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;
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using System.Threading.Tasks;
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using WIDESEA_Common;
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using WIDESEA_Common.Tools;
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using WIDESEA_Core.EFDbContext;
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using WIDESEA_Entity.DomainModels;
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using WIDESEA_Services.IRepositories;
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using WIDESEA_Services.Repositories;
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using WIDESEA_Services.Services;
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using WIDESEA_WCS.EquipBaseInfo;
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using WIDESEA_WCS.WCSClient;
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namespace WIDESEA_WCS.SchedulerExecute.AGV
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{
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public partial class AGVSchedulerExecute
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{
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private static bool isTrue=false;
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private static string name = "";
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public static void SendAGVTask(PLCClient plcClient)
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{
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//if (Interlocked.Exchange(ref _readSendAGVTaskSignalso, 1) == 0)
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//{
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try
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{
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if (plcClient == null)
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{
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return;
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}
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VOLContext context = new VOLContext();
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Idt_agvtaskRepository agvtaskRepository = new dt_agvtaskRepository(context);
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Idt_task_numberRepository tasknumberRep = new dt_task_numberRepository(context);
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dt_task_numberService tasknumber = new dt_task_numberService(tasknumberRep);
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var task = agvtaskRepository.FindFirst(e => e.agv_tasknum.Length <= 3);
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if (task != null)
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{
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task.agv_tasknum = "KH-" + tasknumber.GetTaskNumber(tasknumberRep);
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agvtaskRepository.Update(task, true);
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}
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int TaskInteractive = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskInteractiveR.ToString()));//1收到
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int TaskInteractiveW = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskInteractiveW.ToString()));//0初始/1下发/2取消/3更改
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int resetTaskInteractiveW= Convert.ToInt32(plcClient.ReadValue(TaskDBName.resetTaskInteractiveW.ToString()));
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if (isTrue&&name==plcClient.PLCName)
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{
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if (TaskInteractiveW != 0 || resetTaskInteractiveW != 0 || TaskInteractive != 0)
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{
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plcClient.WriteValue(TaskDBName.resetTaskInteractiveW.ToString(), 1);
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Task.Delay(2000).Wait();
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resetTaskInteractiveW = Convert.ToInt32(plcClient.ReadValue(TaskDBName.resetTaskInteractiveW.ToString()));
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if (resetTaskInteractiveW == 1)
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{
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plcClient.WriteValue(TaskDBName.resetTaskInteractiveW.ToString(), 0);
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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Task.Delay(2000).Wait();
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}
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return;
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}
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else
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{
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isTrue = false;
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name = "";
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}
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}
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if (0 == TaskInteractive && TaskInteractiveW == 0)
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{
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#region 查询有没有下发未接收到任务
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dt_agvtask agvTask = agvtaskRepository.Find(r => r.agv_taskstate == AGVTaskStateEnum.Wait.ToString() && r.agv_code == plcClient.PLCName && r.agv_tasktype.Contains(AGVTaskTypeEnum.TaskType_Outbound.ToString())).OrderBy(r => r.agv_createtime)
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.OrderByDescending(r => r.agv_grade).FirstOrDefault();
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if (null != agvTask)
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{
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AGVBaseInfo.TaskWrite(plcClient, agvTask, AGVJobEnum.newTaskEnum);
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string taskId = plcClient.ReadValue(TaskDBName.taskID.ToString()).ToString();
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if (taskId == agvTask.agv_tasknum)
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{
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 1);
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WriteLog.Info("SendAGVTask").Write("SendAGVTask" + agvTask.agv_tasknum + DateTime.Now, "SendAGVTask");
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}
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return;
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}
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#endregion
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agvTask = agvtaskRepository.Find(r => r.agv_taskstate == AGVTaskStateEnum.Create.ToString() && r.agv_code == plcClient.PLCName && r.agv_tasktype.Contains(AGVTaskTypeEnum.TaskType_Outbound.ToString())).OrderBy(r => r.agv_createtime).OrderByDescending(r => r.agv_grade).FirstOrDefault();
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if (null != agvTask)
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{
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string rel = AGVBaseInfo.TaskWrite(plcClient, agvTask, AGVJobEnum.newTaskEnum);
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if (string.IsNullOrEmpty(rel))
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{
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string taskId = plcClient.ReadValue(TaskDBName.taskID.ToString()).ToString();
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if (taskId.Contains("\b")) { taskId = taskId.Remove(0, 1); }
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if (taskId == agvTask.agv_tasknum)
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{
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agvTask.agv_taskstate = AGVTaskStateEnum.Wait.ToString();
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agvTask.agv_realesstime = DateTime.Now;
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agvtaskRepository.Update(agvTask, true);
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 1);
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WriteLog.Info("SendAGVTask").Write("SendAGVTask" + agvTask.agv_tasknum + DateTime.Now, "SendAGVTask");
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}
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}
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else
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{
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throw new Exception(rel);
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}
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}
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}
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#region 下发任务没收到重新下发
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if (TaskInteractive == 0 && TaskInteractiveW == 1)//写入任务没收到重新写入
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{
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string taskId = plcClient.ReadValue(TaskDBName.taskID.ToString()).ToString();
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if (taskId.Contains("\b")) { taskId = taskId.Remove(0, 1); }
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if (null != taskId)
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{
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dt_agvtask agvTask = agvtaskRepository.Find(r => r.agv_tasknum == taskId && r.agv_taskstate == AGVTaskStateEnum.Wait.ToString() && r.agv_tasktype.Contains(AGVTaskTypeEnum.TaskType_Outbound.ToString())).OrderBy(r => r.agv_createtime)
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.OrderByDescending(r => r.agv_grade).FirstOrDefault();
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if (null != agvTask)
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AGVBaseInfo.TaskWrite(plcClient, agvTask, AGVJobEnum.newTaskEnum);
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}
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else
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{
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dt_agvtask agvTask = agvtaskRepository.Find(r => r.agv_taskstate == AGVTaskStateEnum.Wait.ToString() && r.agv_tasktype.Contains(AGVTaskTypeEnum.TaskType_Outbound.ToString())).OrderBy(r => r.agv_createtime).OrderByDescending(r => r.agv_grade).FirstOrDefault();
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if (null != agvTask)
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AGVBaseInfo.TaskWrite(plcClient, agvTask, AGVJobEnum.newTaskEnum);
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}
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}
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#endregion
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if (1 == TaskInteractive && TaskInteractiveW == 1)
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{
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string taskId = plcClient.ReadValue(TaskDBName.taskID.ToString()).ToString();
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if (taskId.Contains("\b")) { taskId = taskId.Remove(0, 1); }
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if (taskId != null)
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{
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dt_agvtask agvTask = agvtaskRepository.Find(r => r.agv_tasknum == taskId && r.agv_taskstate == AGVTaskStateEnum.Wait.ToString() && r.agv_tasktype.Contains(AGVTaskTypeEnum.TaskType_Outbound.ToString())).FirstOrDefault();
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if (agvTask != null)
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{
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agvTask.agv_taskstate = AGVTaskStateEnum.SendOut.ToString();
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agvtaskRepository.Update(agvTask, true);
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////UpdateLocationState.UpdateState(agvTask);//todo 修改货位状态
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//string taskStart = plcClient.ReadValue(TaskDBName.taskStart.ToString()).ToString();
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//string taskEnd = plcClient.ReadValue(TaskDBName.taskEnd.ToString()).ToString();
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//string taskType = plcClient.ReadValue(TaskDBName.taskType.ToString()).ToString();
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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}
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else
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{
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isTrue = true ;
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name = plcClient.PLCName;
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}
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//if (agvTask != null && agvTask.agv_toaddress.Contains("WLX"))
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//{
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// plcClient.WriteValue(TaskDBName.materBarcode.ToString(), agvTask.agv_materbarcode);
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//}
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//else if (agvTask != null && agvTask.agv_fromaddress.Contains("JJK") && agvTask.agv_toaddress.Contains("TBHCJ"))
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//{
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// string barcode = "TB-" + agvTask.agv_materbarcode.Split('*')[0].Substring(agvTask.agv_materbarcode.Split('*')[0].Length - 1, 1);
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// plcClient.WriteValue(TaskDBName.materBarcode.ToString(), barcode);
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//}
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//else
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//{
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// plcClient.WriteValue(TaskDBName.materBarcode.ToString(), "");
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//}
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//plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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}
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}
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else if (11 == TaskInteractive && TaskInteractiveW == 1)//RCS已收到新下发的任务但无法执行
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{
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string taskId = plcClient.ReadValue(TaskDBName.taskID.ToString()).ToString();
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if (taskId.Contains("\b")) { taskId = taskId.Remove(0, 1); }
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dt_agvtask agvTask2 = agvtaskRepository.Find(r => r.agv_tasknum == taskId && r.agv_taskstate == AGVTaskStateEnum.Wait.ToString() && r.agv_tasktype.Contains(AGVTaskTypeEnum.TaskType_Outbound.ToString())).OrderBy(r => r.agv_createtime)
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.OrderByDescending(r => r.agv_grade).FirstOrDefault();
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if (agvTask2 != null)
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{
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agvTask2.agv_taskstate = AGVTaskStateEnum.Abnormal.ToString();
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agvtaskRepository.Update(agvTask2, true);
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}
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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}
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}
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catch (Exception ex)
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{
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//TODO 日志记录
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}
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//finally
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//{
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// Interlocked.Exchange(ref _readSendAGVTaskSignalso, 0);
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//}
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// }
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}
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}
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}
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