using Castle.Core.Internal;
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using Newtonsoft.Json;
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using System;
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using System.Diagnostics;
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using System.Linq;
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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_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 int _readSendAGVTaskSignalso = 0;
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private static bool isTrue1 = false;
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private static string name1 = "";
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public static void SendAGVTask1(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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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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int resetTaskInteractiver = Convert.ToInt32(plcClient.ReadValue(TaskDBName.resetTaskInteractiveR.ToString()));
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if (isTrue1 && name1 == 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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isTrue1 = false;
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name1 = "";
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}
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}
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if (resetTaskInteractiver == 1)
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{
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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for (int i = 0; i < 5; i++)
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{
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Thread.Sleep(300);
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var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskInteractiveW.ToString()));
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if (agvnumber != 0)
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{
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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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break;
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}
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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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dt_agvtask 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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//写入任务信息
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string rel = AGVBaseInfo.TaskWrite(plcClient, agvTask, AGVJobEnum.newTaskEnum);
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/*2023.8.2新增 给驰众写入卷绕长度*/
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if (agvTask?.agv_toaddress.Contains("JR") ?? false)
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{
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plcClient.SiemensPLCClient.SiemensS7NetClient.Write("DB1000.122", agvTask.size);
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if (!string.IsNullOrEmpty(agvTask.JRunm))
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{
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plcClient.SiemensPLCClient.SiemensS7NetClient.Write("DB1000.78.0", agvTask.JRunm);
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WriteLog.Info("SendAGVTask").Write("给AGV写入任务卷绕信息," + agvTask.size + agvTask.JRunm + DateTime.Now, "SendAGVTask");
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}
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else
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{
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WriteLog.Info("SendAGVTask").Write("给AGV写入任务卷绕信息,值为空" + DateTime.Now, "SendAGVTask");
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}
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}
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#region
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//if (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.WriteBarcodeValue(TaskDBName.materBarcode.ToString(), barcode);
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// WriteLog.Info("materBarcode1").Write(agvTask.agv_tasknum+barcode + DateTime.Now, "materBarcode1");
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// for (int i = 0; i < 10; i++)
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// {
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// Thread.Sleep(1000);
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// string newbarcode = plcClient.ReadBarcodeValue(TaskDBName.materBarcode.ToString()).ToString();
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// if (newbarcode != barcode)
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// {
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// plcClient.WriteBarcodeValue(TaskDBName.materBarcode.ToString(), barcode);
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// WriteLog.Info("materBarcode2").Write(agvTask.agv_tasknum + barcode +newbarcode+ DateTime.Now, "materBarcode2");
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// }
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// else
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// {
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// break;
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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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// plcClient.WriteBarcodeValue(TaskDBName.materBarcode.ToString(), "0");
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// for (int i = 0; i < 10; i++)
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// {
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// Thread.Sleep(1000);
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// string newbarcode = plcClient.ReadBarcodeValue(TaskDBName.materBarcode.ToString()).ToString();
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// WriteLog.Info("materBarcode3").Write(agvTask.agv_tasknum + newbarcode + DateTime.Now, "materBarcode3");
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// if (newbarcode!="0")
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// {
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// string barcode3= plcClient.WriteBarcodeValue(TaskDBName.materBarcode.ToString(), "0").ToString();
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// WriteLog.Info("materBarcode4").Write(agvTask.agv_tasknum + barcode3 + DateTime.Now, "materBarcode4");
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// }
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// else
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// {
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// break;
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// }
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// }
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//}
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#endregion
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Thread.Sleep(1000);
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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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isTrue1 = true;
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name1 = plcClient.PLCName;
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WriteLog.Info("SendAGVTask").Write("给AGV写入任务失败," + agvTask.agv_tasknum + DateTime.Now, "SendAGVTask");
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throw new Exception(string.Format("给AGV写入任务失败,任务号{0}", agvTask.agv_tasknum));
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}
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if (string.IsNullOrEmpty(rel))
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{
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//写入任务确认1
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 1);
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Thread.Sleep(1000);
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//读取AGV信号
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int ReadTask_1_OK = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskInteractiveR.ToString()));
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if (ReadTask_1_OK == 1)
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{
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//写入WCS确认信号0
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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Thread.Sleep(2000);
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//读取AGV信号是否为0
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int ReadTask_0_OK = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskInteractiveR.ToString()));
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if (ReadTask_0_OK == 0)
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{
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agvTask.agv_taskstate = AGVTaskStateEnum.SendOut.ToString();
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agvTask.agv_realesstime = DateTime.Now;
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agvtaskRepository.Update(agvTask, true);
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// 上传AGV运行数据 by xiaoyang
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SendMESTask.SendMesTask(agvTask, 0);
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}
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else
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{
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isTrue1 = true;
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name1 = plcClient.PLCName;
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throw new Exception(string.Format("给AGV写入任务确认0失败,任务号{0}", agvTask.agv_tasknum));
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}
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}
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else if (ReadTask_1_OK == 11)
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{
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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Thread.Sleep(2000);
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int ReadTask_0_Error = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskInteractiveR.ToString()));
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if (ReadTask_0_Error == 0)
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{
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agvTask.agv_taskstate = AGVTaskStateEnum.SendOut.ToString();
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agvTask.agv_realesstime = DateTime.Now;
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agvtaskRepository.Update(agvTask, true);
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}
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else
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{
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isTrue1 = true;
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name1 = plcClient.PLCName;
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throw new Exception(string.Format("给AGV写入任务异常确认0失败,任务号{0}", agvTask.agv_tasknum));
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}
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}
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else
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{
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isTrue1 = true;
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name1 = plcClient.PLCName;
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throw new Exception(string.Format("给AGV写入任务确认1失败,任务号{0}", agvTask.agv_tasknum));
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}
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}
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else
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{
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isTrue1 = true;
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name1 = plcClient.PLCName;
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throw new Exception(string.Format("给AGV写入任务失败,任务号{0}" + rel, agvTask.agv_tasknum));
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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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StackTrace sta = new StackTrace(ex, true);
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StackTrace st = new StackTrace(new StackFrame(true));
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StackFrame sf = sta.GetFrame(0);
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WriteLog.Info("SendAGVTask").Write(ex.Message+"行号"+ sf.GetFileLineNumber(), "SendAGVTask");
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}
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finally
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{
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// WriteLog.Info("SendAGVTask").Write(plcClient.PLCName+"\t"+DateTime.Now, "SendAGVTask");
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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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