == 1)
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{
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device.SetValue(W_RgvCPDB.TaskReceivedDone, 0);
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}
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else if (rgvInfoRead.TaskDone == 0 && rgvInfoWrite.TaskReceivedDone == 2)
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{
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device.SetValue(W_RgvCPDB.TaskReceivedDone, 0);
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}
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}
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else
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{
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WriteError(device.DeviceName, $"未找到设备子编号{device.DeviceCode}的协议信息");
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}
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}
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return Task.CompletedTask;
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}
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}
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}
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