using Microsoft.IdentityModel.Tokens;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
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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 WIDESEA_DTO.Agv;
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using WIDESEAWCS_Common.APIEnum;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_DTO.Agv;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob;
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namespace WIDESEAWCS_Tasks
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{
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public partial class AGV_CPJob
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{
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public void SendAGVTask()
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{
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try
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{
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var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()|| x.TaskState == TaskStatusEnum.New.ObjToInt()) && x.DeviceCode=="AGV").ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
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if (newTasks.Count>0)
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{
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foreach (var task in newTasks)
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{
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try
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{
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Guid guid = Guid.NewGuid();
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AgvTaskSendDTO agvTaskSend = new AgvTaskSendDTO()
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{
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SysToken=guid.ToString().Replace("-",""),
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ReceiveTaskID=task.TaskNum.ToString(),
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MapCode="01",
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Variables=new List<PointDetail>()
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};
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Dt_StationManger stationMangerStart = _stationMangerRepository.QueryFirst(x=>x.StationCode==task.CurrentAddress);
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Dt_StationManger stationMangerEnd = _stationMangerRepository.QueryFirst(x => x.StationCode == task.NextAddress);
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//添加任务路径及高度
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if (stationMangerStart !=null && stationMangerEnd != null)
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{
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PointDetail pointDetail1 = new PointDetail()
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{
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Code= "GoodPoint",
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Value=stationMangerStart.AGVStationCode
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};
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//判断是否有前置点
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if (!string.IsNullOrEmpty(stationMangerStart.AGVFrontCode))
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{
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PointDetail pointDetail2 = new PointDetail()
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{
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Code = "CostPoint",
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Value = stationMangerStart.AGVFrontCode
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};
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agvTaskSend.Variables.Add(pointDetail2);
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}
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PointDetail pointDetail3 = new PointDetail()
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{
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Code = "PointB",
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Value = stationMangerEnd.AGVStationCode
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};
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//判断是否有前置点
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if (!string.IsNullOrEmpty(stationMangerEnd.AGVFrontCode))
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{
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PointDetail pointDetail4 = new PointDetail()
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{
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Code = "PointA",
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Value = stationMangerEnd.AGVFrontCode
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};
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agvTaskSend.Variables.Add(pointDetail4);
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}
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PointDetail pointDetail5 = new PointDetail()
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{
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Code = "QUQTH",
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Value = stationMangerStart.AGVStationHeight.ToString()
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};
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PointDetail pointDetail6 = new PointDetail()
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{
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Code = "FHMH",
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Value = stationMangerEnd.AGVStationHeight.ToString()
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};
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agvTaskSend.Variables.Add(pointDetail1);
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agvTaskSend.Variables.Add(pointDetail3);
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agvTaskSend.Variables.Add(pointDetail5);
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agvTaskSend.Variables.Add(pointDetail6);
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}
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else
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{
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throw new Exception("未找到AGV站点");
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}
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//取放任务模版
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if (stationMangerStart.StationCode.Contains("PNT") && !stationMangerEnd.StationCode.Contains("PNT"))//请求放
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{
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agvTaskSend.TaskCode = "DUIGAO1";
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if (stationMangerStart.StationType == 998 || stationMangerEnd.StationType == 998)//潜伏顶升车
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{
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agvTaskSend.TaskCode = "DUOLUN1";
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}
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}
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else if (!stationMangerStart.StationCode.Contains("PNT") && stationMangerEnd.StationCode.Contains("PNT"))//请求取
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{
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agvTaskSend.TaskCode = "DUIGAO2";
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if (stationMangerStart.StationType==998 || stationMangerEnd.StationType == 998)//潜伏顶升车
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{
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agvTaskSend.TaskCode = "DUOLUN2";
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}
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}
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else if (!stationMangerStart.StationCode.Contains("PNT") && !stationMangerEnd.StationCode.Contains("PNT"))//请求取放
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{
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agvTaskSend.TaskCode = "DUIGAO3";
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if (stationMangerStart.StationType == 998 || stationMangerEnd.StationType == 998)//潜伏顶升车
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{
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agvTaskSend.TaskCode = "DUOLUN3";
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}
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}
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else if (stationMangerStart.StationCode.Contains("PNT") && stationMangerEnd.StationCode.Contains("PNT"))//无请求
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{
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agvTaskSend.TaskCode = "DUIGAO4";
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if (stationMangerStart.StationType == 998 || stationMangerEnd.StationType == 998)//潜伏顶升车
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{
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agvTaskSend.TaskCode = "DUOLUN4";
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}
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}
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if (stationMangerStart.StationType == 998 || stationMangerEnd.StationType == 998)//潜伏顶升车
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{
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agvTaskSend.Variables.FirstOrDefault(x => x.Code == "FHMH").Value = "0";
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agvTaskSend.Variables.FirstOrDefault(x => x.Code == "GoodPoint").Value = "";
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//下发任务AGV任务集群
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agvTaskSend.AgvGroupCode = "QianF";
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PointDetail pointDetail2 = new PointDetail()
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{
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Code = "CostPoint",
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Value = stationMangerStart.AGVStationCode
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};
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agvTaskSend.Variables.Add(pointDetail2);
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}
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//延时
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Thread.Sleep(500);
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//发送AGV任务
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WebResponseContent content = _taskService.AgvSendTask(agvTaskSend, APIEnum.AgvSendTask);
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if (!content.Status)
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throw new Exception(content.Message);
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task.Dispatchertime = DateTime.Now;
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_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
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Thread.Sleep(200);
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}
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catch (Exception ex)
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{
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task.TaskState = TaskStatusEnum.Exception.ObjToInt();
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task.ExceptionMessage = ex.Message;
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}
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}
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//更新任务
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if (newTasks.Count > 0)
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{
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_taskService.UpdateData(newTasks);
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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(AGV_CPJob), ex.Message, ex);
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}
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}
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}
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}
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